From 2a78f1b609d756cb0a20a994350ed45faedf2c4b Mon Sep 17 00:00:00 2001 From: kassam Date: Fri, 28 Aug 2026 20:27:28 +0400 Subject: [PATCH] Record/replay studio, manual recorder kit, and new-robot install tooling Dashboard (web/hand_web.py) - Record/replay panel driving g1_record_replay.py as a pty child: take library (replay/download/duplicate/rename/delete/upload/delete-all), pause & resume, and in-take key buttons that grey out in the --fingers modes the recorder ignores (measured: in touch mode the keys change nothing at all). - /api/restart is container-aware: it kills inspire_g1 and lets the supervisor relaunch it. It used to run manage.sh, which started a SECOND inspire_g1 beside the supervised one - two writers on one RS-485 bus - and never returned. - Shape/combo libraries take a .bak on every write, with an undo button. Both files are rewritten in full, so deleting the last entry was unrecoverable. recorder/ - The recorder lives in this project now: one source of truth for the CLI and the dashboard, with pause/resume added to replay. - record.sh picks a runtime by itself (a python with the SDK, the vendored SDK, or the inspire-hand container). bundle.sh packs a ~340KB portable kit. tools/ - preflight.sh: read-only readiness report for a new robot (hardware, docker, build prerequisites, per-robot settings) ending in an install-path verdict. - fetch_deps.sh: stage build dependencies, verifying the libs are aarch64. - export_ui.py: regenerate an embedding app's vendored copy of the UI. docker/ - build_image.sh resolves its dependencies from several layouts: deps/ inside the project, /usr/local, a source install prefix, or a ROS2 colcon workspace (where the idl headers live when /usr/local has none). - web/ is copied in the last layer, so dashboard edits skip the C++ rebuild. - restart=always, and start.sh always builds so an edit cannot silently run a stale image. deps/unitree_sdk2 is vendored so a robot that has never seen the SDK can build. 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100755 tools/export_ui.py create mode 100755 tools/fetch_deps.sh create mode 100755 tools/preflight.sh create mode 100644 udev/99-inspire-hub-cardreader.rules mode change 100644 => 100755 web/hand_web.py diff --git a/README.md b/README.md index 0f9480f..5ee125d 100644 --- a/README.md +++ b/README.md @@ -29,8 +29,29 @@ container, waits until the dashboard actually answers, and prints the URL: http://10.255.254.88:8088 ``` +### On a NEW robot, check first + +```bash +./tools/preflight.sh +``` + +Changes nothing; prints PASS/MISS for hardware, Docker, the build prerequisites and +the per-robot settings that misbehave *silently*, then tells you which install path +is open. Two paths: + +- **Bring the image** (no SDK, no internet, no compile on the target): + `docker save inspire-hand:latest | gzip > inspire-hand.tar.gz` → copy → + `gunzip -c inspire-hand.tar.gz | docker load` +- **Build there** — needs `~/unitree_sdk2`, CycloneDDS in `/usr/local` (including the + `idl` headers) and internet. `build_image.sh` pulls those from the host. + +Then, once per robot, give the LEFT hand RS-485 id 2 — +`docker exec inspire-hand ./build/hand_setid 1 2`. After that the hands are +identified by id rather than USB path, so no pin can swap them. See [SETUP_G1.md](SETUP_G1.md). + | command | does | |---|---| +| `./tools/preflight.sh` | can this robot run it, and what's missing | | `./start.sh` | start (builds the image if missing) | | `./start.sh stop` | stop the container | | `./start.sh restart` | stop + start | @@ -38,6 +59,10 @@ container, waits until the dashboard actually answers, and prints the URL: | `./start.sh logs` | follow the container log | | `./start.sh rebuild` | force an image rebuild, then start | +**It does not start by itself.** There is no restart policy and no systemd unit — a rebooted +robot comes up with the hands free, and this stack takes them only when you run `./start.sh`. +Stop it with `./start.sh stop`. + **Run it on the robot.** Run it on the workstation and it rsyncs this folder to the robot and runs itself there — the hands, the DDS link to the arm and Docker are all on the robot, so there is nothing to run locally. Override the target with `ROBOT=unitree@10.255.254.88`. @@ -97,6 +122,20 @@ while watching `rt/inspire/cmd`: The panel greys out keys the current mode ignores and says why, so a dead button is never a mystery. Note `[` and `;` also un-park thumb_rot, while `o` returns it to tucked. +### Without the dashboard + +The same script runs from a terminal — see [recorder/README.md](recorder/README.md): + +```bash +cd recorder +./record.sh doctor # which runtime it will use +./record.sh record --output wave --seconds 20 +./bundle.sh # pack it to carry elsewhere (~2 MB) +``` + +`record.sh` picks a runtime for you (a python with the SDK, the vendored SDK, or the +`inspire-hand` container) so the CLI still works when Docker or the dashboard is down. + ### The take library Per take: **▶ replay · ⬇ download · ⧉ duplicate · ✎ rename · 🗑 delete**, plus **⬆ Upload** @@ -163,8 +202,17 @@ process backgrounded by a non-interactive shell inherits `SIG_IGN`, and it survi running at once. `./start.sh restart` re-runs `ClearError`. Still stuck: power-cycle the hands (24 V). -**"Port drift" warning** — the service opened different ttys than are live now; the CH340 -adapters re-enumerate on the hub. Restart. +**"Port drift" warning** — the service opened different ttys than are live now. Harmless in +itself: `inspire_g1` pins each hand by USB **path**, not by ttyUSB number, so left/right never +swap. The churn comes from a card reader (`05e3:0749`) sharing the hands' hub and +power-cycling ~851×/hour with no card in it. Stop it for good (needs root, once): + +```bash +sudo cp udev/99-inspire-hub-cardreader.rules /etc/udev/rules.d/ && sudo udevadm control --reload +for d in /sys/bus/usb/devices/*/; do \ + [ "$(cat $d/idVendor 2>/dev/null)" = "05e3" ] && [ "$(cat $d/idProduct 2>/dev/null)" = "0749" ] \ + && echo 0 | sudo tee $d/authorized; done +``` **A finger reads as dead (0 current, no movement)** — its force-sensor zero has drifted past the grip-force limit, so the RH56 refuses to drive it. `inspire_g1` measures the resting @@ -192,6 +240,25 @@ Docker specifics: [docker/README.md](docker/README.md). --- +## Embedding the dashboard elsewhere + +Sanad's **Hands** tab serves a code copy of this UI with every `/api/` rewritten to +`/api/hands/`, and proxies those calls back to `:8088`. A hand-extracted copy goes stale +silently, so regenerate it from the source instead: + +```bash +# after any dashboard change +python3 tools/export_ui.py --prefix hands --out /Sanad/dashboard/static/hands.html + +# or just check whether a copy is current (exit 1 if stale) +python3 tools/export_ui.py --prefix hands --check /Sanad/dashboard/static/hands.html +``` + +The embedding app needs `network_mode: host` (or an explicit `SANAD_HANDS_BASE`) to reach +`127.0.0.1:8088`, and this stack must be running — see the start note above. + +--- + ## Service protocol (upstream) Send `unitree_go::msg::dds::MotorCmds_` to `rt/inspire/cmd`; read diff --git a/ROBOT_README.md b/ROBOT_README.md new file mode 100644 index 0000000..39b1004 --- /dev/null +++ b/ROBOT_README.md @@ -0,0 +1,244 @@ +# Inspire RH56 hands — what is installed on this robot + +Everything for the two Inspire RH56 hands: the RS-485 service, the DDS bridge, the web +dashboard, and the arm+hand record/replay studio. All of it runs in **one Docker container**. + +Installed 2026-08-26 on the G1's Jetson (PC2), Ubuntu 20.04 / aarch64. + +| | | +|---|---| +| Dashboard | `http://192.168.123.164:8088` (ethernet) · `http://10.255.254.68:8088` (wifi) | +| Project | `~/DFX_inspire_service` | +| Manual recorder kit | `~/manual_recorder` | +| Your data (survives rebuilds) | `~/hand_data` — shapes, combos, `DataG1/` takes | +| Image | `inspire-hand:latest`, built on this robot | +| Canonical source | workstation: `Project/G1/DFX_inspire_service` | + +--- + +## 1. Run it + +```bash +cd ~/DFX_inspire_service +./start.sh # build if needed → run → wait until it answers → print the URL +./start.sh status # running? serving what? hands alive? +./start.sh stop +./start.sh logs # follow the container log +./start.sh rebuild # force an image rebuild +``` + +It starts on boot (`--restart unless-stopped`). To stop that: change `--restart no` in +`docker/run.sh` and re-run `./start.sh`. + +`./start.sh` always rebuilds first — the layer cache makes that a second or two, and it means +an edited dashboard can never keep running the old image. + +--- + +## 2. What runs where + +``` +inspire_g1 RS-485 → both hands, publishes rt/inspire/state (supervised, auto-restarts) +hand_bridge TCP 127.0.0.1:7799 → rt/inspire/cmd + force-follow +hand_web.py the dashboard on :8088, and it spawns the recorder +``` + +All three inside the `inspire-hand` container, started by `docker/start.sh`. Container paths: +`/opt/hand` (service + dashboard), `/opt/recorder` (recorder + `DataG1`). + +Flags that matter: `--network host` (DDS needs it), `--privileged -v /dev:/dev` (the CH340 +adapters re-enumerate), `-v ~/hand_data:/opt/hand/data`, `-v ~/hand_data/DataG1:/opt/recorder/DataG1`. + +--- + +## 3. The dashboard + +| card | what it does | +|---|---| +| Fingers | 12 sliders, presets, save/load named shapes | +| Force follow | press a fingertip and it closes under your hand — the RH56 is not back-drivable, so this admittance loop is the only way to shape it by hand | +| Joint tracker | angle traces + force, current, force limit, temperature, ERROR/STATUS | +| Diagnostics | live read-back + close→open self-test, per hand | +| Read back | copy the hand's pose into the sliders | +| Arm + hand combo | built-in arm actions fused with a hand pose ⚠ arm moves | +| Record / replay | record the arm + hand, replay, manage the library ⚠ arm moves | +| Library | manage saved shapes and combos (with ↺ undo) | + +### Record / replay + +A take holds the arms ~3 s then goes **limp** — have hold of the arm before that. Fingers +cannot be posed by hand, so drive them with the in-take keys or your saved shapes. At the end +the recorder offers a preview (⚠ replays it — the arm moves) and then a save; both are +answered in the panel. **Stop** interrupts cleanly (arm goes home, then releases) — it does +not kill. Replay has **⏸ Pause / ▶ Resume**; a pause holds the frame rather than dropping the +arm. + +In-take keys: `o`/`c` both open/close · `[` `]` right · `;` `'` left · `1`-`9` saved shapes · +`f` arm/disarm follow. Whether they do anything depends on the mode: + +| `--fingers` | keys | records | +|---|---|---| +| `touch` *(default)* | **ignored** — the hand holds the rest pose | how far a finger closes, from how hard you press | +| `position` | drive the hand for real | the measured angle | +| `external` | ignored — no hand commands sent | the angle the sliders reach | +| `follow` | only `f` and the shape keys | the angle you push a finger into | + +The panel greys out keys the current mode ignores. + +Take library: **▶ replay · ⬇ download · ⧉ duplicate · ✎ rename · 🗑 delete**, plus **⬆ Upload** +and **🗑 Delete all**. `arm_home.jsonl` is hidden and protected — it is the home pose every +take returns through, not a recording. + +--- + +## 4. Without the dashboard (the backup plan) + +The same script, from a terminal. Installed at `~/manual_recorder`: + +```bash +cd ~/manual_recorder/recorder +./record.sh doctor # which runtime it will use +./record.sh record --output wave --seconds 20 +./record.sh replay --input wave --speed 0.5 +``` + +`record.sh` finds a runtime by itself — a python that can import `unitree_sdk2py`, the +vendored SDK, or (here) the **container**, which has the SDK baked in. `DataG1` is symlinked +to `~/hand_data/DataG1`, so CLI takes and dashboard takes are the same library. + +Raw equivalent: + +```bash +docker exec -it -w /opt/recorder inspire-hand python3 g1_record_replay.py eth0 \ + record --output wave --seconds 20 +``` + +`-it` matters — without a TTY the in-take keys and pause do not work. + +Carry it elsewhere: `./bundle.sh` → `manual_recorder_.tar.gz` (~340 KB), or +`--with-takes` to include recordings. + +--- + +## 5. Per-robot state — read this + +**Hands are identified by USB path, not by id.** Both answer at RS-485 id 1, so +`INSPIRE_RIGHT_PATH=1-2.2.1.1` in `docker/run.sh` decides which is which: + +``` +RIGHT = /dev/ttyUSB1 (usb 1-2.2.1.1) +LEFT = /dev/ttyUSB0 (usb 1-2.2.3) +``` + +Move an adapter to another socket and left/right silently swap. The permanent fix, once: + +```bash +# confirm ttyUSB0 really is the LEFT hand first — this writes a permanent id +docker exec inspire-hand ./build/hand_setid /dev/ttyUSB0 1 2 +``` + +After that identity is `id 1 = right, id 2 = left`, immune to replugs and hub changes. + +**Force-sensor zeros have drifted** on both hands. `inspire_g1` measures the resting offset at +startup and raises that hand's grip limit so the affected fingers do not read as dead — but +touch-mode recording thresholds off exactly that signal, so light presses read wrong. The real +fix is re-zeroing with the hands unloaded. + +**A card reader (`05e3:0749`) shares the hands' USB hub** and power-cycles constantly with no +card in it, which re-enumerates the branch and shuffles the `ttyUSB` numbers. Stop it for good: + +```bash +./start.sh usbfix # installs a udev rule + deauthorizes it (asks for your password) +``` + +--- + +## 6. Changes made to this robot during install + +| change | why | revert | +|---|---|---| +| `unitree` added to the `docker` group | every docker call was permission-denied | `sudo gpasswd -d unitree docker` | +| wifi radio unblocked, joined `BusinessPro_TP_5G` (`10.255.254.68`) | robot was ethernet-only | `sudo nmcli radio wifi off` | +| wifi route metric → 50 | `eth0` held the default route, so internet went out the robot-internal link and died; the in-image `pip` build needs internet | `sudo nmcli con mod BusinessPro_TP_5G ipv4.route-metric -1` | + +`eth0`'s own configuration was not touched — robot-internal traffic is unaffected. + +--- + +## 7. Rebuilding / redeploying + +Workstation is canonical. Push and restart: + +```bash +# from the workstation +rsync -az --exclude build/ Project/G1/DFX_inspire_service/ unitree@192.168.123.164:~/DFX_inspire_service/ +ssh unitree@192.168.123.164 'cd ~/DFX_inspire_service && ./start.sh' +``` + +`./start.sh` run *from* the workstation does the same thing by itself (it rsyncs and re-runs +over SSH). `ROBOT=unitree@10.255.254.68 ./start.sh` targets the wifi address. + +### How the image was built here + +This robot had no `~/unitree_sdk2` and no `idl` headers in `/usr/local`, so the build used: + +- `deps/unitree_sdk2` — shipped inside the project +- `/usr/local/include` — its CycloneDDS C/C++ headers and libs +- `~/cyclonedds_ws/install/cyclonedds/include/idl` — the idl headers, from its ROS2 colcon + workspace (a plain C++ install leaves those out, and the in-image `pip cyclonedds` build + needs them) + +`./tools/preflight.sh` reports all of this and says which install path is open. + +For a robot with none of it, carry the image instead: + +```bash +docker save inspire-hand:latest | gzip > inspire-hand.tar.gz # here +gunzip -c inspire-hand.tar.gz | docker load # there +``` + +--- + +## 8. Troubleshooting + +**`service=false`, `ports=none`** — no `/dev/ttyUSB*`. Check both CH340 adapters are in and +the hands have 24 V. `lsusb | grep 1a86` should list two. The supervisor starts `inspire_g1` +within ~3 s of them appearing. + +**Fingers do not move (thumb might)** — usually a latched actuator fault from two `inspire_g1` +running at once. Press **Restart** in the dashboard (re-runs `ClearError`); still stuck, +power-cycle the hands (24 V). + +**A finger reads as dead (0 current, no movement)** — its force-sensor zero drifted past the +grip limit, so the RH56 refuses to drive it. Startup raises the limit; the log names the +fingers. + +**"Port drift" warning** — the ttys renumbered. Harmless (hands are pinned by USB path); the +card reader is the cause — see `usbfix` above. + +**`rt/inspire/state` reads all zeros** — cosmetic; the CH340s echo their own TX, so read-back +is unreliable. Commands are unaffected. + +**Two `inspire_g1` instances** — they collide on the RS-485 bus. `docker/run.sh` kills +host-native copies before starting. Kill with `pkill -x inspire_g1`, never `pkill -f`. + +**Recorder says "not found"** — the image was built without `recorder/`. `./start.sh rebuild`. + +--- + +## 9. Safety + +- A take makes the **arms go limp** after ~3 s. Be holding the arm. +- **Replay and preview move the arm** through the whole recording. +- Never run a CLI take while the dashboard has one going — two writers on the same topics. +- Do not run the native `manage.sh` path while the container is up, for the same reason. + +--- + +## 10. Removing it + +```bash +./start.sh stop +docker rmi inspire-hand:latest +rm -rf ~/DFX_inspire_service ~/manual_recorder # ~/hand_data holds your takes — keep it +``` diff --git a/SETUP_G1.md b/SETUP_G1.md index 7a9f8ec..c2f86b8 100644 --- a/SETUP_G1.md +++ b/SETUP_G1.md @@ -35,16 +35,32 @@ cd ~/DFX_inspire_service ./build.sh # -> build/inspire_g1, inspire_h1, hand_example ``` -## 2. Stable serial names + no-sudo access (one-time, needs sudo) -Both hand adapters are CH340s with identical USB serial, so we pin names by -physical port and grant access via udev: +## 2. Serial access + telling the two hands apart (one-time) +Both adapters are CH340s reporting the **same** USB serial, so there is nothing +intrinsic to key on. Two separate problems, two separate answers: + +**Access.** The udev rule grants `0666` to any CH340 tty — it does **not** create +`/dev/inspire_*` symlinks any more (per-port symlinks broke whenever the adapters +moved to a different hub socket). Only needed for the native path; the container +runs privileged with `/dev` mounted and does not care: ```bash sudo cp ~/DFX_inspire_service/udev/99-inspire-hands.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules && sudo udevadm trigger -ls -l /dev/inspire_right /dev/inspire_left # both should now exist +ls -l /dev/ttyUSB* # two nodes, world-writable ``` -`inspire_g1.cpp` opens `/dev/inspire_right` + `/dev/inspire_left`. -Mapping (corrected after live test): right → USB port `1-2.2.1.1`, left → `1-2.2.3`. + +**Identity.** `inspire_g1` resolves which tty is which hand, best first: +1. **RS-485 id** — `id 1 = right, id 2 = left`. Wiring-independent and permanent; + immune to replugs, hub changes and enumeration order. Set it once per robot: + ```bash + docker exec inspire-hand ./build/hand_setid 1 2 + ``` +2. `INSPIRE_RIGHT_PATH` / `INSPIRE_LEFT_PATH` — pin by physical USB socket + (`run.sh` ships `1-2.2.1.1`, which is **this** robot's topology). +3. USB path order — the fallback, and the one that can silently swap the hands + on unfamiliar hardware. + +On a new robot, do (1). Then (2) and (3) stop mattering. ## 3. Run + test ```bash diff --git a/deps/unitree_sdk2/.devcontainer/Dockerfile.devcontainer b/deps/unitree_sdk2/.devcontainer/Dockerfile.devcontainer new file mode 100644 index 0000000..e19a6a4 --- /dev/null +++ b/deps/unitree_sdk2/.devcontainer/Dockerfile.devcontainer @@ -0,0 +1,35 @@ +FROM ubuntu:20.04 + +ENV TZ=Asia/Shanghai +RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone + +ENV DEBIAN_FRONTEND=noninteractive + +USER root + +# install zsh and oh-my-zsh +RUN apt update && apt-get install -y git wget zsh && \ + wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh && chmod +x install.sh +RUN ./install.sh +RUN git clone https://github.com/zsh-users/zsh-autosuggestions.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions && \ + apt install zsh-syntax-highlighting +# configure zsh +RUN echo 'export ZSH=$HOME/.oh-my-zsh' >> ~/.zshrc && \ + echo 'ZSH_THEME="ys"' >> ~/.zshrc && \ + echo 'plugins=(git zsh-autosuggestions)' >> ~/.zshrc && \ + echo 'source $ZSH/oh-my-zsh.sh' >> ~/.zshrc && \ + echo 'source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh' >> ~/.zshrc +RUN chsh -s /bin/zsh + +# install build tools +RUN apt-get install -y build-essential gcc-9 g++-9 gdb cmake ninja-build + +RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 100 \ + && update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 100 + +# install libraries +RUN apt-get install -y libyaml-cpp-dev libeigen3-dev + +WORKDIR /workspace + +CMD ["zsh"] \ No newline at end of file diff --git a/deps/unitree_sdk2/.devcontainer/devcontainer.json b/deps/unitree_sdk2/.devcontainer/devcontainer.json new file mode 100644 index 0000000..cc5928d --- /dev/null +++ b/deps/unitree_sdk2/.devcontainer/devcontainer.json @@ -0,0 +1,29 @@ +{ + "name": "Existing Docker Compose (Extend)", + "dockerComposeFile": [ + "docker-compose.yml" + ], + "service": "devcontainer", + "workspaceFolder": "/workspace", + "customizations": { + "vscode": { + "extensions": [ + "gitlab.gitlab-workflow", + "llvm-vs-code-extensions.vscode-clangd", + "xaver.clang-format", + "ms-vscode.cmake-tools", + "zxh404.vscode-proto3", + "donjayamanne.githistory", + "mhutchie.git-graph", + "matepek.vscode-catch2-test-adapter", + "ryanluker.vscode-coverage-gutters", + "donjayamanne.python-extension-pack", + "adam-bender.commit-message-editor", + "axetroy.vscode-changelog-generator", + "vsliveshare.vsliveshare", + "bierner.markdown-mermaid", + "vadimcn.vscode-lldb" + ] + } + } +} \ No newline at end of file diff --git a/deps/unitree_sdk2/.devcontainer/docker-compose.yml b/deps/unitree_sdk2/.devcontainer/docker-compose.yml new file mode 100644 index 0000000..8641505 --- /dev/null +++ b/deps/unitree_sdk2/.devcontainer/docker-compose.yml @@ -0,0 +1,25 @@ +version: '3' +services: + devcontainer: + volumes: + - ..:/workspace:cached + - /tmp/.X11-unix:/tmp/.X11-unix:rw + - /mnt/wslg:/mnt/wslg + - /root/.gazebo/models/:/root/.gazebo/models/ + - /var/run/docker.sock:/var/run/docker.sock + - $HOME/.Xauthority:/tmp/.Xauthority:rw + environment: + - DISPLAY=${DISPLAY} + - XAUTHORITY=/tmp/.Xauthority + + cap_add: + - SYS_PTRACE + command: /bin/sh -c "while sleep 1000; do :; done" + + build: + context: . + dockerfile: Dockerfile.devcontainer + + privileged: true + network_mode: "host" + \ No newline at end of file diff --git a/deps/unitree_sdk2/.github/workflows/c-cpp.yml b/deps/unitree_sdk2/.github/workflows/c-cpp.yml new file mode 100644 index 0000000..a958007 --- /dev/null +++ b/deps/unitree_sdk2/.github/workflows/c-cpp.yml @@ -0,0 +1,29 @@ +name: C/C++ Build Workflow + +on: + push: + branches: [ "main" ] + pull_request: + branches: [ "main" ] + +jobs: + build: + runs-on: ubuntu-latest # Use latest runner to host the container + + container: + image: ubuntu:20.04 + options: --privileged # Needed for some build tools + + steps: + - uses: actions/checkout@v4 + + - name: Install dependencies + run: | + export DEBIAN_FRONTEND=noninteractive + apt-get update + apt-get install -y cmake g++ build-essential libyaml-cpp-dev libeigen3-dev + + - name: CMake build + run: | + cmake -Bbuild + cmake --build build -j$(nproc) \ No newline at end of file diff --git a/deps/unitree_sdk2/.gitignore b/deps/unitree_sdk2/.gitignore new file mode 100644 index 0000000..d315944 --- /dev/null +++ b/deps/unitree_sdk2/.gitignore @@ -0,0 +1,8 @@ +# IDE +.vscode + +# cpp +build + +#cland +.cache diff --git a/deps/unitree_sdk2/CMakeLists.txt b/deps/unitree_sdk2/CMakeLists.txt new file mode 100644 index 0000000..9cb4299 --- /dev/null +++ b/deps/unitree_sdk2/CMakeLists.txt @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 3.5) +project(unitree_sdk2 VERSION 2.0.0) + +## Project Options +option(BUILD_EXAMPLES "Build examples" ON) + +## Set compiler to use c++ 17 features +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_EXTENSIONS OFF) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## Chosse build type +set(default_build_type "Release") +if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message(STATUS "Setting build type to '${default_build_type}' as none was specified.") + set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE + STRING "Choose the type of build." FORCE) + # Set the possible values of build type for cmake-gui + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS + "Debug" "Release" "MinSizeRel" "RelWithDebInfo") +endif () + +## Use GNUInstallDirs to install libraries into correct locations on all platforms. +include(GNUInstallDirs) + +## Put all binary files into /bin and libraries into /lib +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}) +set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}) +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}) + +## Check system architecture +message(STATUS "Current system architecture: ${CMAKE_SYSTEM_PROCESSOR}") + +## Import thirdparty libraries +add_subdirectory(thirdparty) + +## Import Unitree SDK2 library +set(UNITREE_SDK_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}) +find_library(UNITREE_SDK_LIB unitree_sdk2 PATHS ${UNITREE_SDK_PATH} NO_DEFAULT_PATH) + +if (NOT UNITREE_SDK_LIB) + message(FATAL_ERROR "Unitree SDK library for the architecture is not found") +else () + message(STATUS "Unitree SDK library found at: ${UNITREE_SDK_LIB}") +endif () + +message(STATUS "Importing: ${UNITREE_SDK_LIB}") + +find_package(Threads REQUIRED) + +add_library(unitree_sdk2 STATIC IMPORTED GLOBAL) +set_target_properties(unitree_sdk2 PROPERTIES + IMPORTED_LOCATION ${UNITREE_SDK_LIB}) +target_link_libraries(unitree_sdk2 INTERFACE ddsc ddscxx Threads::Threads) +target_include_directories(unitree_sdk2 INTERFACE + $ + $) + +if (BUILD_EXAMPLES) + add_subdirectory(example) +endif () + +## Install the library +install(DIRECTORY include/ + DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) + +install(FILES ${UNITREE_SDK_LIB} + DESTINATION ${CMAKE_INSTALL_LIBDIR}) + +install(FILES cmake/unitree_sdk2Targets.cmake + DESTINATION lib/cmake/unitree_sdk2) + +include(CMakePackageConfigHelpers) +write_basic_package_version_file( + unitree_sdk2ConfigVersion.cmake + VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}" + COMPATIBILITY ExactVersion) + +configure_file(cmake/unitree_sdk2Config.cmake.in unitree_sdk2Config.cmake @ONLY) +install(FILES "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2Config.cmake" + "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2ConfigVersion.cmake" + DESTINATION lib/cmake/unitree_sdk2) diff --git a/deps/unitree_sdk2/LICENSE b/deps/unitree_sdk2/LICENSE new file mode 100644 index 0000000..d1febdc --- /dev/null +++ b/deps/unitree_sdk2/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/deps/unitree_sdk2/README.md b/deps/unitree_sdk2/README.md new file mode 100644 index 0000000..5dcb387 --- /dev/null +++ b/deps/unitree_sdk2/README.md @@ -0,0 +1,60 @@ +# unitree_sdk2 +Unitree robot sdk version 2. + +### Prebuild environment +* OS (Ubuntu 20.04 LTS) +* CPU (aarch64 and x86_64) +* Compiler (gcc version 9.4.0) + +### Environment Setup + +Before building or running the SDK, ensure the following dependencies are installed: + +- CMake (version 3.10 or higher) +- GCC (version 9.4.0) +- Make + +You can install the required packages on Ubuntu 20.04 with: + +```bash +apt-get update +apt-get install -y cmake g++ build-essential libyaml-cpp-dev libeigen3-dev libboost-all-dev libspdlog-dev libfmt-dev +``` + +### Build examples + +To build the examples inside this repository: + +```bash +mkdir build +cd build +cmake .. +make +``` + +### Installation + +To build your own application with the SDK, you can install the unitree_sdk2 to your system directory: + +```bash +mkdir build +cd build +cmake .. +sudo make install +``` + +Or install unitree_sdk2 to a specified directory: + +```bash +mkdir build +cd build +cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree_robotics +sudo make install +``` + +You can refer to `example/cmake_sample` on how to import the unitree_sdk2 into your CMake project. + +Note that if you install the library to other places other than `/opt/unitree_robotics`, you need to make sure the path is added to "${CMAKE_PREFIX_PATH}" so that cmake can find it with "find_package()". + +### Notice +For more reference information, please go to [Unitree Document Center](https://support.unitree.com/home/zh/developer). diff --git a/deps/unitree_sdk2/build_install/CMakeCache.txt b/deps/unitree_sdk2/build_install/CMakeCache.txt new file mode 100644 index 0000000..02f7f4a --- /dev/null +++ b/deps/unitree_sdk2/build_install/CMakeCache.txt @@ -0,0 +1,490 @@ +# This is the CMakeCache file. +# For build in directory: /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install +# It was generated by CMake: /home/zedx/miniconda3/lib/python3.13/site-packages/cmake/data/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build examples +BUILD_EXAMPLES:BOOL=OFF + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build. +CMAKE_BUILD_TYPE:STRING=Release + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-13 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-13 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. 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+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__RENESAS__) +# define COMPILER_ID "Renesas" +/* __RENESAS_VERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__RENESAS_VERSION__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR HEX(__RENESAS_VERSION__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__RENESAS_VERSION__ >> 8 & 0xFF) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__DCC__) && defined(_DIAB_TOOL) +# define COMPILER_ID "Diab" + # define COMPILER_VERSION_MAJOR DEC(__VERSION_MAJOR_NUMBER__) + # define COMPILER_VERSION_MINOR DEC(__VERSION_MINOR_NUMBER__) + # define COMPILER_VERSION_PATCH DEC(__VERSION_ARCH_FEATURE_NUMBER__) + # define COMPILER_VERSION_TWEAK DEC(__VERSION_BUG_FIX_NUMBER__) + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) || defined(__CPARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__RENESAS__) +# if defined(__CCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__CCRL__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__CCRH__) +# define ARCHITECTURE_ID "RH850" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#define C_STD_99 199901L +#define C_STD_11 201112L +#define C_STD_17 201710L +#define C_STD_23 202311L + +#ifdef __STDC_VERSION__ +# define C_STD __STDC_VERSION__ +#endif + +#if !defined(__STDC__) && !defined(__clang__) && !defined(__RENESAS__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif C_STD > C_STD_17 +# define C_VERSION "23" +#elif C_STD > C_STD_11 +# define C_VERSION "17" +#elif C_STD > C_STD_99 +# define C_VERSION "11" +#elif C_STD >= C_STD_99 +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__) || defined(__RENESAS__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#if defined(COMPILER_VERSION_INTERNAL) || defined(COMPILER_VERSION_INTERNAL_STR) + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/deps/unitree_sdk2/build_install/CMakeFiles/4.1.3/CompilerIdC/a.out b/deps/unitree_sdk2/build_install/CMakeFiles/4.1.3/CompilerIdC/a.out new file mode 100644 index 0000000000000000000000000000000000000000..f1ada888b26eb7e10c09f9d3c051a0bbc662377d GIT binary patch literal 16088 zcmeHOZ)_Y#6`#8#jYE^zaU1L=r8!E15?XI;$8p`DB$wFdtdX6B!~vl+tk%A@@5KEv zcYDOHpai9qm^4xg2>Jn}szOx!i3AcVA|HyQR)Lm+8VRYPpHfIskV5MUs7#4+yf^cH z>+^CB672^h_F3LH@Av-9?3>xW+1;5hrUv`tv6uoaQM(jN$tHs&Me)RaQXrO8J!%yl zKcMbZw~)M4V@97ejI@R>#TW7h!Iuzczg8~P;ddICYA}QrGH1WVD8mgR0#|Y#?6-^+ zB8T~FQUN&hL465!CQ9gIz#kPq@LE4^%50mlpWV5T+me@q!r{lFJ_XCzQ+F5=J|p#k zBcGfT{_l}|hIzY$0T26S#4pVI#1EY7U^@J|pZ;&^J1BlHC3F}S=Jy&{fup{Ulb>|0 zSlpbUn-58Si}gd3+Z73MXOU+% 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VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__RENESAS__) +# define COMPILER_ID "Renesas" +/* __RENESAS_VERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__RENESAS_VERSION__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR HEX(__RENESAS_VERSION__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__RENESAS_VERSION__ >> 8 & 0xFF) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) && defined(__ti__) +# define COMPILER_ID "TIClang" + # define COMPILER_VERSION_MAJOR DEC(__ti_major__) + # define COMPILER_VERSION_MINOR DEC(__ti_minor__) + # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__) +# define COMPILER_VERSION_INTERNAL DEC(__ti_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__DCC__) && defined(_DIAB_TOOL) +# define COMPILER_ID "Diab" + # define COMPILER_VERSION_MAJOR DEC(__VERSION_MAJOR_NUMBER__) + # define COMPILER_VERSION_MINOR DEC(__VERSION_MINOR_NUMBER__) + # define COMPILER_VERSION_PATCH DEC(__VERSION_ARCH_FEATURE_NUMBER__) + # define COMPILER_VERSION_TWEAK DEC(__VERSION_BUG_FIX_NUMBER__) + + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__clang__) && defined(__ti__) +# if defined(__ARM_ARCH) +# define ARCHITECTURE_ID "ARM" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) || defined(__CPARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__RENESAS__) +# if defined(__CCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__CCRL__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__CCRH__) +# define ARCHITECTURE_ID "RH850" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#define CXX_STD_98 199711L +#define CXX_STD_11 201103L +#define CXX_STD_14 201402L +#define CXX_STD_17 201703L +#define CXX_STD_20 202002L +#define CXX_STD_23 202302L + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) +# if _MSVC_LANG > CXX_STD_17 +# define CXX_STD _MSVC_LANG +# elif _MSVC_LANG == CXX_STD_17 && defined(__cpp_aggregate_paren_init) +# define CXX_STD CXX_STD_20 +# elif _MSVC_LANG > CXX_STD_14 && __cplusplus > CXX_STD_17 +# define CXX_STD CXX_STD_20 +# elif _MSVC_LANG > CXX_STD_14 +# define CXX_STD CXX_STD_17 +# elif defined(__INTEL_CXX11_MODE__) && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# elif defined(__INTEL_CXX11_MODE__) +# define CXX_STD CXX_STD_11 +# else +# define CXX_STD CXX_STD_98 +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# if _MSVC_LANG > __cplusplus +# define CXX_STD _MSVC_LANG +# else +# define CXX_STD __cplusplus +# endif +#elif defined(__NVCOMPILER) +# if __cplusplus == CXX_STD_17 && defined(__cpp_aggregate_paren_init) +# define CXX_STD CXX_STD_20 +# else +# define CXX_STD __cplusplus +# endif +#elif defined(__INTEL_COMPILER) || defined(__PGI) +# if __cplusplus == CXX_STD_11 && defined(__cpp_namespace_attributes) +# define CXX_STD CXX_STD_17 +# elif __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# else +# define CXX_STD __cplusplus +# endif +#elif (defined(__IBMCPP__) || defined(__ibmxl__)) && defined(__linux__) +# if __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi) +# define CXX_STD CXX_STD_14 +# else +# define CXX_STD __cplusplus +# endif +#elif __cplusplus == 1 && defined(__GXX_EXPERIMENTAL_CXX0X__) +# define CXX_STD CXX_STD_11 +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > CXX_STD_23 + "26" +#elif CXX_STD > CXX_STD_20 + "23" +#elif CXX_STD > CXX_STD_17 + "20" +#elif CXX_STD > CXX_STD_14 + "17" +#elif CXX_STD > CXX_STD_11 + "14" +#elif CXX_STD >= CXX_STD_11 + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__) || defined(__RENESAS__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#if defined(COMPILER_VERSION_INTERNAL) || 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directory..." + /home/zedx/miniconda3/lib/python3.13/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Installing the project stripped..." + /home/zedx/miniconda3/lib/python3.13/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Installing the project stripped..." + /home/zedx/miniconda3/lib/python3.13/site-packages/cmake/data/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# The main all target +all: cmake_check_build_system + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(CMAKE_COMMAND) -E cmake_progress_start /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install/CMakeFiles /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install/thirdparty//CMakeFiles/progress.marks + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 thirdparty/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 thirdparty/clean +.PHONY : clean + +# The main clean target +clean/fast: clean +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 thirdparty/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 thirdparty/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... edit_cache" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... rebuild_cache" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/deps/unitree_sdk2/build_install/thirdparty/cmake_install.cmake b/deps/unitree_sdk2/build_install/thirdparty/cmake_install.cmake new file mode 100644 index 0000000..320f876 --- /dev/null +++ b/deps/unitree_sdk2/build_install/thirdparty/cmake_install.cmake @@ -0,0 +1,63 @@ +# Install script for directory: /home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/zedx/.local/unitree_robotics") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +# Set path to fallback-tool for dependency-resolution. +if(NOT DEFINED CMAKE_OBJDUMP) + set(CMAKE_OBJDUMP "/usr/bin/objdump") +endif() + +if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE FILE FILES + "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty/lib/x86_64/libddsc.so" + "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty/lib/x86_64/libddsc.so.0" + "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty/lib/x86_64/libddscxx.so" + "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty/lib/x86_64/libddscxx.so.0" + ) +endif() + +if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/thirdparty/include/") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +if(CMAKE_INSTALL_LOCAL_ONLY) + file(WRITE "/home/zedx/Robotics_workspace/yslootahtech/Project/R1/sdk/unitree_sdk2/build_install/thirdparty/install_local_manifest.txt" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") +endif() diff --git a/deps/unitree_sdk2/build_install/unitree_sdk2Config.cmake b/deps/unitree_sdk2/build_install/unitree_sdk2Config.cmake new file mode 100644 index 0000000..ff2bad6 --- /dev/null +++ b/deps/unitree_sdk2/build_install/unitree_sdk2Config.cmake @@ -0,0 +1,7 @@ +include(CMakeFindDependencyMacro) + +# Same syntax as find_package +find_dependency(Threads REQUIRED) + +# Add the targets file +include("${CMAKE_CURRENT_LIST_DIR}/unitree_sdk2Targets.cmake") diff --git a/deps/unitree_sdk2/build_install/unitree_sdk2ConfigVersion.cmake b/deps/unitree_sdk2/build_install/unitree_sdk2ConfigVersion.cmake new file mode 100644 index 0000000..8b7f297 --- /dev/null +++ b/deps/unitree_sdk2/build_install/unitree_sdk2ConfigVersion.cmake @@ -0,0 +1,83 @@ +# This is a basic version file for the Config-mode of find_package(). +# It is used by write_basic_package_version_file() as input file for configure_file() +# to create a version-file which can be installed along a config.cmake file. +# +# The created file sets PACKAGE_VERSION_EXACT if the current version string and +# the requested version string are exactly the same and it sets +# PACKAGE_VERSION_COMPATIBLE if the current version is equal to the requested version. +# The tweak version component is ignored. +# The variable CVF_VERSION must be set before calling configure_file(). + + +if (PACKAGE_FIND_VERSION_RANGE) + message(AUTHOR_WARNING + "`find_package()` specify a version range but the version strategy " + "(ExactVersion) of the module `${PACKAGE_FIND_NAME}` is incompatible " + "with this request. Only the lower endpoint of the range will be used.") +endif() + +set(PACKAGE_VERSION "2.0.0") + +if("2.0.0" MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version + set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}") + set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}") + set(CVF_VERSION_PATCH "${CMAKE_MATCH_3}") + + if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}") + endif() + if(NOT CVF_VERSION_MINOR VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" CVF_VERSION_MINOR "${CVF_VERSION_MINOR}") + endif() + if(NOT CVF_VERSION_PATCH VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" CVF_VERSION_PATCH "${CVF_VERSION_PATCH}") + endif() + + set(CVF_VERSION_NO_TWEAK "${CVF_VERSION_MAJOR}.${CVF_VERSION_MINOR}.${CVF_VERSION_PATCH}") +else() + set(CVF_VERSION_NO_TWEAK "2.0.0") +endif() + +if(PACKAGE_FIND_VERSION MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version + set(REQUESTED_VERSION_MAJOR "${CMAKE_MATCH_1}") + set(REQUESTED_VERSION_MINOR "${CMAKE_MATCH_2}") + set(REQUESTED_VERSION_PATCH "${CMAKE_MATCH_3}") + + if(NOT REQUESTED_VERSION_MAJOR VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MAJOR "${REQUESTED_VERSION_MAJOR}") + endif() + if(NOT REQUESTED_VERSION_MINOR VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MINOR "${REQUESTED_VERSION_MINOR}") + endif() + if(NOT REQUESTED_VERSION_PATCH VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_PATCH "${REQUESTED_VERSION_PATCH}") + endif() + + set(REQUESTED_VERSION_NO_TWEAK + "${REQUESTED_VERSION_MAJOR}.${REQUESTED_VERSION_MINOR}.${REQUESTED_VERSION_PATCH}") +else() + set(REQUESTED_VERSION_NO_TWEAK "${PACKAGE_FIND_VERSION}") +endif() + +if(REQUESTED_VERSION_NO_TWEAK STREQUAL CVF_VERSION_NO_TWEAK) + set(PACKAGE_VERSION_COMPATIBLE TRUE) +else() + set(PACKAGE_VERSION_COMPATIBLE FALSE) +endif() + +if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) + set(PACKAGE_VERSION_EXACT TRUE) +endif() + + +# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it: +if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "") + return() +endif() + +# check that the installed version has the same 32/64bit-ness as the one which is currently searching: +if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8") + math(EXPR installedBits "8 * 8") + set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)") + set(PACKAGE_VERSION_UNSUITABLE TRUE) +endif() diff --git a/deps/unitree_sdk2/cmake/unitree_sdk2Config.cmake.in b/deps/unitree_sdk2/cmake/unitree_sdk2Config.cmake.in new file mode 100644 index 0000000..ff2bad6 --- /dev/null +++ b/deps/unitree_sdk2/cmake/unitree_sdk2Config.cmake.in @@ -0,0 +1,7 @@ +include(CMakeFindDependencyMacro) + +# Same syntax as find_package +find_dependency(Threads REQUIRED) + +# Add the targets file +include("${CMAKE_CURRENT_LIST_DIR}/unitree_sdk2Targets.cmake") diff --git a/deps/unitree_sdk2/cmake/unitree_sdk2Targets.cmake b/deps/unitree_sdk2/cmake/unitree_sdk2Targets.cmake new file mode 100644 index 0000000..5f401ae --- /dev/null +++ b/deps/unitree_sdk2/cmake/unitree_sdk2Targets.cmake @@ -0,0 +1,96 @@ +if(CMAKE_VERSION VERSION_LESS 3.5.0) + message(FATAL_ERROR "This file relies on consumers using CMake 3.5.0 or greater.") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.6) + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Protect against multiple inclusion, which would fail when already imported targets are added once more. +set(_targetsDefined) +set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget unitree_sdk2) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target ddsc and ddscxx +add_library(ddsc SHARED IMPORTED GLOBAL) +set_target_properties(ddsc PROPERTIES + IMPORTED_LOCATION ${_IMPORT_PREFIX}/lib/libddsc.so + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "Threads::Threads" + IMPORTED_NO_SONAME TRUE) + +add_library(ddscxx SHARED IMPORTED GLOBAL) +set_target_properties(ddscxx PROPERTIES + IMPORTED_LOCATION ${_IMPORT_PREFIX}/lib/libddscxx.so + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include/ddscxx" + INTERFACE_LINK_LIBRARIES "Threads::Threads" + IMPORTED_NO_SONAME TRUE) + +# Create imported target unitree_sdk2 +add_library(unitree_sdk2 STATIC IMPORTED GLOBAL) +set_target_properties(unitree_sdk2 PROPERTIES + IMPORTED_LOCATION ${_IMPORT_PREFIX}/lib/libunitree_sdk2.a + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "ddsc;ddscxx;Threads::Threads" + LINKER_LANGUAGE CXX +) + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/deps/unitree_sdk2/example/CMakeLists.txt b/deps/unitree_sdk2/example/CMakeLists.txt new file mode 100644 index 0000000..e9b9510 --- /dev/null +++ b/deps/unitree_sdk2/example/CMakeLists.txt @@ -0,0 +1,16 @@ +add_subdirectory(helloworld) +add_subdirectory(wireless_controller) +add_subdirectory(jsonize) +add_subdirectory(state_machine) + + +add_subdirectory(go2) +add_subdirectory(b2) +add_subdirectory(h1) +add_subdirectory(g1) +add_subdirectory(go2w) +add_subdirectory(b2w) +add_subdirectory(a2) +add_subdirectory(r1) +add_subdirectory(h2) +add_subdirectory(as2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/a2/CMakeLists.txt b/deps/unitree_sdk2/example/a2/CMakeLists.txt new file mode 100644 index 0000000..3634be8 --- /dev/null +++ b/deps/unitree_sdk2/example/a2/CMakeLists.txt @@ -0,0 +1,8 @@ +add_executable(a2_sport_client sport/a2_sport_client.cpp) +target_link_libraries(a2_sport_client unitree_sdk2) + +add_executable(a2_sport_state sport/a2_sport_state.cpp) +target_link_libraries(a2_sport_state unitree_sdk2) + +add_executable(a2_audio_client_example audio/a2_audio_client_example.cpp) +target_link_libraries(a2_audio_client_example unitree_sdk2) diff --git a/deps/unitree_sdk2/example/a2/audio/a2_audio_client_example.cpp b/deps/unitree_sdk2/example/a2/audio/a2_audio_client_example.cpp new file mode 100644 index 0000000..c22de3b --- /dev/null +++ b/deps/unitree_sdk2/example/a2/audio/a2_audio_client_example.cpp @@ -0,0 +1,175 @@ +#include +#include +#include +#include +#include +#include +#include + +#include "wav.hpp" + +#define AUDIO_FILE_PATH "../example/a2/audio/test.wav" +#define AUDIO_SUBSCRIBE_TOPIC "rt/audio_msg" +#define GROUP_IP "239.168.123.161" +#define PORT 5555 + +#define WAV_SECOND 5 // record seconds +#define WAV_LEN (16000 * 2 * WAV_SECOND) +#define WAV_LEN_ONCE (16000 * 2 * 160 / 1000) +#define CHUNK_SIZE 96000 // 3 seconds +int sock; + +void asr_handler(const void *msg) { + std_msgs::msg::dds_::String_ *resMsg = (std_msgs::msg::dds_::String_ *)msg; + std::cout << "Topic:\"rt/audio_msg\" recv: " << resMsg->data() << std::endl; +} + +std::string get_local_ip_for_multicast() { + struct ifaddrs *ifaddr, *ifa; + char host[NI_MAXHOST]; + std::string result = ""; + + getifaddrs(&ifaddr); + for (ifa = ifaddr; ifa != nullptr; ifa = ifa->ifa_next) { + if (!ifa->ifa_addr || ifa->ifa_addr->sa_family != AF_INET) continue; + getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, + NULL, 0, NI_NUMERICHOST); + std::string ip(host); + if (ip.find("192.168.123.") == 0) { + result = ip; + break; + } + } + freeifaddrs(ifaddr); + return result; +} + +void thread_mic(void) { + sock = socket(AF_INET, SOCK_DGRAM, 0); + sockaddr_in local_addr{}; + local_addr.sin_family = AF_INET; + local_addr.sin_port = htons(PORT); + local_addr.sin_addr.s_addr = INADDR_ANY; + bind(sock, (sockaddr *)&local_addr, sizeof(local_addr)); + + ip_mreq mreq{}; + inet_pton(AF_INET, GROUP_IP, &mreq.imr_multiaddr); + std::string local_ip = get_local_ip_for_multicast(); + std::cout << "local ip: " << local_ip << std::endl; + mreq.imr_interface.s_addr = inet_addr(local_ip.c_str()); + setsockopt(sock, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq)); + + int total_bytes = 0; + std::vector pcm_data; + pcm_data.reserve(WAV_LEN / 2); + std::cout << "start record!" << std::endl; + while (total_bytes < WAV_LEN) { + char buffer[WAV_LEN_ONCE]; + ssize_t len = recvfrom(sock, buffer, sizeof(buffer), 0, nullptr, nullptr); + if (len > 0) { + size_t sample_count = len / 2; + const int16_t *samples = reinterpret_cast(buffer); + pcm_data.insert(pcm_data.end(), samples, samples + sample_count); + total_bytes += len; + } + } + + WriteWave("record.wav", 16000, pcm_data.data(), pcm_data.size(), 1); + std::cout << "record finish! save to record.wav " << std::endl; +} + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: audio_client_example [NetWorkInterface(eth0)]" + << std::endl; + exit(0); + } + int32_t ret; + /* + * Initilaize ChannelFactory + */ + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + unitree::robot::a2::AudioClient client; + client.Init(); + client.SetTimeout(10.0f); + + /*ASR message Example*/ + unitree::robot::ChannelSubscriber subscriber( + AUDIO_SUBSCRIBE_TOPIC); + subscriber.InitChannel(asr_handler); + + /*Volume Example*/ + uint8_t volume; + ret = client.GetVolume(volume); + std::cout << "GetVolume API ret:" << ret + << " volume = " << std::to_string(volume) << std::endl; + ret = client.SetVolume(100); + std::cout << "SetVolume to 100% , API ret:" << ret << std::endl; + + /*TTS Example*/ + ret = client.TtsMaker("你好。我是宇树科技的机器人。例程启动成功", + 0); // Auto play + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(5); + + ret = client.TtsMaker( + "Hello. I'm a robot from Unitree Robotics. The example has started " + "successfully. ", + 1); // Engilsh TTS + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(8); + + /*Audio Play Example*/ + int32_t sample_rate = -1; + int8_t num_channels = 0; + bool filestate = false; + std::vector pcm = + ReadWave(AUDIO_FILE_PATH, &sample_rate, &num_channels, &filestate); + + std::cout << "wav file sample_rate = " << sample_rate + << " num_channels = " << std::to_string(num_channels) + << " filestate =" << filestate << "filesize = " << pcm.size() + << std::endl; + + if (filestate && sample_rate == 16000 && num_channels == 1) { + size_t total_size = pcm.size(); + size_t offset = 0; + int chunk_index = 0; + std::string stream_id = + std::to_string(unitree::common::GetCurrentTimeMillisecond()); + + while (offset < total_size) { + size_t remaining = total_size - offset; + size_t current_chunk_size = + std::min(static_cast(CHUNK_SIZE), remaining); + std::vector chunk(pcm.begin() + offset, + pcm.begin() + offset + current_chunk_size); + client.PlayStream("example", stream_id, chunk); + unitree::common::Sleep(1); + std::cout << "Playing size: " << offset << std::endl; + offset += current_chunk_size; + } + + ret = client.PlayStop(stream_id); // stop playback after transmission ends + + } else { + std::cout << "audio file format error, please check!" << std::endl; + } + + /*LED Control Example*/ + client.LedControl(0, 255, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 255); + + std::cout << "AudioClient api test finish , asr start..." << std::endl; + + std::thread mic_t(thread_mic); + + while (1) { + sleep(1); // wait for asr message + } + mic_t.join(); + return 0; +} diff --git a/deps/unitree_sdk2/example/a2/audio/test.wav b/deps/unitree_sdk2/example/a2/audio/test.wav new file mode 100644 index 0000000000000000000000000000000000000000..d0bd0bbca59d5cf6abe4b4aad75bda31b5e381fc GIT binary patch literal 132246 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z$^Y0_6786WU?ZCJ5Vp;dF$~05mhQF;4M9`y6dTl9Y>tvUTAy@@o~YlL1C7dMk(j&{ zZAzNi8Vsj;y7^g}xACKmt#@%m%Dl=L`zB3{280)TrMt9ZQLCO3%Wd(SFl+G8n(caB zX>kU#apLP@Ibb|uydmg_FE#&I{+OgPdNU3aq(nb96H$n)i8v~6pPNNuez;a_kWVZQEiMhtw<|1xvI5^e~qU# z8`BsD3!`Xdk(5^1@xrzJ(=$X7mUkenYxE%4n%uDU>1y3$u#H|^LP{b;Vj zqn@ByiqkX~lN>QlOrDs`F!^qV!Z literal 0 HcmV?d00001 diff --git a/deps/unitree_sdk2/example/a2/audio/wav.hpp b/deps/unitree_sdk2/example/a2/audio/wav.hpp new file mode 100644 index 0000000..cadedb9 --- /dev/null +++ b/deps/unitree_sdk2/example/a2/audio/wav.hpp @@ -0,0 +1,232 @@ +#ifndef __UT_ROBOT_WAV_READER_HPP__ +#define __UT_ROBOT_WAV_READER_HPP__ + +struct WaveHeader { + void SeekToDataChunk(std::istream &is) { + while (is && subchunk2_id != 0x61746164) { + is.seekg(subchunk2_size, std::istream::cur); + is.read(reinterpret_cast(&subchunk2_id), sizeof(int32_t)); + is.read(reinterpret_cast(&subchunk2_size), sizeof(int32_t)); + } + } + + int32_t chunk_id; + int32_t chunk_size; + int32_t format; + int32_t subchunk1_id; + int32_t subchunk1_size; + int16_t audio_format; + int16_t num_channels; + int32_t sample_rate; + int32_t byte_rate; + int16_t block_align; + int16_t bits_per_sample; + int32_t subchunk2_id; // a tag of this chunk + int32_t subchunk2_size; // size of subchunk2 +}; + +static_assert(sizeof(WaveHeader) == 44); + +std::vector ReadWaveImpl(std::istream &is, int32_t *sampling_rate, + int8_t *channelCount, bool *is_ok) { + WaveHeader header{}; + is.read(reinterpret_cast(&header.chunk_id), sizeof(header.chunk_id)); + + // F F I R + if (header.chunk_id != 0x46464952) { + printf("Expected chunk_id RIFF. Given: 0x%08x\n", header.chunk_id); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.chunk_size), + sizeof(header.chunk_size)); + + is.read(reinterpret_cast(&header.format), sizeof(header.format)); + + // E V A W + if (header.format != 0x45564157) { + printf("Expected format WAVE. Given: 0x%08x\n", header.format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + + if (header.subchunk1_id == 0x4b4e554a) { + // skip junk padding + is.seekg(header.subchunk1_size, std::istream::cur); + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + } + + if (header.subchunk1_id != 0x20746d66) { + printf("Expected subchunk1_id 0x20746d66. Given: 0x%08x\n", + header.subchunk1_id); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size != 16 && + header.subchunk1_size != 18) { // 16 for PCM + printf("Expected subchunk1_size 16. Given: %d\n", header.subchunk1_size); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.audio_format), + sizeof(header.audio_format)); + + if (header.audio_format != 1) { // 1 for PCM + printf("Expected audio_format 1. Given: %d\n", header.audio_format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.num_channels), + sizeof(header.num_channels)); + + *channelCount = (int8_t)header.num_channels; + + is.read(reinterpret_cast(&header.sample_rate), + sizeof(header.sample_rate)); + + is.read(reinterpret_cast(&header.byte_rate), + sizeof(header.byte_rate)); + + is.read(reinterpret_cast(&header.block_align), + sizeof(header.block_align)); + + is.read(reinterpret_cast(&header.bits_per_sample), + sizeof(header.bits_per_sample)); + + if (header.byte_rate != + (header.sample_rate * header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect byte rate: %d. Expected: %d", header.byte_rate, + (header.sample_rate * header.num_channels * header.bits_per_sample / + 8)); + *is_ok = false; + return {}; + } + + if (header.block_align != + (header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect block align: %d. Expected: %d\n", header.block_align, + (header.num_channels * header.bits_per_sample / 8)); + *is_ok = false; + return {}; + } + + if (header.bits_per_sample != 16) { // we support only 16 bits per sample + printf("Expected bits_per_sample 16. Given: %d\n", header.bits_per_sample); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size == 18) { + int16_t extra_size = -1; + is.read(reinterpret_cast(&extra_size), sizeof(int16_t)); + if (extra_size != 0) { + printf( + "Extra size should be 0 for wave from NAudio. Current extra size " + "%d\n", + extra_size); + *is_ok = false; + return {}; + } + } + + is.read(reinterpret_cast(&header.subchunk2_id), + sizeof(header.subchunk2_id)); + + is.read(reinterpret_cast(&header.subchunk2_size), + sizeof(header.subchunk2_size)); + + header.SeekToDataChunk(is); + if (!is) { + *is_ok = false; + return {}; + } + + *sampling_rate = header.sample_rate; + + // header.subchunk2_size contains the number of bytes in the data. + // As we assume each sample contains two bytes, so it is divided by 2 here + std::vector samples(header.subchunk2_size / 2); + + is.read(reinterpret_cast(samples.data()), header.subchunk2_size); + if (!is) { + *is_ok = false; + return {}; + } + + std::vector ans(samples.size() * 2); + for (int32_t i = 0; i != static_cast(samples.size()); ++i) { + ans[i * 2] = samples[i] & 0xFF; + ans[i * 2 + 1] = (samples[i] >> 8) & 0xFF; + } + + *is_ok = true; + return ans; +} + +std::vector ReadWave(const std::string &filename, + int32_t *sampling_rate, int8_t *channelCount, + bool *is_ok) { + std::ifstream is(filename, std::ifstream::binary); + auto samples = ReadWaveImpl(is, sampling_rate, channelCount, is_ok); + return samples; +} + +bool WriteWave(const std::string &filename, int32_t sampling_rate, + const int16_t *samples, int32_t n, uint8_t num_channels) { + WaveHeader header{}; + header.chunk_id = 0x46464952; // FFIR + header.format = 0x45564157; // EVAW + header.subchunk1_id = 0x20746d66; // "fmt " + header.subchunk1_size = 16; // 16 for PCM + header.audio_format = 1; // PCM =1 + + int32_t bits_per_sample = 16; // int16_t + header.num_channels = num_channels; + header.sample_rate = sampling_rate; + header.byte_rate = sampling_rate * num_channels * bits_per_sample / 8; + header.block_align = num_channels * bits_per_sample / 8; + header.bits_per_sample = bits_per_sample; + header.subchunk2_id = 0x61746164; // atad + header.subchunk2_size = n * num_channels * bits_per_sample / 8; + + header.chunk_size = 36 + header.subchunk2_size; + + std::vector samples_int16(n * num_channels); + for (int32_t i = 0; i != n * num_channels; ++i) { + samples_int16[i] = samples[i]; + } + + std::ofstream os(filename, std::ios::binary); + if (!os) { + printf("Failed to create %s", filename.c_str()); + return false; + } + + os.write(reinterpret_cast(&header), sizeof(header)); + os.write(reinterpret_cast(samples_int16.data()), + samples_int16.size() * sizeof(int16_t)); + + if (!os) { + printf("Write %s failed", filename.c_str()); + return false; + } + + return true; +} + +#endif diff --git a/deps/unitree_sdk2/example/a2/sport/a2_sport_client.cpp b/deps/unitree_sdk2/example/a2/sport/a2_sport_client.cpp new file mode 100644 index 0000000..3b0394c --- /dev/null +++ b/deps/unitree_sdk2/example/a2/sport/a2_sport_client.cpp @@ -0,0 +1,315 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +struct TestOption +{ + std::string name; + int id; +}; + +const vector option_list = + { + {"damp", 0}, + {"balance_stand", 1}, + {"stop_move", 2}, + {"stand_down", 3}, + {"recovery_stand", 4}, + {"move", 5}, + {"switch_gait", 6}, + {"speed_level", 7}, + {"get_state", 8}, + {"recovery_switch", 9}, + {"body_height", 10}, + {"stand_up", 11}, + + // Caution: test in open area + {"enter_leftside_gait", 12}, + {"exit_leftside_gait", 13}, + {"enter_handstand", 14}, + {"exit_handstand", 15}, + {"front_flip", 16}, + {"back_flip", 17}, + {"pose", 18}, + {"euler", 19}, + {"reset_estimator", 20}, + {"square_trajectory", 21}, + {"circle_trajectory", 22}, + +}; + +int ConvertToInt(const std::string &str) +{ + try + { + std::stoi(str); + return std::stoi(str); + } + catch (const std::invalid_argument &) + { + return -1; + } + catch (const std::out_of_range &) + { + return -1; + } +} + +class UserInterface +{ +public: + UserInterface() {}; + ~UserInterface() {}; + + void terminalHandle() + { + std::string input; + std::getline(std::cin, input); + + if (input.compare("list") == 0) + { + for (TestOption option : option_list) + { + std::cout << option.name << ", id: " << option.id << std::endl; + } + } + + for (TestOption option : option_list) + { + if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id) + { + test_option_->id = option.id; + test_option_->name = option.name; + std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl; + } + } + }; + + TestOption *test_option_; +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + TestOption test_option; + test_option.id = 1; + + unitree::robot::a2::SportClient sport_client; + sport_client.SetTimeout(25.0f); + sport_client.Init(); + + UserInterface user_interface; + user_interface.test_option_ = &test_option; + + std::cout << "Input \"list \" to list all test option ..." << std::endl; + long res_count = 0; + while (1) + { + auto time_start_trick = std::chrono::high_resolution_clock::now(); + static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz + + user_interface.terminalHandle(); + + int res = 1; + if (test_option.id == 0) + { + res = sport_client.Damp(); + } + else if (test_option.id == 1) + { + res = sport_client.BalanceStand(); + } + else if (test_option.id == 2) + { + res = sport_client.StopMove(); + } + else if (test_option.id == 3) + { + res = sport_client.StandDown(); + } + else if (test_option.id == 4) + { + res = sport_client.RecoveryStand(); + } + else if (test_option.id == 5) + { + res = sport_client.Move(0.0, 0.0, 0.5); + } + else if (test_option.id == 6) + { + res = sport_client.SwitchGait(0); + } + else if (test_option.id == 7) + { + res = sport_client.SpeedLevel(1); + } + else if (test_option.id == 8) + { + std::map state_map; + res = sport_client.GetState(state_map); + std::cout << "fsm_id: " << state_map["fsm_id"] << std::endl; + std::cout << "fsm_name: " << state_map["fsm_name"] << std::endl; + std::cout << "speed_level: " << state_map["speed_level"] << std::endl; + std::cout << "auto_recovery_switch: " << state_map["auto_recovery_switch"] << std::endl; + std::cout << "process_state: " << state_map["process_state"] << std::endl; + } + else if (test_option.id == 9) + { + res = sport_client.SetAutoRecovery(0); + } + else if (test_option.id == 10) + { + res = sport_client.BodyHeight(0.3f); + } + else if (test_option.id == 11) + { + res = sport_client.StandUp(); + } + else if (test_option.id == 12) + { + res = sport_client.LeftSideGait(1); + } + else if (test_option.id == 13) + { + res = sport_client.LeftSideGait(0); + } + else if (test_option.id == 14) + { + res = sport_client.HandStand(1); + } + else if (test_option.id == 15) + { + res = sport_client.HandStand(0); + } + else if (test_option.id == 16) + { + res = sport_client.FrontFlip(); + } + else if (test_option.id == 17) + { + res = sport_client.BackFlip(); + } + else if (test_option.id == 18) + { + res = sport_client.BodyPosition(0.2f, 0.2f, -0.2f, 0.2f); + } + else if (test_option.id == 19) + { + res = sport_client.Euler(0.2f, 0.3f, 0.3f); + } + else if (test_option.id == 20) + { + res = sport_client.ResetEstimator(); + } + else if (test_option.id == 21) + { + // 矩形轨迹: 1.0m x 1.0m, 带加减速过程的密集路径点 + std::vector path; + unitree::robot::a2::PathPoint pt; + + // ===== 边1: (0,0)→(1,0), 向前 1m, 0-4s ===== + pt.t_from_start = 0.0f; pt.x = 0.00f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 0.5f; pt.x = 0.03f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 1.0f; pt.x = 0.12f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 1.5f; pt.x = 0.28f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 2.0f; pt.x = 0.45f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 2.5f; pt.x = 0.62f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 3.0f; pt.x = 0.78f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 3.5f; pt.x = 0.94f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 4.0f; pt.x = 1.00f; pt.y = 0.0f; pt.yaw = 0.0f; path.push_back(pt); + + // ===== 边2: (1,0)→(1,1), 左移 1m, 4-8s ===== + pt.t_from_start = 4.5f; pt.x = 1.00f; pt.y = 0.03f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 5.0f; pt.x = 1.00f; pt.y = 0.12f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 5.5f; pt.x = 1.00f; pt.y = 0.28f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 6.0f; pt.x = 1.00f; pt.y = 0.45f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 6.5f; pt.x = 1.00f; pt.y = 0.62f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 7.0f; pt.x = 1.00f; pt.y = 0.78f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 7.5f; pt.x = 1.00f; pt.y = 0.94f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 8.0f; pt.x = 1.00f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + + // ===== 边3: (1,1)→(0,1), 后退 1m, 8-13s ===== + pt.t_from_start = 8.5f; pt.x = 0.97f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 9.0f; pt.x = 0.90f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 9.5f; pt.x = 0.78f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 10.0f; pt.x = 0.62f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 10.5f; pt.x = 0.45f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 11.0f; pt.x = 0.28f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 11.5f; pt.x = 0.12f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 12.0f; pt.x = 0.03f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 13.0f; pt.x = 0.00f; pt.y = 1.00f; pt.yaw = 0.0f; path.push_back(pt); + + // ===== 边4: (0,1)→(0,0), 右移 1m, 13-16s ===== + pt.t_from_start = 13.5f; pt.x = 0.00f; pt.y = 0.94f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 14.0f; pt.x = 0.00f; pt.y = 0.78f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 14.5f; pt.x = 0.00f; pt.y = 0.55f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 15.0f; pt.x = 0.00f; pt.y = 0.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 15.5f; pt.x = 0.00f; pt.y = 0.00f; pt.yaw = 0.0f; path.push_back(pt); + pt.t_from_start = 16.0f; pt.x = 0.00f; pt.y = 0.00f; pt.yaw = 0.0f; path.push_back(pt); + + res = sport_client.Trajectory(path, 1); + } + else if (test_option.id == 22) + { + // 圆形轨迹: 半径1.0m, 圆心(0.0,1.0), 逆时针 + const float R = 1.0f, cx = 0.0f, cy = 1.0f; + const float TOTAL_TIME = 20.0f; // <-- 修改此处调整总时长(s) + const float T_ACCEL = 0.25f * TOTAL_TIME; // 加速段 + const float T_CRUISE = 0.50f * TOTAL_TIME; // 匀速段 + const float T_DECEL = 0.25f * TOTAL_TIME; // 减速段 + const int N = 36; + std::vector path; + + for (int i = 0; i <= N; ++i) + { + float frac = (float)i / N; + float t; + if (frac <= 0.25f) + t = T_ACCEL * (frac / 0.25f); + else if (frac <= 0.75f) + t = T_ACCEL + T_CRUISE * ((frac - 0.25f) / 0.5f); + else + t = T_ACCEL + T_CRUISE + T_DECEL * ((frac - 0.75f) / 0.25f); + + float angle = -M_PI_2 + 2.0f * M_PI * frac; + + unitree::robot::a2::PathPoint pt; + pt.t_from_start = t; + pt.x = cx + R * cosf(angle); + pt.y = cy + R * sinf(angle); + pt.yaw = 0.0f; + path.push_back(pt); + } + + res = sport_client.Trajectory(path, 1); + } + + + if (res < 0) + { + res_count += 1; + std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl; + } + else + { + res_count = 0; + std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl; + } + std::this_thread::sleep_until(time_start_trick + dt); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/a2/sport/a2_sport_state.cpp b/deps/unitree_sdk2/example/a2/sport/a2_sport_state.cpp new file mode 100644 index 0000000..dd5b07a --- /dev/null +++ b/deps/unitree_sdk2/example/a2/sport/a2_sport_state.cpp @@ -0,0 +1,68 @@ + + +#include +#include +#include + +#define TOPIC_HIGHSTATE "rt/lf/sportmodestate" +using namespace unitree::common; + +const std::vector FSM_STATE_STR = { + "PASSIVE", + "STAND_DOWN", + "STAND_UP", + "DEFAULT_MODE", + "RUNNING_MODE", + "CLIMB_MODE", + "LEFT_SIDE_GAIT", + "RIGHT_SIDE_GAIT", + "HANDSTAND", + "BIPED_STAND", + "FRONT_FLIP", + "BACK_FLIP", + "RECOVERY", + "BASE_HEIGHT_CTRL"}; + +class Custom +{ +public: + Custom() + { + suber.reset(new unitree::robot::ChannelSubscriber(TOPIC_HIGHSTATE)); + suber->InitChannel(std::bind(&Custom::HighStateHandler, this, std::placeholders::_1), 1); + }; + + void HighStateHandler(const void *message) + { + state = *(unitree_go::msg::dds_::SportModeState_ *)message; + + std::cout << "Position: " << state.position()[0] << ", " << state.position()[1] << ", " << state.position()[2] << std::endl; + std::cout << "Velocity: " << state.velocity()[0] << ", " << state.velocity()[1] << ", " << state.velocity()[2] << std::endl; + std::cout << "Mode: " << FSM_STATE_STR[int(state.mode())] << std::endl; + std::cout << "Progress: " << state.progress() << std::endl; + + // std::cout << "IMU rpy: " << state.imu_state().rpy()[0] << ", " << state.imu_state().rpy()[1] << ", " << state.imu_state().rpy()[2] << std::endl; + }; + + unitree_go::msg::dds_::SportModeState_ state; + unitree::robot::ChannelSubscriberPtr suber; + float dt = 0.05; // 控制步长0.001~0.01 +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + Custom custom; + + while (1) + { + sleep(10); + } + return 0; +} diff --git a/deps/unitree_sdk2/example/as2/CMakeLists.txt b/deps/unitree_sdk2/example/as2/CMakeLists.txt new file mode 100644 index 0000000..7f505e4 --- /dev/null +++ b/deps/unitree_sdk2/example/as2/CMakeLists.txt @@ -0,0 +1,5 @@ +add_executable(as2_sport_client sport/as2_sport_client.cpp) +target_link_libraries(as2_sport_client unitree_sdk2) + +add_executable(as2_sport_state sport/as2_sport_state.cpp) +target_link_libraries(as2_sport_state unitree_sdk2) diff --git a/deps/unitree_sdk2/example/as2/sport/as2_sport_client.cpp b/deps/unitree_sdk2/example/as2/sport/as2_sport_client.cpp new file mode 100644 index 0000000..8670ee6 --- /dev/null +++ b/deps/unitree_sdk2/example/as2/sport/as2_sport_client.cpp @@ -0,0 +1,312 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +struct TestOption +{ + std::string name; + int id; +}; + +const vector option_list = + { + {"damp", 0}, + {"balance_stand", 1}, + {"stop_move", 2}, + {"stand_down", 3}, + {"recovery_stand", 4}, + {"move", 5}, + {"switch_gait", 6}, + {"speed_level", 7}, + {"get_state", 8}, + {"recovery_switch", 9}, + {"body_height", 10}, + {"stand_up", 11}, + + // Caution: test in open area + {"enter_leftside_gait", 12}, + {"exit_leftside_gait", 13}, + {"enter_handstand", 14}, + {"exit_handstand", 15}, + {"front_flip", 16}, + {"back_flip", 17}, + {"pose", 18}, + {"euler", 19}, + + {"switch_joystick", 20}, + + {"enter_biped_stand", 21}, + {"exit_biped_stand", 22}, + {"enter_rightside_gait", 23}, + {"exit_rightside_gait", 24}, + {"greeting", 25}, + {"heart", 26}, + {"content", 27}, + {"dance1", 28}, + {"dance2", 29}, + {"handshake", 30}, + {"stretch", 31}, + {"enter_sit", 32}, + {"exit_sit", 33}, + {"front_jump", 34}, + {"push_up", 35}, + {"up_jump", 36}, + +}; + +int ConvertToInt(const std::string &str) +{ + try + { + std::stoi(str); + return std::stoi(str); + } + catch (const std::invalid_argument &) + { + return -1; + } + catch (const std::out_of_range &) + { + return -1; + } +} + +class UserInterface +{ +public: + UserInterface() {}; + ~UserInterface() {}; + + void terminalHandle() + { + std::string input; + std::getline(std::cin, input); + + if (input.compare("list") == 0) + { + for (TestOption option : option_list) + { + std::cout << option.name << ", id: " << option.id << std::endl; + } + } + + for (TestOption option : option_list) + { + if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id) + { + test_option_->id = option.id; + test_option_->name = option.name; + std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl; + } + } + }; + + TestOption *test_option_; +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + TestOption test_option; + test_option.id = 1; + + unitree::robot::as2::SportClient sport_client; + sport_client.SetTimeout(25.0f); + sport_client.Init(); + + UserInterface user_interface; + user_interface.test_option_ = &test_option; + + std::cout << "Input \"list \" to list all test option ..." << std::endl; + long res_count = 0; + while (1) + { + auto time_start_trick = std::chrono::high_resolution_clock::now(); + static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz + + user_interface.terminalHandle(); + + int res = 1; + if (test_option.id == 0) + { + res = sport_client.Damp(); + } + else if (test_option.id == 1) + { + res = sport_client.BalanceStand(); + } + else if (test_option.id == 2) + { + res = sport_client.StopMove(); + } + else if (test_option.id == 3) + { + res = sport_client.StandDown(); + } + else if (test_option.id == 4) + { + res = sport_client.RecoveryStand(); + } + else if (test_option.id == 5) + { + res = sport_client.Move(0.0, 0.0, 0.5); + } + else if (test_option.id == 6) + { + res = sport_client.SwitchGait(0); + } + else if (test_option.id == 7) + { + res = sport_client.SpeedLevel(1); + } + else if (test_option.id == 8) + { + std::map state_map; + res = sport_client.GetState(state_map); + std::cout << "fsm_id: " << state_map["fsm_id"] << std::endl; + std::cout << "fsm_name: " << state_map["fsm_name"] << std::endl; + std::cout << "speed_level: " << state_map["speed_level"] << std::endl; + std::cout << "auto_recovery_switch: " << state_map["auto_recovery_switch"] << std::endl; + std::cout << "process_state: " << state_map["process_state"] << std::endl; + } + else if (test_option.id == 9) + { + res = sport_client.SetAutoRecovery(0); + } + else if (test_option.id == 10) + { + res = sport_client.BodyHeight(0.3f); + } + else if (test_option.id == 11) + { + res = sport_client.StandUp(); + } + else if (test_option.id == 12) + { + res = sport_client.LeftSideGait(1); + } + else if (test_option.id == 13) + { + res = sport_client.LeftSideGait(0); + } + else if (test_option.id == 14) + { + res = sport_client.HandStand(1); + } + else if (test_option.id == 15) + { + res = sport_client.HandStand(0); + } + else if (test_option.id == 16) + { + res = sport_client.FrontFlip(); + } + else if (test_option.id == 17) + { + res = sport_client.BackFlip(); + } + else if (test_option.id == 18) + { + res = sport_client.BodyPosition(0.2f, 0.2f, -0.2f, 0.2f); + } + else if (test_option.id == 19) + { + res = sport_client.Euler(0.2f, 0.3f, 0.3f); + } + else if (test_option.id == 20) + { + res = sport_client.SwitchJoystick(0); + } + else if (test_option.id == 21) + { + res = sport_client.BipedStand(1); + } + else if (test_option.id == 22) + { + res = sport_client.BipedStand(0); + } + else if (test_option.id == 23) + { + res = sport_client.RightSideGait(1); + } + else if (test_option.id == 24) + { + res = sport_client.RightSideGait(0); + } + else if (test_option.id == 25) + { + res = sport_client.Greeting(); + } + else if (test_option.id == 26) + { + res = sport_client.Heart(); + } + else if (test_option.id == 27) + { + res = sport_client.Content(); + } + else if (test_option.id == 28) + { + res = sport_client.Dance1(); + } + else if (test_option.id == 29) + { + res = sport_client.Dance2(); + } + else if (test_option.id == 30) + { + res = sport_client.Handshake(); + } + else if (test_option.id == 31) + { + res = sport_client.Stretch(); + } + else if (test_option.id == 32) + { + res = sport_client.Sit(1); + } + else if (test_option.id == 33) + { + res = sport_client.Sit(0); + } + else if (test_option.id == 34) + { + res = sport_client.FrontJump(); + } + else if (test_option.id == 35) + { + res = sport_client.PushUp(); + } + else if (test_option.id == 36) + { + res = sport_client.UpJump(); + } + + + if (res < 0) + { + res_count += 1; + std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl; + } + else + { + res_count = 0; + std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl; + } + std::this_thread::sleep_until(time_start_trick + dt); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/as2/sport/as2_sport_state.cpp b/deps/unitree_sdk2/example/as2/sport/as2_sport_state.cpp new file mode 100644 index 0000000..dd5b07a --- /dev/null +++ b/deps/unitree_sdk2/example/as2/sport/as2_sport_state.cpp @@ -0,0 +1,68 @@ + + +#include +#include +#include + +#define TOPIC_HIGHSTATE "rt/lf/sportmodestate" +using namespace unitree::common; + +const std::vector FSM_STATE_STR = { + "PASSIVE", + "STAND_DOWN", + "STAND_UP", + "DEFAULT_MODE", + "RUNNING_MODE", + "CLIMB_MODE", + "LEFT_SIDE_GAIT", + "RIGHT_SIDE_GAIT", + "HANDSTAND", + "BIPED_STAND", + "FRONT_FLIP", + "BACK_FLIP", + "RECOVERY", + "BASE_HEIGHT_CTRL"}; + +class Custom +{ +public: + Custom() + { + suber.reset(new unitree::robot::ChannelSubscriber(TOPIC_HIGHSTATE)); + suber->InitChannel(std::bind(&Custom::HighStateHandler, this, std::placeholders::_1), 1); + }; + + void HighStateHandler(const void *message) + { + state = *(unitree_go::msg::dds_::SportModeState_ *)message; + + std::cout << "Position: " << state.position()[0] << ", " << state.position()[1] << ", " << state.position()[2] << std::endl; + std::cout << "Velocity: " << state.velocity()[0] << ", " << state.velocity()[1] << ", " << state.velocity()[2] << std::endl; + std::cout << "Mode: " << FSM_STATE_STR[int(state.mode())] << std::endl; + std::cout << "Progress: " << state.progress() << std::endl; + + // std::cout << "IMU rpy: " << state.imu_state().rpy()[0] << ", " << state.imu_state().rpy()[1] << ", " << state.imu_state().rpy()[2] << std::endl; + }; + + unitree_go::msg::dds_::SportModeState_ state; + unitree::robot::ChannelSubscriberPtr suber; + float dt = 0.05; // 控制步长0.001~0.01 +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + Custom custom; + + while (1) + { + sleep(10); + } + return 0; +} diff --git a/deps/unitree_sdk2/example/b2/CMakeLists.txt b/deps/unitree_sdk2/example/b2/CMakeLists.txt new file mode 100644 index 0000000..86d6d65 --- /dev/null +++ b/deps/unitree_sdk2/example/b2/CMakeLists.txt @@ -0,0 +1,5 @@ +add_executable(b2_sport_client b2_sport_client.cpp) +target_link_libraries(b2_sport_client unitree_sdk2) + +add_executable(b2_stand_example b2_stand_example.cpp) +target_link_libraries(b2_stand_example unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/b2/b2_sport_client.cpp b/deps/unitree_sdk2/example/b2/b2_sport_client.cpp new file mode 100644 index 0000000..8411429 --- /dev/null +++ b/deps/unitree_sdk2/example/b2/b2_sport_client.cpp @@ -0,0 +1,185 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +struct TestOption +{ + std::string name; + int id; +}; + +const vector option_list = + { + {"damp", 0}, + {"balance_stand", 1}, + {"stop_move", 2}, + {"stand_down", 3}, + {"recovery_stand", 4}, + {"move", 5}, + {"switch_gait", 6}, + {"speed_level", 7}, + {"hand_stand", 8}, + {"auto_recovery_set", 9}, + {"free_walk", 11}, + {"classic_walk", 12}, + {"fast_walk", 13}, + {"euler", 14}, +}; + +int ConvertToInt(const std::string &str) +{ + try + { + std::stoi(str); + return std::stoi(str); + } + catch (const std::invalid_argument &) + { + return -1; + } + catch (const std::out_of_range &) + { + return -1; + } +} + +class UserInterface +{ +public: + UserInterface() {}; + ~UserInterface() {}; + + void terminalHandle() + { + std::string input; + std::getline(std::cin, input); + + if (input.compare("list") == 0) + { + for (TestOption option : option_list) + { + std::cout << option.name << ", id: " << option.id << std::endl; + } + } + + for (TestOption option : option_list) + { + if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id) + { + test_option_->id = option.id; + test_option_->name = option.name; + std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl; + } + } + }; + + TestOption *test_option_; +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + TestOption test_option; + test_option.id = 1; + + unitree::robot::b2::SportClient sport_client; + sport_client.SetTimeout(25.0f); + sport_client.Init(); + + UserInterface user_interface; + user_interface.test_option_ = &test_option; + + std::cout << "Input \"list \" to list all test option ..." << std::endl; + long res_count = 0; + while (1) + { + auto time_start_trick = std::chrono::high_resolution_clock::now(); + static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz + + user_interface.terminalHandle(); + + int res = 1; + if (test_option.id == 0) + { + res = sport_client.Damp(); + } + else if (test_option.id == 1) + { + res = sport_client.BalanceStand(); + } + else if (test_option.id == 2) + { + res = sport_client.StopMove(); + } + else if (test_option.id == 3) + { + res = sport_client.StandDown(); + } + else if (test_option.id == 4) + { + res = sport_client.RecoveryStand(); + } + else if (test_option.id == 5) + { + res = sport_client.Move(0.0, 0.0, 0.5); + } + else if (test_option.id == 6) + { + res = sport_client.SwitchGait(0); + } + else if (test_option.id == 7) + { + res = sport_client.SpeedLevel(1); + } + else if (test_option.id == 8) + { + res = sport_client.HandStand(true); + } + else if (test_option.id == 9) + { + res = sport_client.AutoRecoverySet(true); + } + else if (test_option.id == 11) + { + res = sport_client.FreeWalk(); + } + else if (test_option.id == 12) + { + res = sport_client.ClassicWalk(true); + } + else if (test_option.id == 13) + { + res = sport_client.FastWalk(true); + } + else if (test_option.id == 14) + { + res = sport_client.Euler(0.0, 0.2, 0.0); + } + + if (res < 0) + { + res_count += 1; + std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl; + } + else + { + res_count = 0; + std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl; + } + std::this_thread::sleep_until(time_start_trick + dt); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/b2/b2_stand_example.cpp b/deps/unitree_sdk2/example/b2/b2_stand_example.cpp new file mode 100644 index 0000000..916574a --- /dev/null +++ b/deps/unitree_sdk2/example/b2/b2_stand_example.cpp @@ -0,0 +1,350 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree::robot::b2; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +constexpr double PosStopF = (2.146E+9f); +constexpr double VelStopF = (16000.0f); + +class Custom +{ +public: + explicit Custom(){} + ~Custom(){} + + void Init(); + void Start(); + +private: + void InitLowCmd(); + void LowStateMessageHandler(const void* messages); + void LowCmdWrite(); + int queryMotionStatus(); + std::string queryServiceName(std::string form,std::string name); + +private: + float Kp = 1000.0; + float Kd = 10.0; + double time_consume = 0; + int rate_count = 0; + int sin_count = 0; + int motiontime = 0; + float dt = 0.002; // 0.001~0.01 + + MotionSwitcherClient msc; + + unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init + unitree_go::msg::dds_::LowState_ low_state{}; // default init + + /*publisher*/ + ChannelPublisherPtr lowcmd_publisher; + /*subscriber*/ + ChannelSubscriberPtr lowstate_subscriber; + + /*LowCmd write thread*/ + ThreadPtr lowCmdWriteThreadPtr; + + float _targetPos_1[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + 0.2, 1.36, -2.65, 0.2, 1.36, -2.65}; + + float _targetPos_2[12] = {0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3}; + + float _targetPos_3[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + 0.0, 1.36, -2.65, 0.0, 1.36, -2.65}; + + float _targetPos_4[12] = {-0.5, 1.36, -2.65, 0.5, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65}; + + float _startPos[12]; + float _duration_1 = 500; + float _duration_2 = 900; + float _duration_3 = 1000; + float _duration_4 = 1100; + float _duration_5 = 500; + float _percent_1 = 0; + float _percent_2 = 0; + float _percent_3 = 0; + float _percent_4 = 0; + float _percent_5 = 0; + + bool firstRun = true; + bool done = false; +}; + +uint32_t crc32_core(uint32_t* ptr, uint32_t len) +{ + unsigned int xbit = 0; + unsigned int data = 0; + unsigned int CRC32 = 0xFFFFFFFF; + const unsigned int dwPolynomial = 0x04c11db7; + + for (unsigned int i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (unsigned int bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + { + CRC32 <<= 1; + } + + if (data & xbit) + CRC32 ^= dwPolynomial; + xbit >>= 1; + } + } + + return CRC32; +} + +void Custom::Init() +{ + InitLowCmd(); + + /*create publisher*/ + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowcmd_publisher->InitChannel(); + + /*create subscriber*/ + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1); + + /*init MotionSwitcherClient*/ + msc.SetTimeout(10.0f); + msc.Init(); + + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc.ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } +} + +void Custom::InitLowCmd() +{ + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x0A); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } +} + +int Custom::queryMotionStatus() +{ + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc.CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; +} + +std::string Custom::queryServiceName(std::string form,std::string name) +{ + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; +} + +void Custom::Start() +{ + /*loop publishing thread*/ + lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this); +} + +void Custom::LowStateMessageHandler(const void* message) +{ + low_state = *(unitree_go::msg::dds_::LowState_*)message; +} + +void Custom::LowCmdWrite() +{ + if(_percent_5<1) + { + std::cout<<"Read sensor data example: "<=500) + { + if(firstRun) + { + for(int i = 0; i < 12; i++) + { + _startPos[i] = low_state.motor_state()[i].q(); + } + firstRun = false; + } + + _percent_1 += (float)1 / _duration_1; + _percent_1 = _percent_1 > 1 ? 1 : _percent_1; + if (_percent_1 < 1) + { + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_1) * _startPos[j] + _percent_1 * _targetPos_1[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + if ((_percent_1 == 1)&&(_percent_2 < 1)) + { + _percent_2 += (float)1 / _duration_2; + _percent_2 = _percent_2 > 1 ? 1 : _percent_2; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_2) * _targetPos_1[j] + _percent_2 * _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3<1)) + { + _percent_3 += (float)1 / _duration_3; + _percent_3 = _percent_3 > 1 ? 1 : _percent_3; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&(_percent_4<1)) + { + _percent_4 += (float)1 / _duration_4; + _percent_4 = _percent_4 > 1 ? 1 : _percent_4; + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_4) * _targetPos_2[j] + _percent_4 * _targetPos_3[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&(_percent_4==1)&&((_percent_5<=1))) + { + _percent_5 += (float)1 / _duration_5; + _percent_5 = _percent_5 > 1 ? 1 : _percent_5; + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_5) * _targetPos_3[j] + _percent_5 * _targetPos_4[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + + lowcmd_publisher->Write(low_cmd); + } + +} + +int main(int argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + std::cout << "WARNING: Make sure the robot is lying on the ground." << std::endl + << "Press Enter to continue..." << std::endl; + std::cin.ignore(); + + ChannelFactory::Instance()->Init(0, argv[1]); + + Custom custom; + custom.Init(); + custom.Start(); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/b2w/CMakeLists.txt b/deps/unitree_sdk2/example/b2w/CMakeLists.txt new file mode 100644 index 0000000..5fc6263 --- /dev/null +++ b/deps/unitree_sdk2/example/b2w/CMakeLists.txt @@ -0,0 +1,5 @@ +add_executable(b2w_sport_client b2w_sport_client.cpp) +target_link_libraries(b2w_sport_client unitree_sdk2) + +add_executable(b2w_stand_example b2w_stand_example.cpp) +target_link_libraries(b2w_stand_example unitree_sdk2) diff --git a/deps/unitree_sdk2/example/b2w/b2w_sport_client.cpp b/deps/unitree_sdk2/example/b2w/b2w_sport_client.cpp new file mode 100644 index 0000000..7e306ae --- /dev/null +++ b/deps/unitree_sdk2/example/b2w/b2w_sport_client.cpp @@ -0,0 +1,170 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +struct TestOption +{ + std::string name; + int id; +}; + +const vector option_list = + {{"damp", 0}, + {"stand_up", 1}, + {"stand_down", 2}, + {"move forward", 3}, + {"move lateral", 4}, + {"move rotate", 5}, + {"stop_move", 6}, + {"switch_gait", 7}, + {"switch_gait", 8}, + {"recovery", 9}, + }; + +int ConvertToInt(const std::string &str) +{ + try + { + std::stoi(str); + return std::stoi(str); + } + catch (const std::invalid_argument &) + { + return -1; + } + catch (const std::out_of_range &) + { + return -1; + } +} + +class UserInterface +{ +public: + UserInterface(){}; + ~UserInterface(){}; + + void terminalHandle() + { + std::string input; + std::getline(std::cin, input); + + if (input.compare("list") == 0) + { + for (TestOption option : option_list) + { + std::cout << option.name << ", id: " << option.id << std::endl; + } + } + + for (TestOption option : option_list) + { + if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id) + { + test_option_->id = option.id; + test_option_->name = option.name; + std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl; + } + } + }; + + TestOption *test_option_; +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + TestOption test_option; + test_option.id = 1; + + unitree::robot::b2::SportClient sport_client; + sport_client.SetTimeout(25.0f); + sport_client.Init(); + + UserInterface user_interface; + user_interface.test_option_ = &test_option; + + std::cout << "Input \"list \" to list all test option ..." << std::endl; + long res_count = 0; + while (1) + { + auto time_start_trick = std::chrono::high_resolution_clock::now(); + static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz + + user_interface.terminalHandle(); + + int res = 1; + if (test_option.id == 0) + { + res = sport_client.Damp(); + } + else if (test_option.id == 1) + { + res = sport_client.StandUp(); + } + else if (test_option.id == 2) + { + res = sport_client.StandDown(); + } + else if (test_option.id == 3) + { + res = sport_client.Move(0.3, 0, 0);// the robot will move for 0.5 seconds before stopping. + // If the Move command is called in a loop, the robot will continue moving. + // If no Move request is received within 0.5 seconds, the robot will automatically stop. + } + else if (test_option.id == 4) + { + res = sport_client.Move(0, 0.3, 0);// the robot will move for 0.5 seconds before stopping. + // If the Move command is called in a loop, the robot will continue moving. + // If no Move request is received within 0.5 seconds, the robot will automatically stop. + } + else if (test_option.id == 5) + { + res = sport_client.Move(0, 0, 0.5);// the robot will move for 0.5 seconds before stopping. + // If the Move command is called in a loop, the robot will continue moving. + // If no Move request is received within 0.5 seconds, the robot will automatically stop. + } + else if (test_option.id == 6) + { + res = sport_client.StopMove(); + } + else if (test_option.id == 7) + { + res = sport_client.SwitchGait(0); + } + else if (test_option.id == 8) + { + res = sport_client.SwitchGait(1); + } + else if (test_option.id == 9) + { + res = sport_client.RecoveryStand(); + } + + if (res < 0) + { + res_count += 1; + std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl; + } + else + { + res_count = 0; + std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl; + } + std::this_thread::sleep_until(time_start_trick + dt); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/b2w/b2w_stand_example.cpp b/deps/unitree_sdk2/example/b2w/b2w_stand_example.cpp new file mode 100644 index 0000000..381b037 --- /dev/null +++ b/deps/unitree_sdk2/example/b2w/b2w_stand_example.cpp @@ -0,0 +1,372 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree::robot::b2; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +constexpr double PosStopF = (2.146E+9f); +constexpr double VelStopF = (16000.0f); + +class Custom +{ +public: + explicit Custom(){} + ~Custom(){} + + void Init(); + void Start(); + +private: + void InitLowCmd(); + void LowStateMessageHandler(const void* messages); + void LowCmdWrite(); + int queryMotionStatus(); + std::string queryServiceName(std::string form,std::string name); + +private: + float Kp = 1000.0; + float Kd = 10.0; + double time_consume = 0; + int rate_count = 0; + int sin_count = 0; + int motiontime = 0; + float dt = 0.002; // 0.001~0.01 + + MotionSwitcherClient msc; + SportClient sc; + + unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init + unitree_go::msg::dds_::LowState_ low_state{}; // default init + + /*publisher*/ + ChannelPublisherPtr lowcmd_publisher; + /*subscriber*/ + ChannelSubscriberPtr lowstate_subscriber; + + /*LowCmd write thread*/ + ThreadPtr lowCmdWriteThreadPtr; + + float _targetPos_1[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65}; + + float _targetPos_2[12] = {0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3}; + + float _targetPos_3[12] = {-0.65, 1.36, -2.65, 0.65, 1.36, -2.65, + -0.65, 1.36, -2.65, 0.65, 1.36, -2.65}; + + float _startPos[12]; + float _duration_1 = 800; + float _duration_2 = 800; + float _duration_3 = 2000; + float _duration_4 = 1500; + float _percent_1 = 0; + float _percent_2 = 0; + float _percent_3 = 0; + float _percent_4 = 0; + + bool firstRun = true; + bool done = false; +}; + +uint32_t crc32_core(uint32_t* ptr, uint32_t len) +{ + unsigned int xbit = 0; + unsigned int data = 0; + unsigned int CRC32 = 0xFFFFFFFF; + const unsigned int dwPolynomial = 0x04c11db7; + + for (unsigned int i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (unsigned int bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + { + CRC32 <<= 1; + } + + if (data & xbit) + CRC32 ^= dwPolynomial; + xbit >>= 1; + } + } + + return CRC32; +} + +void Custom::Init() +{ + InitLowCmd(); + + /*create publisher*/ + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowcmd_publisher->InitChannel(); + + /*create subscriber*/ + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1); + + /*init MotionSwitcherClient*/ + msc.SetTimeout(10.0f); + msc.Init(); + + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc.ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } +} + +void Custom::InitLowCmd() +{ + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } +} + +int Custom::queryMotionStatus() +{ + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc.CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; +} + +std::string Custom::queryServiceName(std::string form,std::string name) +{ + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; +} + +void Custom::Start() +{ + /*loop publishing thread*/ + lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this); +} + +void Custom::LowStateMessageHandler(const void* message) +{ + low_state = *(unitree_go::msg::dds_::LowState_*)message; +} + +void Custom::LowCmdWrite() +{ + if(_percent_4<1) + { + std::cout<<"Read sensor data example: "<=500) + { + if(firstRun) + { + for(int i = 0; i < 12; i++) + { + _startPos[i] = low_state.motor_state()[i].q(); + } + firstRun = false; + } + + _percent_1 += (float)1 / _duration_1; + _percent_1 = _percent_1 > 1 ? 1 : _percent_1; + if (_percent_1 < 1) + { + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_1) * _startPos[j] + _percent_1 * _targetPos_1[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + if ((_percent_1 == 1)&&(_percent_2 < 1)) + { + _percent_2 += (float)1 / _duration_2; + _percent_2 = _percent_2 > 1 ? 1 : _percent_2; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_2) * _targetPos_1[j] + _percent_2 * _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3<1)) + { + _percent_3 += (float)1 / _duration_3; + _percent_3 = _percent_3 > 1 ? 1 : _percent_3; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + if(_percent_3<0.4) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = 3; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + else if((_percent_3>=0.4)&&(_percent_3<0.8)) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = -3; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + else if(_percent_3>=0.8) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = 0; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + } + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&((_percent_4<=1))) + { + _percent_4 += (float)1 / _duration_4; + _percent_4 = _percent_4 > 1 ? 1 : _percent_4; + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_4) * _targetPos_2[j] + _percent_4 * _targetPos_3[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + + lowcmd_publisher->Write(low_cmd); + } + +} + +int main(int argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + std::cout << "WARNING: Make sure the robot is lying on the ground." << std::endl + << "Press Enter to continue..." << std::endl; + std::cin.ignore(); + + ChannelFactory::Instance()->Init(0, argv[1]); + + Custom custom; + custom.Init(); + custom.Start(); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/CMakeLists.txt b/deps/unitree_sdk2/example/g1/CMakeLists.txt new file mode 100644 index 0000000..7026a2e --- /dev/null +++ b/deps/unitree_sdk2/example/g1/CMakeLists.txt @@ -0,0 +1,53 @@ +add_executable(g1_loco_client high_level/g1_loco_client_example.cpp) +target_link_libraries(g1_loco_client unitree_sdk2) + +add_executable(g1_arm5_sdk_dds_example high_level/g1_arm5_sdk_dds_example.cpp) +target_link_libraries(g1_arm5_sdk_dds_example unitree_sdk2) + +add_executable(g1_arm7_sdk_dds_example high_level/g1_arm7_sdk_dds_example.cpp) +target_link_libraries(g1_arm7_sdk_dds_example unitree_sdk2) + +add_executable(g1_ankle_swing_example low_level/g1_ankle_swing_example.cpp) +target_link_libraries(g1_ankle_swing_example unitree_sdk2) + +add_executable(g1_audio_client_example audio/g1_audio_client_example.cpp) +target_link_libraries(g1_audio_client_example unitree_sdk2) + +add_executable(g1_dex3_example dex3/g1_dex3_example.cpp) +target_link_libraries(g1_dex3_example unitree_sdk2) + +add_executable(g1_userctrl_dds_example high_level/g1_userctrl_dds_example.cpp) +target_link_libraries(g1_userctrl_dds_example unitree_sdk2) + +find_package(Boost COMPONENTS program_options) +if(Boost_FOUND) + add_executable(g1_termination low_level/terminations.cpp) + target_link_libraries(g1_termination unitree_sdk2 Boost::program_options) + + add_executable(g1_arm_action_example high_level/g1_arm_action_example.cpp) + target_link_libraries(g1_arm_action_example unitree_sdk2 Boost::program_options) +endif() + +find_package(yaml-cpp QUIET) +if(yaml-cpp_FOUND) + if (${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6") + message(STATUS "Found yaml-cpp version ${yaml-cpp_VERSION}") + add_executable(g1_dual_arm_example low_level/g1_dual_arm_example.cpp) + target_link_libraries(g1_dual_arm_example PRIVATE unitree_sdk2 yaml-cpp) + target_compile_definitions(g1_dual_arm_example PUBLIC BLIB_DIR="${CMAKE_CURRENT_SOURCE_DIR}/low_level/behavior_lib/") + else() + message(STATUS "yaml-cpp version ${yaml-cpp_VERSION} is too old, skipping build of g1_dual_arm_example.") + endif() +endif() + +add_executable(g1_agv_client_example g1d/g1_agv_client_example.cpp) +target_link_libraries(g1_agv_client_example unitree_sdk2) + +add_executable(g1d_arm_example g1d/g1d_arm_example.cpp) +target_link_libraries(g1d_arm_example unitree_sdk2) + +add_executable(g1d_height_control g1d/g1d_height_control.cpp) +target_link_libraries(g1d_height_control unitree_sdk2) + +add_executable(g1_hand_sdk_example high_level/g1_hand_sdk_example.cpp) +target_link_libraries(g1_hand_sdk_example unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/g1/audio/g1_audio_client_example.cpp b/deps/unitree_sdk2/example/g1/audio/g1_audio_client_example.cpp new file mode 100644 index 0000000..1fe86b7 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/audio/g1_audio_client_example.cpp @@ -0,0 +1,175 @@ +#include +#include +#include +#include +#include +#include +#include + +#include "wav.hpp" + +#define AUDIO_FILE_PATH "../example/g1/audio/test.wav" +#define AUDIO_SUBSCRIBE_TOPIC "rt/audio_msg" +#define GROUP_IP "239.168.123.161" +#define PORT 5555 + +#define WAV_SECOND 5 // record seconds +#define WAV_LEN (16000 * 2 * WAV_SECOND) +#define WAV_LEN_ONCE (16000 * 2 * 160 / 1000) +#define CHUNK_SIZE 96000 // 3 seconds +int sock; + +void asr_handler(const void *msg) { + std_msgs::msg::dds_::String_ *resMsg = (std_msgs::msg::dds_::String_ *)msg; + std::cout << "Topic:\"rt/audio_msg\" recv: " << resMsg->data() << std::endl; +} + +std::string get_local_ip_for_multicast() { + struct ifaddrs *ifaddr, *ifa; + char host[NI_MAXHOST]; + std::string result = ""; + + getifaddrs(&ifaddr); + for (ifa = ifaddr; ifa != nullptr; ifa = ifa->ifa_next) { + if (!ifa->ifa_addr || ifa->ifa_addr->sa_family != AF_INET) continue; + getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, + NULL, 0, NI_NUMERICHOST); + std::string ip(host); + if (ip.find("192.168.123.") == 0) { + result = ip; + break; + } + } + freeifaddrs(ifaddr); + return result; +} + +void thread_mic(void) { + sock = socket(AF_INET, SOCK_DGRAM, 0); + sockaddr_in local_addr{}; + local_addr.sin_family = AF_INET; + local_addr.sin_port = htons(PORT); + local_addr.sin_addr.s_addr = INADDR_ANY; + bind(sock, (sockaddr *)&local_addr, sizeof(local_addr)); + + ip_mreq mreq{}; + inet_pton(AF_INET, GROUP_IP, &mreq.imr_multiaddr); + std::string local_ip = get_local_ip_for_multicast(); + std::cout << "local ip: " << local_ip << std::endl; + mreq.imr_interface.s_addr = inet_addr(local_ip.c_str()); + setsockopt(sock, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq)); + + int total_bytes = 0; + std::vector pcm_data; + pcm_data.reserve(WAV_LEN / 2); + std::cout << "start record!" << std::endl; + while (total_bytes < WAV_LEN) { + char buffer[WAV_LEN_ONCE]; + ssize_t len = recvfrom(sock, buffer, sizeof(buffer), 0, nullptr, nullptr); + if (len > 0) { + size_t sample_count = len / 2; + const int16_t *samples = reinterpret_cast(buffer); + pcm_data.insert(pcm_data.end(), samples, samples + sample_count); + total_bytes += len; + } + } + + WriteWave("record.wav", 16000, pcm_data.data(), pcm_data.size(), 1); + std::cout << "record finish! save to record.wav " << std::endl; +} + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: audio_client_example [NetWorkInterface(eth0)]" + << std::endl; + exit(0); + } + int32_t ret; + /* + * Initilaize ChannelFactory + */ + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + unitree::robot::g1::AudioClient client; + client.Init(); + client.SetTimeout(10.0f); + + /*ASR message Example*/ + unitree::robot::ChannelSubscriber subscriber( + AUDIO_SUBSCRIBE_TOPIC); + subscriber.InitChannel(asr_handler); + + /*Volume Example*/ + uint8_t volume; + ret = client.GetVolume(volume); + std::cout << "GetVolume API ret:" << ret + << " volume = " << std::to_string(volume) << std::endl; + ret = client.SetVolume(100); + std::cout << "SetVolume to 100% , API ret:" << ret << std::endl; + + /*TTS Example*/ + ret = client.TtsMaker("你好。我是宇树科技的机器人。例程启动成功", + 0); // Auto play + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(5); + + ret = client.TtsMaker( + "Hello. I'm a robot from Unitree Robotics. The example has started " + "successfully. ", + 1); // Engilsh TTS + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(8); + + /*Audio Play Example*/ + int32_t sample_rate = -1; + int8_t num_channels = 0; + bool filestate = false; + std::vector pcm = + ReadWave(AUDIO_FILE_PATH, &sample_rate, &num_channels, &filestate); + + std::cout << "wav file sample_rate = " << sample_rate + << " num_channels = " << std::to_string(num_channels) + << " filestate =" << filestate << "filesize = " << pcm.size() + << std::endl; + + if (filestate && sample_rate == 16000 && num_channels == 1) { + size_t total_size = pcm.size(); + size_t offset = 0; + int chunk_index = 0; + std::string stream_id = + std::to_string(unitree::common::GetCurrentTimeMillisecond()); + + while (offset < total_size) { + size_t remaining = total_size - offset; + size_t current_chunk_size = + std::min(static_cast(CHUNK_SIZE), remaining); + std::vector chunk(pcm.begin() + offset, + pcm.begin() + offset + current_chunk_size); + client.PlayStream("example", stream_id, chunk); + unitree::common::Sleep(1); + std::cout << "Playing size: " << offset << std::endl; + offset += current_chunk_size; + } + + ret = client.PlayStop(stream_id); // stop playback after transmission ends + + } else { + std::cout << "audio file format error, please check!" << std::endl; + } + + /*LED Control Example*/ + client.LedControl(0, 255, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 255); + + std::cout << "AudioClient api test finish , asr start..." << std::endl; + + std::thread mic_t(thread_mic); + + while (1) { + sleep(1); // wait for asr message + } + mic_t.join(); + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/audio/test.wav b/deps/unitree_sdk2/example/g1/audio/test.wav new file mode 100644 index 0000000000000000000000000000000000000000..d0bd0bbca59d5cf6abe4b4aad75bda31b5e381fc GIT binary patch literal 132246 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z$^Y0_6786WU?ZCJ5Vp;dF$~05mhQF;4M9`y6dTl9Y>tvUTAy@@o~YlL1C7dMk(j&{ zZAzNi8Vsj;y7^g}xACKmt#@%m%Dl=L`zB3{280)TrMt9ZQLCO3%Wd(SFl+G8n(caB zX>kU#apLP@Ibb|uydmg_FE#&I{+OgPdNU3aq(nb96H$n)i8v~6pPNNuez;a_kWVZQEiMhtw<|1xvI5^e~qU# z8`BsD3!`Xdk(5^1@xrzJ(=$X7mUkenYxE%4n%uDU>1y3$u#H|^LP{b;Vj zqn@ByiqkX~lN>QlOrDs`F!^qV!Z literal 0 HcmV?d00001 diff --git a/deps/unitree_sdk2/example/g1/audio/wav.hpp b/deps/unitree_sdk2/example/g1/audio/wav.hpp new file mode 100644 index 0000000..cadedb9 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/audio/wav.hpp @@ -0,0 +1,232 @@ +#ifndef __UT_ROBOT_WAV_READER_HPP__ +#define __UT_ROBOT_WAV_READER_HPP__ + +struct WaveHeader { + void SeekToDataChunk(std::istream &is) { + while (is && subchunk2_id != 0x61746164) { + is.seekg(subchunk2_size, std::istream::cur); + is.read(reinterpret_cast(&subchunk2_id), sizeof(int32_t)); + is.read(reinterpret_cast(&subchunk2_size), sizeof(int32_t)); + } + } + + int32_t chunk_id; + int32_t chunk_size; + int32_t format; + int32_t subchunk1_id; + int32_t subchunk1_size; + int16_t audio_format; + int16_t num_channels; + int32_t sample_rate; + int32_t byte_rate; + int16_t block_align; + int16_t bits_per_sample; + int32_t subchunk2_id; // a tag of this chunk + int32_t subchunk2_size; // size of subchunk2 +}; + +static_assert(sizeof(WaveHeader) == 44); + +std::vector ReadWaveImpl(std::istream &is, int32_t *sampling_rate, + int8_t *channelCount, bool *is_ok) { + WaveHeader header{}; + is.read(reinterpret_cast(&header.chunk_id), sizeof(header.chunk_id)); + + // F F I R + if (header.chunk_id != 0x46464952) { + printf("Expected chunk_id RIFF. Given: 0x%08x\n", header.chunk_id); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.chunk_size), + sizeof(header.chunk_size)); + + is.read(reinterpret_cast(&header.format), sizeof(header.format)); + + // E V A W + if (header.format != 0x45564157) { + printf("Expected format WAVE. Given: 0x%08x\n", header.format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + + if (header.subchunk1_id == 0x4b4e554a) { + // skip junk padding + is.seekg(header.subchunk1_size, std::istream::cur); + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + } + + if (header.subchunk1_id != 0x20746d66) { + printf("Expected subchunk1_id 0x20746d66. Given: 0x%08x\n", + header.subchunk1_id); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size != 16 && + header.subchunk1_size != 18) { // 16 for PCM + printf("Expected subchunk1_size 16. Given: %d\n", header.subchunk1_size); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.audio_format), + sizeof(header.audio_format)); + + if (header.audio_format != 1) { // 1 for PCM + printf("Expected audio_format 1. Given: %d\n", header.audio_format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.num_channels), + sizeof(header.num_channels)); + + *channelCount = (int8_t)header.num_channels; + + is.read(reinterpret_cast(&header.sample_rate), + sizeof(header.sample_rate)); + + is.read(reinterpret_cast(&header.byte_rate), + sizeof(header.byte_rate)); + + is.read(reinterpret_cast(&header.block_align), + sizeof(header.block_align)); + + is.read(reinterpret_cast(&header.bits_per_sample), + sizeof(header.bits_per_sample)); + + if (header.byte_rate != + (header.sample_rate * header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect byte rate: %d. Expected: %d", header.byte_rate, + (header.sample_rate * header.num_channels * header.bits_per_sample / + 8)); + *is_ok = false; + return {}; + } + + if (header.block_align != + (header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect block align: %d. Expected: %d\n", header.block_align, + (header.num_channels * header.bits_per_sample / 8)); + *is_ok = false; + return {}; + } + + if (header.bits_per_sample != 16) { // we support only 16 bits per sample + printf("Expected bits_per_sample 16. Given: %d\n", header.bits_per_sample); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size == 18) { + int16_t extra_size = -1; + is.read(reinterpret_cast(&extra_size), sizeof(int16_t)); + if (extra_size != 0) { + printf( + "Extra size should be 0 for wave from NAudio. Current extra size " + "%d\n", + extra_size); + *is_ok = false; + return {}; + } + } + + is.read(reinterpret_cast(&header.subchunk2_id), + sizeof(header.subchunk2_id)); + + is.read(reinterpret_cast(&header.subchunk2_size), + sizeof(header.subchunk2_size)); + + header.SeekToDataChunk(is); + if (!is) { + *is_ok = false; + return {}; + } + + *sampling_rate = header.sample_rate; + + // header.subchunk2_size contains the number of bytes in the data. + // As we assume each sample contains two bytes, so it is divided by 2 here + std::vector samples(header.subchunk2_size / 2); + + is.read(reinterpret_cast(samples.data()), header.subchunk2_size); + if (!is) { + *is_ok = false; + return {}; + } + + std::vector ans(samples.size() * 2); + for (int32_t i = 0; i != static_cast(samples.size()); ++i) { + ans[i * 2] = samples[i] & 0xFF; + ans[i * 2 + 1] = (samples[i] >> 8) & 0xFF; + } + + *is_ok = true; + return ans; +} + +std::vector ReadWave(const std::string &filename, + int32_t *sampling_rate, int8_t *channelCount, + bool *is_ok) { + std::ifstream is(filename, std::ifstream::binary); + auto samples = ReadWaveImpl(is, sampling_rate, channelCount, is_ok); + return samples; +} + +bool WriteWave(const std::string &filename, int32_t sampling_rate, + const int16_t *samples, int32_t n, uint8_t num_channels) { + WaveHeader header{}; + header.chunk_id = 0x46464952; // FFIR + header.format = 0x45564157; // EVAW + header.subchunk1_id = 0x20746d66; // "fmt " + header.subchunk1_size = 16; // 16 for PCM + header.audio_format = 1; // PCM =1 + + int32_t bits_per_sample = 16; // int16_t + header.num_channels = num_channels; + header.sample_rate = sampling_rate; + header.byte_rate = sampling_rate * num_channels * bits_per_sample / 8; + header.block_align = num_channels * bits_per_sample / 8; + header.bits_per_sample = bits_per_sample; + header.subchunk2_id = 0x61746164; // atad + header.subchunk2_size = n * num_channels * bits_per_sample / 8; + + header.chunk_size = 36 + header.subchunk2_size; + + std::vector samples_int16(n * num_channels); + for (int32_t i = 0; i != n * num_channels; ++i) { + samples_int16[i] = samples[i]; + } + + std::ofstream os(filename, std::ios::binary); + if (!os) { + printf("Failed to create %s", filename.c_str()); + return false; + } + + os.write(reinterpret_cast(&header), sizeof(header)); + os.write(reinterpret_cast(samples_int16.data()), + samples_int16.size() * sizeof(int16_t)); + + if (!os) { + printf("Write %s failed", filename.c_str()); + return false; + } + + return true; +} + +#endif diff --git a/deps/unitree_sdk2/example/g1/dex3/g1_dex3_example.cpp b/deps/unitree_sdk2/example/g1/dex3/g1_dex3_example.cpp new file mode 100644 index 0000000..aa2f3b9 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/dex3/g1_dex3_example.cpp @@ -0,0 +1,326 @@ +#include +#include +#include //replace your sdk path +#include //replace your sdk path +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +enum State { + INIT, + ROTATE, + GRIP, + STOP, + PRINT +}; + +// set URDF Limits +const float maxLimits_left[7]= { 1.05 , 1.05 , 1.75 , 0 , 0 , 0 , 0 }; // set max motor value +const float minLimits_left[7]= { -1.05 , -0.724 , 0 , -1.57 , -1.75 , -1.57 ,-1.75}; +const float maxLimits_right[7]= { 1.05 , 0.742 , 0 , 1.57 , 1.75 , 1.57 , 1.75}; +const float minLimits_right[7]= { -1.05 , -1.05 , -1.75, 0 , 0 , 0 ,0 }; + +// Initing the dds configuration +std::string dds_namespace = "rt/dex3/left"; +std::string sub_namespace = "rt/dex3/left/state"; +unitree::robot::ChannelPublisherPtr handcmd_publisher; +unitree::robot::ChannelSubscriberPtr handstate_subscriber; +unitree_hg::msg::dds_::HandCmd_ msg; +unitree_hg::msg::dds_::HandState_ state; +std::atomic currentState(INIT); +std::mutex stateMutex; + +#define MOTOR_MAX 7 +#define SENSOR_MAX 9 +uint8_t hand_id = 0; + +typedef struct { + uint8_t id : 4; + uint8_t status : 3; + uint8_t timeout: 1; +} RIS_Mode_t; + +// stateToString Method +const char* stateToString(State state) { + switch (state) { + case INIT: return "INIT"; + case ROTATE: return "ROTATE"; + case GRIP: return "GRIP"; + case STOP: return "STOP"; + case PRINT: return "PRINT"; + default: return "UNKNOWN"; + } +} + +// Monitor user's input +char getNonBlockingInput() { + struct termios oldt, newt; + char ch; + int oldf; + + tcgetattr(STDIN_FILENO, &oldt); + newt = oldt; + newt.c_lflag &= ~(ICANON | ECHO); + tcsetattr(STDIN_FILENO, TCSANOW, &newt); + oldf = fcntl(STDIN_FILENO, F_GETFL, 0); + fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); + + ch = getchar(); + + tcsetattr(STDIN_FILENO, TCSANOW, &oldt); + fcntl(STDIN_FILENO, F_SETFL, oldf); + + return ch; +} + +void userInputThread() { + while (true) { + char ch = getNonBlockingInput(); + if (ch == 'q') { + std::cout << "Exiting..." << std::endl; + currentState = STOP; + break; + } else if (ch == 'r') { + currentState = ROTATE; + } else if (ch == 'g') { + currentState = GRIP; + } else if (ch == 'p') { + currentState = PRINT; + } else if (ch == 's') { + currentState = STOP; + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } +} + +// this method can send kp and kd to motors +void rotateMotors(bool isLeftHand) { + static int _count = 1; + static int dir = 1; + const float* maxLimits = isLeftHand ? maxLimits_left : maxLimits_right; + const float* minLimits = isLeftHand ? minLimits_left : minLimits_right; + + for (int i = 0; i < MOTOR_MAX; i++) { + RIS_Mode_t ris_mode; + ris_mode.id = i; + ris_mode.status = 0x01; + + + uint8_t mode = 0; + mode |= (ris_mode.id & 0x0F); + mode |= (ris_mode.status & 0x07) << 4; + mode |= (ris_mode.timeout & 0x01) << 7; + msg.motor_cmd()[i].mode(mode); + msg.motor_cmd()[i].tau(0); + msg.motor_cmd()[i].kp(0.5); + msg.motor_cmd()[i].kd(0.1); + + + float range = maxLimits[i] - minLimits[i]; + float mid = (maxLimits[i] + minLimits[i]) / 2.0; + float amplitude = range / 2.0; + float q = mid + amplitude * sin(_count / 20000.0 * M_PI); + + msg.motor_cmd()[i].q(q); + } + + handcmd_publisher->Write(msg); + _count += dir; + + + if (_count >= 10000) { + dir = -1; + } + if (_count <= -10000) { + dir = 1; + } + + usleep(100); +} + +// this method can send static position to motors +void gripHand(bool isLeftHand) { + + const float* maxLimits = isLeftHand ? maxLimits_left : maxLimits_right; + const float* minLimits = isLeftHand ? minLimits_left : minLimits_right; + + for (int i = 0; i < MOTOR_MAX; i++) { + RIS_Mode_t ris_mode; + ris_mode.id = i; + ris_mode.status = 0x01; + + + uint8_t mode = 0; + mode |= (ris_mode.id & 0x0F); + mode |= (ris_mode.status & 0x07) << 4; + mode |= (ris_mode.timeout & 0x01) << 7; + msg.motor_cmd()[i].mode(mode); + msg.motor_cmd()[i].tau(0); + + + float mid = (maxLimits[i] + minLimits[i]) / 2.0; + + + msg.motor_cmd()[i].q(mid); + msg.motor_cmd()[i].dq(0); + msg.motor_cmd()[i].kp(1.5); + msg.motor_cmd()[i].kd(0.1); + } + + + handcmd_publisher->Write(msg); + usleep(1000000); +} + +// this method can send dynamic position to motors +void stopMotors() { + for (int i = 0; i < MOTOR_MAX; i++) { + RIS_Mode_t ris_mode; + ris_mode.id = i; + ris_mode.status = 0x01; + ris_mode.timeout = 0x01; + + uint8_t mode = 0; + mode |= (ris_mode.id & 0x0F); + mode |= (ris_mode.status & 0x07) << 4; + mode |= (ris_mode.timeout & 0x01) << 7; + msg.motor_cmd()[i].mode(mode); + msg.motor_cmd()[i].tau(0); + msg.motor_cmd()[i].dq(0); + msg.motor_cmd()[i].kp(0); + msg.motor_cmd()[i].kd(0); + msg.motor_cmd()[i].q(0); + + } + handcmd_publisher->Write(msg); + usleep(1000000); +} + +// this method can subscribe dds and show the position for now +void printState(bool isLeftHand){ + Eigen::Matrix q; + + const float* maxLimits = isLeftHand ? maxLimits_left : maxLimits_right; + const float* minLimits = isLeftHand ? minLimits_left : minLimits_right; + for(int i = 0; i < 7; i++) + { + q(i) = state.motor_state()[i].q(); + + q(i) = (q(i) - minLimits[i] ) / (maxLimits[i] - minLimits[i]); + q(i) = std::clamp(q(i), 0.0f, 1.0f); + } + std::cout << "\033[2J\033[H"; + std::cout << "-- Hand State --\n"; + std::cout << "--- Current State: " << "Test" << " ---\n"; + std::cout << "Commands:\n"; + std::cout << " r - Rotate\n"; + std::cout << " g - Grip\n"; + std::cout << " t - Test\n"; + std::cout << " q - Quit\n"; + if(isLeftHand){ + std::cout << " L: " << q.transpose() << std::endl; + }else std::cout << " R: " << q.transpose() << std::endl; + usleep(0.1 * 1e6); + +} + +void StateHandler(const void *message) { + state = *(unitree_hg::msg::dds_::HandState_ *)message; +} + + + + +int main(int argc, const char** argv) +{ + std::cout << " --- Unitree Robotics --- \n"; + std::cout << " Dex3 Hand Example \n\n"; + std::string input; + std::cout << "Please input the hand id (L for left hand, R for right hand): "; + std::cin >> input; + + if (input == "L") { + hand_id = 0; + dds_namespace = "rt/dex3/left"; + sub_namespace = "rt/lf/dex3/left/state"; + } else if (input == "R") { + hand_id = 1; + dds_namespace = "rt/dex3/right"; + sub_namespace = "rt/lf/dex3/right/state"; + } else { + std::cout << "Invalid hand id. Please input 'L' or 'R'." << std::endl; + return -1; + } + + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + handcmd_publisher.reset(new unitree::robot::ChannelPublisher(dds_namespace + "/cmd")); + handstate_subscriber.reset(new unitree::robot::ChannelSubscriber(sub_namespace)); + handcmd_publisher->InitChannel(); + handstate_subscriber->InitChannel( + std::bind(&StateHandler, std::placeholders::_1), 1); + state.motor_state().resize(MOTOR_MAX); + state.press_sensor_state().resize(SENSOR_MAX); + msg.motor_cmd().resize(MOTOR_MAX); + + // handcmd_publisher->msg_.motor_cmd().resize(MOTOR_MAX); + + + std::thread inputThread(userInputThread); + State lastState = INIT; + while (true) { + State state; + { + std::lock_guard lock(stateMutex); + state = currentState.load(); + } + + if (state != lastState) { + std::cout << "\n--- Current State: " << stateToString(state) << " ---\n"; + std::cout << "Commands:\n"; + std::cout << " r - Rotate\n"; + std::cout << " g - Grip\n"; + std::cout << " p - Print_state\n"; + std::cout << " q - Quit\n"; + std::cout << " s - Stop\n"; + lastState = state; + } + + switch (state) { + case INIT: + std::cout << "Initializing..." << std::endl; + currentState = ROTATE; + break; + case ROTATE: + rotateMotors(input == "L"); + break; + case GRIP: + gripHand(input == "L"); + break; + case STOP: + stopMotors(); + break; + case PRINT: + printState(input == "L"); + break; + default: + std::cout << "Invalid state!" << std::endl; + inputThread.join(); + break; + } + } + + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/g1/g1d/g1_agv_client_example.cpp b/deps/unitree_sdk2/example/g1/g1d/g1_agv_client_example.cpp new file mode 100644 index 0000000..1efc142 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/g1d/g1_agv_client_example.cpp @@ -0,0 +1,53 @@ +#include +#include +#include +#include + +extern "C" { + float sinf(float x); +} + +int main() +{ + /* + * Initilaize ChannelFactory + */ + unitree::robot::ChannelFactory::Instance()->Init(0); + unitree::robot::g1::AgvClient ac; + + ac.SetTimeout(3.0f); + ac.Init(); + + //Test Api - Periodic motion + int cycle_count = 0; + const float cycle_period = 40.0f; // 40步完成一个周期 + const float vx_amplitude = 0.3f; + const float vyaw_amplitude = 0.3f; + const float height_amplitude = 1.0f; + + while (true) + { + // 使用正弦函数实现周期运动 + float time_phase = (cycle_count % (int)cycle_period) / cycle_period * 2.0f * M_PI; + + // 速度周期运动: vx和vyaw使用正弦波 + float vx = vx_amplitude * sinf(time_phase); + float vyaw = vyaw_amplitude * sinf(time_phase); + + int32_t ret = ac.Move(vx, 0.0f, vyaw); + std::cout << "Call Move vx:" << vx << " vyaw:" << vyaw << " ret:" << ret << std::endl; + + usleep(50000); // 50ms + + // 高度调节周期运动: 使用正弦波，周期与速度一致 + float height = height_amplitude * sinf(time_phase); + + int32_t ret2 = ac.HeightAdjust(height); + std::cout << "Call HeightAdjust height:" << height << " ret:" << ret2 << std::endl; + + cycle_count++; + usleep(50000); // 50ms + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/g1d/g1d_arm_example.cpp b/deps/unitree_sdk2/example/g1/g1d/g1d_arm_example.cpp new file mode 100644 index 0000000..05441f2 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/g1d/g1d_arm_example.cpp @@ -0,0 +1,292 @@ +#include +#include +#include +#include +#include +#include + +#include "gamepad.hpp" + +// DDS +#include +#include + +// IDL +#include +#include +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_IMU_TORSO = "rt/secondary_imu"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree_hg::msg::dds_; + +template +class DataBuffer { + public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + + private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +const int G1D_NUM_MOTOR = 29; + +// IMU状态结构体 +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; + +// 电机控制指令结构体 +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; + +// 电机状态结构体 +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +// Stiffness for all G1D Joints +std::array Kp{ + 0, 0, 0, 0, 0, 0, // empty + 0, 0, 0, 0, 0, 0, // empty + 60, 0, 40, // waist + 40, 40, 40, 40, 40, 40, 40, // arms + 40, 40, 40, 40, 40, 40, 40 // arms +}; + +// Damping for all G1D Joints +std::array Kd{ + 0, 0, 0, 0, 0, 0, // empty + 0, 0, 0, 0, 0, 0, // empty + 1, 0, 1, // waist + 1, 1, 1, 1, 1, 1, 1, // arms + 1, 1, 1, 1, 1, 1, 1 // arms +}; + +uint8_t mode_machine_; + +Gamepad gamepad_; +REMOTE_DATA_RX rx_; + +DataBuffer motor_state_buffer_; +DataBuffer motor_command_buffer_; +DataBuffer imu_state_buffer_; + +ThreadPtr command_writer_ptr_, control_thread_ptr_; + +LowState_ g1d_low_state; +IMUState_ Torso_IMU; + +bool A_PRESSED = false; +bool IMU_Get = false; + +enum G1DJointIndex { + LeftHipPitch = 0, // NOTE INVALID for g1d + LeftHipRoll = 1, // NOTE INVALID for g1d + LeftHipYaw = 2, // NOTE INVALID for g1d + LeftKnee = 3, // NOTE INVALID for g1d + LeftAnklePitch = 4, // NOTE INVALID for g1d + LeftAnkleB = 4, // NOTE INVALID for g1d + LeftAnkleRoll = 5, // NOTE INVALID for g1d + LeftAnkleA = 5, // NOTE INVALID for g1d + RightHipPitch = 6, // NOTE INVALID for g1d + RightHipRoll = 7, // NOTE INVALID for g1d + RightHipYaw = 8, // NOTE INVALID for g1d + RightKnee = 9, // NOTE INVALID for g1d + RightAnklePitch = 10, // NOTE INVALID for g1d + RightAnkleB = 10, // NOTE INVALID for g1d + RightAnkleRoll = 11, // NOTE INVALID for g1d + RightAnkleA = 11, // NOTE INVALID for g1d + WaistYaw = 12, + WaistRoll = 13, // NOTE INVALID for g1d + WaistA = 13, // NOTE INVALID for g1d + WaistPitch = 14, + WaistB = 14, // NOTE INVALID for g1d + LeftShoulderPitch = 15, + LeftShoulderRoll = 16, + LeftShoulderYaw = 17, + LeftElbow = 18, + LeftWristRoll = 19, + LeftWristPitch = 20, + LeftWristYaw = 21, + RightShoulderPitch = 22, + RightShoulderRoll = 23, + RightShoulderYaw = 24, + RightElbow = 25, + RightWristRoll = 26, + RightWristPitch = 27, + RightWristYaw = 28 +}; + +// CRC校验值计算 +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +// 躯干IMU消息回调函数 +void imuTorsoHandler(const void *message) { + IMUState_ imu_torso = *(const IMUState_ *)message; + Torso_IMU = imu_torso; +} + +// 底层状态消息回调函数 +void LowStateHandler(const void *message) { + LowState_ low_state = *(const LowState_ *)message; + g1d_low_state = low_state; + if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) { + std::cout << "[ERROR] CRC Error" << std::endl; + return; + } + + // 获取关节电机数据 + MotorState ms_tmp; + for (int i = 0; i < G1D_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[i].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[i].dq(); + if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll) + std::cout << "[ERROR] motor " << i << " with code " << low_state.motor_state()[i].motorstate() << "\n"; + } + motor_state_buffer_.SetData(ms_tmp); + + // 获取IMU数据 + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + IMU_Get = true; + + // 更新遥控器状态 + memcpy(rx_.buff, &low_state.wireless_remote()[0], 40); + gamepad_.update(rx_.RF_RX); + if(gamepad_.A.on_press) A_PRESSED = true; + + // 更新机型编号 + mode_machine_ = low_state.mode_machine(); +} + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: g1d_arm_example network_interface" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + ChannelFactory::Instance()->Init(0, networkInterface); + + // Publisher + ChannelPublisherPtr lowcmd_publisher(new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher->InitChannel(); + + // Subscriber + ChannelSubscriberPtr lowstate_subscriber(new ChannelSubscriber(HG_STATE_TOPIC)); + lowstate_subscriber->InitChannel(LowStateHandler, 1); + ChannelSubscriberPtr imu_subscriber(new ChannelSubscriber(HG_IMU_TORSO)); + imu_subscriber->InitChannel(imuTorsoHandler, 1); + + // 等待接收到第一帧IMU数据，打印躯干IMU状态信息 + while(!IMU_Get){ + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + std::cout << "Torso IMU State: " << std::endl + << "RPY = " + << Torso_IMU.rpy()[0] << ", " << Torso_IMU.rpy()[1] << ", " << Torso_IMU.rpy()[2] + << std::endl + << "Gyro = " + << Torso_IMU.gyroscope()[0] << ", " << Torso_IMU.gyroscope()[1] << ", " << Torso_IMU.gyroscope()[2] + << std::endl; + + // 等待遥控器A键按下 + std::cout << "Press button A on the remote control to continue!" << std::endl; + while(true){ + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + if(A_PRESSED){ + A_PRESSED = false; + break; + } + } + std::cout << "A Pressed!" << std::endl; + + // 手臂摆动 + LowCmd_ dds_low_command; + dds_low_command.mode_pr() = static_cast(0); //构造底层控制指令 + dds_low_command.mode_machine() = mode_machine_; + for (size_t i = 0; i < G1D_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = 0; + dds_low_command.motor_cmd().at(i).q() = motor_state_buffer_.GetData() -> q.at(i); + dds_low_command.motor_cmd().at(i).dq() = 0; + dds_low_command.motor_cmd().at(i).kp() = Kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = Kd.at(i); + } + + double control_dt = 0.002; + double max_P = M_PI * 30.0 / 180.0; + double t = 0.0; + + std::cout << "Press button A on the remote control to exit the program!" << std::endl; + while(true){ + double L_Shoulder_des = max_P * std::sin(2.0 * M_PI * t); + double R_Shoulder_des = -max_P * std::sin(2.0 * M_PI * t); + + dds_low_command.motor_cmd().at(LeftShoulderPitch).q() = L_Shoulder_des; + dds_low_command.motor_cmd().at(RightShoulderPitch).q() = R_Shoulder_des; + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher -> Write(dds_low_command); //发布底层控制指令 + + t += control_dt; + + // 按下遥控器A键或键盘Ctrl+C退出程序 + if(A_PRESSED){ + A_PRESSED = false; + break; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/g1d/g1d_height_control.cpp b/deps/unitree_sdk2/example/g1/g1d/g1d_height_control.cpp new file mode 100644 index 0000000..9371919 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/g1d/g1d_height_control.cpp @@ -0,0 +1,184 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +static const std::string G1D_HISPEED_STATE_TOPIC = "rt/hispeed_state"; + +using namespace unitree::robot; +using namespace geometry_msgs::msg::dds_; + +volatile std::sig_atomic_t running = 1; +std::atomic height_received{false}; +std::atomic current_height{0.0F}; +std::atomic last_height_time_ms{0}; + +int64_t NowMs() { + using namespace std::chrono; + return duration_cast(steady_clock::now().time_since_epoch()).count(); +} + +//Process Ctrl+C interrupt signal. +void SignalHandler(int) { + running = 0; +} + +void HispeedStateHandler(const void *message) { + const Point32_ *hispeed_state = static_cast(message); + + current_height.store(hispeed_state->y(), std::memory_order_relaxed); + last_height_time_ms.store(NowMs(), std::memory_order_release); + height_received.store(true, std::memory_order_release); +} + +bool WaitForHeightData() { + while (running != 0 && !height_received.load(std::memory_order_acquire)) { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + return running != 0; +} + +bool HeightDataTimeout() { + const int64_t last_time = last_height_time_ms.load(std::memory_order_acquire); + return last_time <= 0 || NowMs() - last_time > 500; +} + +bool ParseFloat(const char *text, float *value) { + char *end = nullptr; + errno = 0; + const float parsed = std::strtof(text, &end); + if (text == end || *end != '\0' || errno == ERANGE || !std::isfinite(parsed)) { + return false; + } + + *value = parsed; + return true; +} + +void StopHeightAdjust(g1::AgvClient &agv_client) { + const int32_t ret = agv_client.HeightAdjust(0.0F); + if (ret != 0) { + std::cout << std::endl << "[WARN] HeightAdjust stop command failed, ret: " << ret << std::endl; + } +} + +//Use PD controller to control the robot's height. +void height_control(g1::AgvClient &agv_client, float z) { + constexpr float kP = 20.0F; + constexpr float kD = 0.3F; + constexpr float kMaxVz = 0.8F; + constexpr float kArriveTolerance = 0.001F; + constexpr int kArriveStableCycles = 20; + constexpr auto kControlPeriod = std::chrono::milliseconds(50); + + if (!WaitForHeightData()) { + StopHeightAdjust(agv_client); + return; + } + + float previous_error = z - current_height.load(std::memory_order_relaxed); + int arrive_count = 0; + auto previous_time = std::chrono::steady_clock::now(); + + while (running != 0) { + if (HeightDataTimeout()) { + StopHeightAdjust(agv_client); + std::cout << std::endl << "[ERROR] Height data timeout." << std::endl; + return; + } + + const auto now = std::chrono::steady_clock::now(); + float dt = std::chrono::duration(now - previous_time).count(); + if (dt <= 0.0F) { + dt = std::chrono::duration(kControlPeriod).count(); + } + previous_time = now; + + const float height = current_height.load(std::memory_order_relaxed); + const float error = z - height; + const float d_error = (error - previous_error) / dt; + previous_error = error; + + float vz = kP * error + kD * d_error; + vz = std::clamp(vz, -kMaxVz, kMaxVz); + + if (std::fabs(error) <= kArriveTolerance) { + vz = 0.0F; + ++arrive_count; + } else { + arrive_count = 0; + } + + const int32_t ret = agv_client.HeightAdjust(vz); + std::cout << "\rG1D column height: " << std::fixed << std::setprecision(4) + << height << " m" + << " | target: " << z << " m" + << " | error: " << error << " m" + << " | vz: " << vz << " " << std::flush; + + if (ret != 0) { + StopHeightAdjust(agv_client); + std::cout << std::endl << "[ERROR] HeightAdjust failed, ret: " << ret << std::endl; + return; + } + + if (arrive_count >= kArriveStableCycles) { + StopHeightAdjust(agv_client); + std::cout << std::endl + << "Target height reached: " << std::fixed << std::setprecision(4) + << z << " m" << std::endl; + return; + } + + std::this_thread::sleep_for(kControlPeriod); + } + + StopHeightAdjust(agv_client); +} + +int main(int argc, char const *argv[]) { + if (argc < 3) { + std::cout << "Usage: g1d_height_control network_interface target_height_m" << std::endl; + return 0; + } + + std::signal(SIGINT, SignalHandler); + + const std::string network_interface = argv[1]; + float target_height = 0.0F; + if (!ParseFloat(argv[2], &target_height)) { + std::cout << "Invalid target_height_m: " << argv[2] << std::endl; + return 0; + } + + ChannelFactory::Instance()->Init(0, network_interface); + + g1::AgvClient agv_client; + agv_client.SetTimeout(3.0F); + agv_client.Init(); + + ChannelSubscriberPtr hispeed_state_subscriber( + new ChannelSubscriber(G1D_HISPEED_STATE_TOPIC)); + hispeed_state_subscriber->InitChannel(HispeedStateHandler, 1); + + std::cout << "Subscribe topic: " << G1D_HISPEED_STATE_TOPIC << std::endl; + std::cout << "Waiting for height data..." << std::endl; + + height_control(agv_client, target_height); + + std::cout << std::endl << "Exit g1d_height_control." << std::endl; + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/g1d/gamepad.hpp b/deps/unitree_sdk2/example/g1/g1d/gamepad.hpp new file mode 100644 index 0000000..41910b7 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/g1d/gamepad.hpp @@ -0,0 +1,128 @@ +#pragma once + +#include + +namespace unitree::common +{ + + // bytecode mapping for raw joystick data + // 16b + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // 40 Byte (now used 24B) + typedef struct + { + uint8_t head[2]; + xKeySwitchUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; + + uint8_t idle[16]; + } xRockerBtnDataStruct; + + typedef union + { + xRockerBtnDataStruct RF_RX; + uint8_t buff[40]; + } REMOTE_DATA_RX; + + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + class Gamepad + { + public: + Gamepad() {} + + void update(xRockerBtnDataStruct &key_data) + { + lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth; + l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth; + + R1.update(key_data.btn.components.R1); + L1.update(key_data.btn.components.L1); + start.update(key_data.btn.components.start); + select.update(key_data.btn.components.select); + R2.update(key_data.btn.components.R2); + L2.update(key_data.btn.components.L2); + F1.update(key_data.btn.components.F1); + F2.update(key_data.btn.components.F2); + A.update(key_data.btn.components.A); + B.update(key_data.btn.components.B); + X.update(key_data.btn.components.X); + Y.update(key_data.btn.components.Y); + up.update(key_data.btn.components.up); + right.update(key_data.btn.components.right); + down.update(key_data.btn.components.down); + left.update(key_data.btn.components.left); + } + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float l2 = 0.; + float ly = 0.; + + float smooth = 0.03; + float dead_zone = 0.01; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_arm5_sdk_dds_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_arm5_sdk_dds_example.cpp new file mode 100644 index 0000000..19cd308 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_arm5_sdk_dds_example.cpp @@ -0,0 +1,256 @@ +#include +#include +#include +#include + +#include +#include +#include +#include + +static const std::string kTopicArmSDK = "rt/arm_sdk"; +static const std::string kTopicState = "rt/lowstate"; +constexpr float kPi = 3.141592654; +constexpr float kPi_2 = 1.57079632; + +enum JointIndex { + // Left leg + kLeftHipPitch = 0, + kLeftHipRoll = 1, + kLeftHipYaw = 2, + kLeftKnee = 3, + kLeftAnkle = 4, + kLeftAnkleRoll = 5, + + // Right leg + kRightHipPitch = 6, + kRightHipRoll = 7, + kRightHipYaw = 8, + kRightKnee = 9, + kRightAnkle = 10, + kRightAnkleRoll = 11, + + kWaistYaw = 12, + kWaistRoll = 13, + kWaistPitch = 14, + + // Left arm + kLeftShoulderPitch = 15, + kLeftShoulderRoll = 16, + kLeftShoulderYaw = 17, + kLeftElbowPitch = 18, + kLeftElbowRoll = 19, + + // Right arm + kRightShoulderPitch = 22, + kRightShoulderRoll = 23, + kRightShoulderYaw = 24, + kRightElbowPitch = 25, + kRightElbowRoll = 26, + + kNotUsedJoint = 29, + kNotUsedJoint1 = 30, + kNotUsedJoint2 = 31, + kNotUsedJoint3 = 32, + kNotUsedJoint4 = 33, + kNotUsedJoint5 = 34 +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelPublisherPtr + arm_sdk_publisher; + unitree_hg::msg::dds_::LowCmd_ msg; + + arm_sdk_publisher.reset( + new unitree::robot::ChannelPublisher( + kTopicArmSDK)); + arm_sdk_publisher->InitChannel(); + + unitree::robot::ChannelSubscriberPtr + low_state_subscriber; + + // create subscriber + unitree_hg::msg::dds_::LowState_ state_msg; + low_state_subscriber.reset( + new unitree::robot::ChannelSubscriber( + kTopicState)); + low_state_subscriber->InitChannel([&](const void *msg) { + auto s = ( const unitree_hg::msg::dds_::LowState_* )msg; + memcpy( &state_msg, s, sizeof( unitree_hg::msg::dds_::LowState_ ) ); + }, 1); + + std::array arm_joints = { + JointIndex::kLeftShoulderPitch, JointIndex::kLeftShoulderRoll, + JointIndex::kLeftShoulderYaw, JointIndex::kLeftElbowPitch, + JointIndex::kLeftElbowRoll, + JointIndex::kRightShoulderPitch, JointIndex::kRightShoulderRoll, + JointIndex::kRightShoulderYaw, JointIndex::kRightElbowPitch, + JointIndex::kRightElbowRoll, + JointIndex::kWaistYaw, + JointIndex::kWaistRoll, + JointIndex::kWaistPitch}; + + float weight = 0.f; + float weight_rate = 0.2f; + + float kp = 60.f; + float kd = 1.5f; + float dq = 0.f; + float tau_ff = 0.f; + + float control_dt = 0.02f; + float max_joint_velocity = 0.5f; + + float delta_weight = weight_rate * control_dt; + float max_joint_delta = max_joint_velocity * control_dt; + auto sleep_time = + std::chrono::milliseconds(static_cast(control_dt / 0.001f)); + + std::array init_pos{0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, + 0, 0, 0}; + + std::array target_pos = {0.f, kPi_2, 0.f, kPi_2, 0.f, + 0.f, -kPi_2, 0.f, kPi_2, 0.f, + 0.f, 0.f, 0.f}; + + // wait for init + std::cout << "Press ENTER to init arms ..."; + std::cin.get(); + + // get current joint position + std::array current_jpos{}; + std::cout<<"Current joint position: "; + for (int i = 0; i < arm_joints.size(); ++i) { + current_jpos.at(i) = state_msg.motor_state().at(arm_joints.at(i)).q(); + std::cout << current_jpos.at(i) << " "; + } + std::cout << std::endl; + + // set init pos + std::cout << "Initailizing arms ..."; + float init_time = 2.0f; + int init_time_steps = static_cast(init_time / control_dt); + + for (int i = 0; i < init_time_steps; ++i) { + // set weight + weight = 1.0; + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + float phase = 1.0 * i / init_time_steps; + std::cout << "Phase: " << phase << std::endl; + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(init_pos.at(j) * phase + current_jpos.at(j) * (1 - phase)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + // wait for control + std::cout << "Press ENTER to start arm ctrl ..." << std::endl; + std::cin.get(); + + // start control + std::cout << "Start arm ctrl!" << std::endl; + float period = 5.f; + int num_time_steps = static_cast(period / control_dt); + + std::array current_jpos_des{}; + + // lift arms up + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(target_pos.at(j) - current_jpos_des.at(j), + -max_joint_delta, max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // put arms down + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(init_pos.at(j) - current_jpos_des.at(j), -max_joint_delta, + max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // stop control + std::cout << "Stoping arm ctrl ..."; + float stop_time = 2.0f; + int stop_time_steps = static_cast(stop_time / control_dt); + + for (int i = 0; i < stop_time_steps; ++i) { + // increase weight + weight -= delta_weight; + weight = std::clamp(weight, 0.f, 1.f); + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(0); + // send dds msg + arm_sdk_publisher->Write(msg); + + std::cout << "Done!" << std::endl; + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_arm7_sdk_dds_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_arm7_sdk_dds_example.cpp new file mode 100644 index 0000000..019b805 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_arm7_sdk_dds_example.cpp @@ -0,0 +1,262 @@ +#include +#include +#include +#include + +#include +#include +#include +#include + +static const std::string kTopicArmSDK = "rt/arm_sdk"; +static const std::string kTopicState = "rt/lowstate"; +constexpr float kPi = 3.141592654; +constexpr float kPi_2 = 1.57079632; + +enum JointIndex { + // Left leg + kLeftHipPitch, + kLeftHipRoll, + kLeftHipYaw, + kLeftKnee, + kLeftAnkle, + kLeftAnkleRoll, + + // Right leg + kRightHipPitch, + kRightHipRoll, + kRightHipYaw, + kRightKnee, + kRightAnkle, + kRightAnkleRoll, + + kWaistYaw, + kWaistRoll, + kWaistPitch, + + // Left arm + kLeftShoulderPitch, + kLeftShoulderRoll, + kLeftShoulderYaw, + kLeftElbow, + kLeftWristRoll, + kLeftWristPitch, + kLeftWristYaw, + // Right arm + kRightShoulderPitch, + kRightShoulderRoll, + kRightShoulderYaw, + kRightElbow, + kRightWristRoll, + kRightWristPitch, + kRightWristYaw, + + kNotUsedJoint, + kNotUsedJoint1, + kNotUsedJoint2, + kNotUsedJoint3, + kNotUsedJoint4, + kNotUsedJoint5 +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelPublisherPtr + arm_sdk_publisher; + unitree_hg::msg::dds_::LowCmd_ msg; + + arm_sdk_publisher.reset( + new unitree::robot::ChannelPublisher( + kTopicArmSDK)); + arm_sdk_publisher->InitChannel(); + + unitree::robot::ChannelSubscriberPtr + low_state_subscriber; + + // create subscriber + unitree_hg::msg::dds_::LowState_ state_msg; + low_state_subscriber.reset( + new unitree::robot::ChannelSubscriber( + kTopicState)); + low_state_subscriber->InitChannel([&](const void *msg) { + auto s = ( const unitree_hg::msg::dds_::LowState_* )msg; + memcpy( &state_msg, s, sizeof( unitree_hg::msg::dds_::LowState_ ) ); + }, 1); + + std::array arm_joints = { + JointIndex::kLeftShoulderPitch, JointIndex::kLeftShoulderRoll, + JointIndex::kLeftShoulderYaw, JointIndex::kLeftElbow, + JointIndex::kLeftWristRoll, JointIndex::kLeftWristPitch, + JointIndex::kLeftWristYaw, + JointIndex::kRightShoulderPitch, JointIndex::kRightShoulderRoll, + JointIndex::kRightShoulderYaw, JointIndex::kRightElbow, + JointIndex::kRightWristRoll, JointIndex::kRightWristPitch, + JointIndex::kRightWristYaw, + JointIndex::kWaistYaw, + JointIndex::kWaistRoll, + JointIndex::kWaistPitch}; + + float weight = 0.f; + float weight_rate = 0.2f; + + float kp = 60.f; + float kd = 1.5f; + float dq = 0.f; + float tau_ff = 0.f; + + float control_dt = 0.02f; + float max_joint_velocity = 0.5f; + + float delta_weight = weight_rate * control_dt; + float max_joint_delta = max_joint_velocity * control_dt; + auto sleep_time = + std::chrono::milliseconds(static_cast(control_dt / 0.001f)); + + std::array init_pos{0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0}; + + std::array target_pos = {0.f, kPi_2, 0.f, kPi_2, 0.f, 0.f, 0.f, + 0.f, -kPi_2, 0.f, kPi_2, 0.f, 0.f, 0.f, + 0, 0, 0}; + + // wait for init + std::cout << "Press ENTER to init arms ..."; + std::cin.get(); + + // get current joint position + std::array current_jpos{}; + std::cout<<"Current joint position: "; + for (int i = 0; i < arm_joints.size(); ++i) { + current_jpos.at(i) = state_msg.motor_state().at(arm_joints.at(i)).q(); + std::cout << current_jpos.at(i) << " "; + } + std::cout << std::endl; + + // set init pos + std::cout << "Initailizing arms ..."; + float init_time = 2.0f; + int init_time_steps = static_cast(init_time / control_dt); + + for (int i = 0; i < init_time_steps; ++i) { + // increase weight + weight = 1.0; + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + float phase = 1.0 * i / init_time_steps; + std::cout << "Phase: " << phase << std::endl; + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(init_pos.at(j) * phase + current_jpos.at(j) * (1 - phase)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + // wait for control + std::cout << "Press ENTER to start arm ctrl ..." << std::endl; + std::cin.get(); + + // start control + std::cout << "Start arm ctrl!" << std::endl; + float period = 5.f; + int num_time_steps = static_cast(period / control_dt); + + std::array current_jpos_des{}; + + // lift arms up + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(target_pos.at(j) - current_jpos_des.at(j), + -max_joint_delta, max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // put arms down + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(init_pos.at(j) - current_jpos_des.at(j), -max_joint_delta, + max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // stop control + std::cout << "Stoping arm ctrl ..."; + float stop_time = 2.0f; + int stop_time_steps = static_cast(stop_time / control_dt); + + for (int i = 0; i < stop_time_steps; ++i) { + // increase weight + weight -= delta_weight; + weight = std::clamp(weight, 0.f, 1.f); + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(0); + // send dds msg + arm_sdk_publisher->Write(msg); + + std::cout << "Done!" << std::endl; + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_arm_action_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_arm_action_example.cpp new file mode 100644 index 0000000..b5752c7 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_arm_action_example.cpp @@ -0,0 +1,85 @@ +/** + * @file g1_arm_action_example.cpp + * @brief This example demonstrates how to use the G1 Arm Action Client to execute predefined arm actions. + */ +#include "unitree/robot/g1/arm/g1_arm_action_error.hpp" +#include "unitree/robot/g1/arm/g1_arm_action_client.hpp" +#include + +namespace po = boost::program_options; +using namespace unitree::robot; +using namespace unitree::robot::g1; + +int main(int argc, const char** argv) +{ + std::cout << " --- Unitree Robotics --- \n"; + std::cout << " G1 Arm Action Example \n\n"; + + // Parse command line arguments + po::options_description desc("Unitree G1 Arm Action Example."); + desc.add_options() + ("help,h", "show help message") + ("network,n", po::value()->default_value(""), "dds network interface") + ("list,l", "list all supported actions") + ("id,i", po::value(), "action id to execute, 0 to list all supported actions") + ("name", po::value(), "custom action name to execute") + ("stop", "stop the current custom action") + ; + po::variables_map vm; + po::store(po::parse_command_line(argc, argv, desc), vm); + po::notify(vm); + if(argc < 2 || vm.count("help")) { + std::cout << desc << std::endl; + return 0; + } + + // DDS Init + ChannelFactory::Instance()->Init(0, vm["network"].as()); + + auto client = std::make_shared(); + client->Init(); + // Attention: unitree actions are all less than 10s, + // but the custom actions may be longer. + client->SetTimeout(10.f); + + if(vm.count("list") || (vm.count("id") && vm["id"].as() == 0)){ + std::string action_list_data; + int32_t ret = client->GetActionList(action_list_data); + if (ret != 0) { + std::cerr << "Failed to get action list, error code: " << ret << "\n"; + } + std::cout << "Available actions:\n" << action_list_data << std::endl; + } else if (vm.count("id")) { + int32_t ret = client->ExecuteAction(vm["id"].as()); + if(ret != 0) { + switch (ret) + { + case UT_ROBOT_ARM_ACTION_ERR_ARMSDK: + std::cout << UT_ROBOT_ARM_ACTION_ERR_ARMSDK_DESC << std::endl; + break; + case UT_ROBOT_ARM_ACTION_ERR_HOLDING: + std::cout << UT_ROBOT_ARM_ACTION_ERR_HOLDING_DESC << std::endl; + break; + case UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID: + std::cout << UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID_DESC << std::endl; + break; + case UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID: + std::cout << "The actions are only supported in fsm id {500, 501, 801}" << std::endl; + std::cout << "You can subscribe the topic rt/sportmodestate to check the fsm id." << std::endl; + std::cout << "And in the state 801, the actions are only supported in the fsm mode {0, 3}." << std::endl; + std::cout << "If an error is still returned at this point, ignore this action."; + break; + default: + std::cerr << "Execute action failed, error code: " << ret << std::endl; + break; + } + } + } else if (vm.count("name")) { + int32_t ret = client->ExecuteAction(vm["name"].as()); + if(ret != 0) std::cout << "Execute custom action failed, error code: " << ret << std::endl; + } else if (vm.count("stop")) { + int32_t ret = client->StopCustomAction(); + } + + return 0; +}; diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_hand_sdk_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_hand_sdk_example.cpp new file mode 100644 index 0000000..4c565fa --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_hand_sdk_example.cpp @@ -0,0 +1,76 @@ +// G1 Hand SDK Control Example +// +// Motor_real = weight * Hand_SDK + (1 - weight) * G1_Cmd +// +// Demonstrates how a user process injects commands for the 4 hand motors +// into ai_sport via the DDS topic `rt/hand_sdk`. This example takes full +// control of the hand (weight = 1.0) and toggles tau between +0.3 and +// -0.3 every second to alternate between "close" and "open". +// +// +// Run: +// ./hand_sdk_example # use default network interface +// ./hand_sdk_example eth0 # specify a network interface + +#include +#include +#include + +#include +#include +#include + +class HandSdk { +public: + static constexpr int kMotorNum = 4; + + explicit HandSdk(const std::string& topic = "rt/hand_sdk") + : publisher_(std::make_shared>(topic)) { + publisher_->InitChannel(); + msg_.cmds().resize(kMotorNum); + } + + // weight is in [0, 1] and is encoded as `weight * 100` (uint8) in cmds[0].mode. + float weight() const { + return std::clamp(msg_.cmds()[0].mode() / 100.f, 0.f, 1.f); + } + void set_weight(float w) { + msg_.cmds()[0].mode( + static_cast(std::clamp(w, 0.f, 1.f) * 100.f)); + } + + // Positive tau closes the hand, negative tau opens it. + void set_tau(float tau) { + for (int i = 0; i < kMotorNum; ++i) { + msg_.cmds()[i].tau(tau); + } + } + + void write() { publisher_->Write(msg_); } + +private: + std::shared_ptr> publisher_; + unitree_go::msg::dds_::MotorCmds_ msg_; +}; + +int main(int argc, char** argv) { + if (argc > 1) { + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + } else { + unitree::robot::ChannelFactory::Instance()->Init(0); + } + + HandSdk hand_sdk; + hand_sdk.set_weight(1.0f); + + float tau = 0.3f; + while (true) { + tau = -tau; + hand_sdk.set_tau(tau); + hand_sdk.write(); + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_loco_client_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_loco_client_example.cpp new file mode 100644 index 0000000..f0aa76b --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_loco_client_example.cpp @@ -0,0 +1,267 @@ +#include +#include +#include + +#include +#include + +std::vector stringToFloatVector(const std::string &str) { + std::vector result; + std::stringstream ss(str); + float num; + while (ss >> num) { + result.push_back(num); + // ignore any trailing whitespace + ss.ignore(); + } + return result; +} + +int main(int argc, char const *argv[]) { + std::map args = {{"network_interface", "lo"}}; + + std::map values; + for (int i = 1; i < argc; ++i) { + std::string arg = argv[i]; + if (arg.substr(0, 2) == "--") { + size_t pos = arg.find("="); + std::string key, value; + if (pos != std::string::npos) { + key = arg.substr(2, pos - 2); + value = arg.substr(pos + 1); + + if (value.front() == '"' && value.back() == '"') { + value = value.substr(1, value.length() - 2); + } + } else { + key = arg.substr(2); + value = ""; + } + if (args.find(key) != args.end()) { + args[key] = value; + } else { + args.insert({{key, value}}); + } + } + } + + unitree::robot::ChannelFactory::Instance()->Init(0, + args["network_interface"]); + + unitree::robot::g1::LocoClient client; + + client.Init(); + client.SetTimeout(10.f); + + for (const auto &arg_pair : args) { + std::cout << "Processing command: [" << arg_pair.first << "] with param: [" + << arg_pair.second << "] ..." << std::endl; + if (arg_pair.first == "network_interface") { + continue; + } + + if (arg_pair.first == "get_fsm_id") { + int fsm_id; + client.GetFsmId(fsm_id); + std::cout << "current fsm_id: " << fsm_id << std::endl; + } + + if (arg_pair.first == "get_fsm_mode") { + int fsm_mode; + client.GetFsmMode(fsm_mode); + std::cout << "current fsm_mode: " << fsm_mode << std::endl; + } + + if (arg_pair.first == "get_balance_mode") { + int balance_mode; + client.GetBalanceMode(balance_mode); + std::cout << "current balance_mode: " << balance_mode << std::endl; + } + + if (arg_pair.first == "get_swing_height") { + float swing_height; + client.GetSwingHeight(swing_height); + std::cout << "current swing_height: " << swing_height << std::endl; + } + + if (arg_pair.first == "get_stand_height") { + float stand_height; + client.GetStandHeight(stand_height); + std::cout << "current stand_height: " << stand_height << std::endl; + } + + if (arg_pair.first == "get_phase") { + std::vector phase; + client.GetPhase(phase); + std::cout << "current phase: ("; + for (const auto &p : phase) { + std::cout << p << ", "; + } + std::cout << ")" << std::endl; + } + + if (arg_pair.first == "set_fsm_id") { + int fsm_id = std::stoi(arg_pair.second); + client.SetFsmId(fsm_id); + std::cout << "set fsm_id to " << fsm_id << std::endl; + } + + if (arg_pair.first == "set_balance_mode") { + int balance_mode = std::stoi(arg_pair.second); + client.SetBalanceMode(balance_mode); + std::cout << "set balance_mode to " << balance_mode << std::endl; + } + + if (arg_pair.first == "set_swing_height") { + float swing_height = std::stof(arg_pair.second); + client.SetSwingHeight(swing_height); + std::cout << "set swing_height to " << swing_height << std::endl; + } + + if (arg_pair.first == "set_stand_height") { + float stand_height = std::stof(arg_pair.second); + client.SetStandHeight(stand_height); + std::cout << "set stand_height to " << stand_height << std::endl; + } + + if (arg_pair.first == "set_velocity") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega, duration; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = 1.f; + } else if (param_size == 4) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = param.at(3); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size + << std::endl; + return 1; + } + + client.SetVelocity(vx, vy, omega, duration); + std::cout << "set velocity to " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "damp") { + client.Damp(); + } + + if (arg_pair.first == "start") { + client.Start(); + } + + if (arg_pair.first == "squat") { + client.Squat(); + } + + if (arg_pair.first == "sit") { + client.Sit(); + } + + if (arg_pair.first == "stand_up") { + client.StandUp(); + } + + if (arg_pair.first == "zero_torque") { + client.ZeroTorque(); + } + + if (arg_pair.first == "stop_move") { + client.StopMove(); + } + + if (arg_pair.first == "high_stand") { + client.HighStand(); + } + + if (arg_pair.first == "low_stand") { + client.LowStand(); + } + + if (arg_pair.first == "balance_stand") { + client.BalanceStand(); + } + + if (arg_pair.first == "continous_gait") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.ContinuousGait(flag); + } + + if (arg_pair.first == "switch_move_mode") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.SwitchMoveMode(flag); + } + + if (arg_pair.first == "move") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size + << std::endl; + return 1; + } + client.Move(vx, vy, omega); + } + + if (arg_pair.first == "set_task_id") { + int task_id = std::stoi(arg_pair.second); + client.SetTaskId(task_id); + std::cout << "set task_id to " << task_id << std::endl; + } + + if (arg_pair.first == "shake_hand") { + client.ShakeHand(0); + std::cout << "Shake hand starts! Waiting for 10 s for ending" + << std::endl; + std::this_thread::sleep_for(std::chrono::seconds(10)); + std::cout << "Shake hand ends!" << std::endl; + client.ShakeHand(1); + } + + if (arg_pair.first == "wave_hand") { + client.WaveHand(); + std::cout << "wave hand" << std::endl; + } + + if (arg_pair.first == "wave_hand_with_turn") { + client.WaveHand(true); + std::cout << "wave hand with turn" << std::endl; + } + + if (arg_pair.first == "set_speed_mode") { + client.SetSpeedMode(std::stoi(arg_pair.second)); + std::cout << "set speed mode" << std::endl; + } + + std::cout << "Done!" << std::endl; + } + + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/g1/high_level/g1_userctrl_dds_example.cpp b/deps/unitree_sdk2/example/g1/high_level/g1_userctrl_dds_example.cpp new file mode 100644 index 0000000..e08eea0 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/high_level/g1_userctrl_dds_example.cpp @@ -0,0 +1,248 @@ +#include +#include +#include +#include + +#include +#include +#include +#include +#include "unitree/robot/g1/loco/g1_loco_api.hpp" +#include "unitree/robot/g1/loco/g1_loco_client.hpp" + +static const std::string kTopicUserCtrl = "rt/user_lowcmd"; +static const std::string kTopicState = "rt/lowstate"; + +enum JointIndex { + // Left leg + kLeftHipPitch, + kLeftHipRoll, + kLeftHipYaw, + kLeftKnee, + kLeftAnkle, + kLeftAnkleRoll, + + // Right leg + kRightHipPitch, + kRightHipRoll, + kRightHipYaw, + kRightKnee, + kRightAnkle, + kRightAnkleRoll, + + kWaistYaw, + kWaistRoll, + kWaistPitch, + + // Left arm + kLeftShoulderPitch, + kLeftShoulderRoll, + kLeftShoulderYaw, + kLeftElbow, + kLeftWristRoll, + kLeftWristPitch, + kLeftWristYaw, + // Right arm + kRightShoulderPitch, + kRightShoulderRoll, + kRightShoulderYaw, + kRightElbow, + kRightWristRoll, + kRightWristPitch, + kRightWristYaw, + + kNotUsedJoint, + kNotUsedJoint1, + kNotUsedJoint2, + kNotUsedJoint3, + kNotUsedJoint4, + kNotUsedJoint5 +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelPublisherPtr + user_ctrl_publisher; + unitree_hg::msg::dds_::LowCmd_ msg; + + user_ctrl_publisher.reset( + new unitree::robot::ChannelPublisher( + kTopicUserCtrl)); + user_ctrl_publisher->InitChannel(); + + unitree::robot::ChannelSubscriberPtr + low_state_subscriber; + + // create subscriber + unitree_hg::msg::dds_::LowState_ state_msg; + low_state_subscriber.reset( + new unitree::robot::ChannelSubscriber( + kTopicState)); + low_state_subscriber->InitChannel([&](const void *msg) { + auto s = ( const unitree_hg::msg::dds_::LowState_* )msg; + memcpy( &state_msg, s, sizeof( unitree_hg::msg::dds_::LowState_ ) ); + }, 1); + + unitree::robot::g1::LocoClient client; + client.Init(); + client.SetTimeout(5.f); + int current_fsm_id; + client.GetFsmId(current_fsm_id); + if(current_fsm_id != 1){ + std::cout << "Current fsm is not PASSIVE, exitting ..." <(control_dt / 0.001f)); + + std::array init_pos{-0.1, 0, 0, 0.3, -0.2, 0, + -0.1, 0, 0, 0.3, -0.2, 0, + 0, 0, 0, + 0.2, 0.2, 0, 0.9, 0, 0, 0, + 0.2, -0.2, 0, 0.9, 0, 0, 0}; + + std::array target_pos = {-1.0, 0, 0, 1.5, 0.2, 0, + -1.0, 0, 0, 1.5, 0.2, 0, + 0, 0, 0, + 0, 0.2, 0, 0, 0, 0, 0, + 0, -0.2, 0, 0, 0, 0, 0}; + + // wait for init + std::cout << "Press ENTER to init user control ..."; + std::cin.get(); + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(j).q(0); + msg.motor_cmd().at(j).dq(0); + msg.motor_cmd().at(j).kp(0); + msg.motor_cmd().at(j).kd(kd); + msg.motor_cmd().at(j).tau(0); + } + user_ctrl_publisher->Write(msg); + + client.SwitchToUserCtrl(); + + // get current joint position + std::array current_jpos{}; + std::cout<<"Current joint position: "; + for (int i = 0; i < init_pos.size(); ++i) { + current_jpos.at(i) = state_msg.motor_state().at(i).q(); + std::cout << current_jpos.at(i) << " "; + } + std::cout << std::endl; + + // set init pos + std::cout << "Initailizing motors ..."; + float init_time = 2.0f; + int init_time_steps = static_cast(init_time / control_dt); + + for (int i = 0; i < init_time_steps; ++i) { + + float phase = 1.0 * i / init_time_steps; + std::cout << "Phase: " << phase << std::endl; + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(j).q(init_pos.at(j) * phase + current_jpos.at(j) * (1 - phase)); + msg.motor_cmd().at(j).dq(dq); + msg.motor_cmd().at(j).kp(kp); + msg.motor_cmd().at(j).kd(kd); + msg.motor_cmd().at(j).tau(tau_ff); + } + + // send dds msg + user_ctrl_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + // wait for control + std::cout << "Press ENTER to start user control ..." << std::endl; + std::cin.get(); + + // start control + std::cout << "Start user control!" << std::endl; + float period = 5.f; + int num_time_steps = static_cast(period / control_dt); + + std::array current_jpos_des{}; + for (int i = 0; i < init_pos.size(); ++i) { + current_jpos_des.at(i) = state_msg.motor_state().at(i).q(); + } + + // lift arms up + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(target_pos.at(j) - current_jpos_des.at(j), + -max_joint_delta, max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(j).q(current_jpos_des.at(j)); + msg.motor_cmd().at(j).dq(dq); + msg.motor_cmd().at(j).kp(kp); + msg.motor_cmd().at(j).kd(kd); + msg.motor_cmd().at(j).tau(tau_ff); + } + + // send dds msg + user_ctrl_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // put arms down + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(init_pos.at(j) - current_jpos_des.at(j), -max_joint_delta, + max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(j).q(current_jpos_des.at(j)); + msg.motor_cmd().at(j).dq(dq); + msg.motor_cmd().at(j).kp(kp); + msg.motor_cmd().at(j).kd(kd); + msg.motor_cmd().at(j).tau(tau_ff); + } + + // send dds msg + user_ctrl_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // stop control + std::cout << "Stoping user control ..."; + client.SwitchToInternalCtrl(unitree::robot::g1::InternalFsmMode::LAST); + + std::cout << "Done!" << std::endl; + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/low_level/behavior_lib/motion.seq b/deps/unitree_sdk2/example/g1/low_level/behavior_lib/motion.seq new file mode 100644 index 0000000..4cea0b4 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/low_level/behavior_lib/motion.seq @@ -0,0 +1,11478 @@ +type: CompositeSeq +content: BodyMotion 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diff --git a/deps/unitree_sdk2/example/g1/low_level/g1_ankle_swing_example.cpp b/deps/unitree_sdk2/example/g1/low_level/g1_ankle_swing_example.cpp new file mode 100644 index 0000000..759aedf --- /dev/null +++ b/deps/unitree_sdk2/example/g1/low_level/g1_ankle_swing_example.cpp @@ -0,0 +1,371 @@ +#include +#include +#include +#include + +#include "gamepad.hpp" + +// DDS +#include +#include + +// IDL +#include +#include +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_IMU_TORSO = "rt/secondary_imu"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree_hg::msg::dds_; + +template +class DataBuffer { + public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + + private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +const int G1_NUM_MOTOR = 29; +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +// Stiffness for all G1 Joints +std::array Kp{ + 60, 60, 60, 100, 40, 40, // legs + 60, 60, 60, 100, 40, 40, // legs + 60, 40, 40, // waist + 40, 40, 40, 40, 40, 40, 40, // arms + 40, 40, 40, 40, 40, 40, 40 // arms +}; + +// Damping for all G1 Joints +std::array Kd{ + 1, 1, 1, 2, 1, 1, // legs + 1, 1, 1, 2, 1, 1, // legs + 1, 1, 1, // waist + 1, 1, 1, 1, 1, 1, 1, // arms + 1, 1, 1, 1, 1, 1, 1 // arms +}; + +enum class Mode { + PR = 0, // Series Control for Ptich/Roll Joints + AB = 1 // Parallel Control for A/B Joints +}; + +enum G1JointIndex { + LeftHipPitch = 0, + LeftHipRoll = 1, + LeftHipYaw = 2, + LeftKnee = 3, + LeftAnklePitch = 4, + LeftAnkleB = 4, + LeftAnkleRoll = 5, + LeftAnkleA = 5, + RightHipPitch = 6, + RightHipRoll = 7, + RightHipYaw = 8, + RightKnee = 9, + RightAnklePitch = 10, + RightAnkleB = 10, + RightAnkleRoll = 11, + RightAnkleA = 11, + WaistYaw = 12, + WaistRoll = 13, // NOTE INVALID for g1 23dof/29dof with waist locked + WaistA = 13, // NOTE INVALID for g1 23dof/29dof with waist locked + WaistPitch = 14, // NOTE INVALID for g1 23dof/29dof with waist locked + WaistB = 14, // NOTE INVALID for g1 23dof/29dof with waist locked + LeftShoulderPitch = 15, + LeftShoulderRoll = 16, + LeftShoulderYaw = 17, + LeftElbow = 18, + LeftWristRoll = 19, + LeftWristPitch = 20, // NOTE INVALID for g1 23dof + LeftWristYaw = 21, // NOTE INVALID for g1 23dof + RightShoulderPitch = 22, + RightShoulderRoll = 23, + RightShoulderYaw = 24, + RightElbow = 25, + RightWristRoll = 26, + RightWristPitch = 27, // NOTE INVALID for g1 23dof + RightWristYaw = 28 // NOTE INVALID for g1 23dof +}; + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +class G1Example { + private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + int counter_; + Mode mode_pr_; + uint8_t mode_machine_; + + Gamepad gamepad_; + REMOTE_DATA_RX rx_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer imu_state_buffer_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ChannelSubscriberPtr imutorso_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + std::shared_ptr msc_; + + public: + G1Example(std::string networkInterface) + : time_(0.0), + control_dt_(0.002), + duration_(3.0), + counter_(0), + mode_pr_(Mode::PR), + mode_machine_(0) { + ChannelFactory::Instance()->Init(0, networkInterface); + + // try to shutdown motion control-related service + msc_ = std::make_shared(); + msc_->SetTimeout(5.0f); + msc_->Init(); + std::string form, name; + while (msc_->CheckMode(form, name), !name.empty()) { + if (msc_->ReleaseMode()) + std::cout << "Failed to switch to Release Mode\n"; + sleep(5); + } + + // create publisher + lowcmd_publisher_.reset(new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + // create subscriber + lowstate_subscriber_.reset(new ChannelSubscriber(HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel(std::bind(&G1Example::LowStateHandler, this, std::placeholders::_1), 1); + imutorso_subscriber_.reset(new ChannelSubscriber(HG_IMU_TORSO)); + imutorso_subscriber_->InitChannel(std::bind(&G1Example::imuTorsoHandler, this, std::placeholders::_1), 1); + // create threads + command_writer_ptr_ = CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &G1Example::LowCommandWriter, this); + control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &G1Example::Control, this); + } + + void imuTorsoHandler(const void *message) { + IMUState_ imu_torso = *(const IMUState_ *)message; + auto &rpy = imu_torso.rpy(); + if (counter_ % 500 == 0) + printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + } + + void LowStateHandler(const void *message) { + LowState_ low_state = *(const LowState_ *)message; + if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) { + std::cout << "[ERROR] CRC Error" << std::endl; + return; + } + + // get motor state + MotorState ms_tmp; + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[i].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[i].dq(); + if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll) + std::cout << "[ERROR] motor " << i << " with code " << low_state.motor_state()[i].motorstate() << "\n"; + } + motor_state_buffer_.SetData(ms_tmp); + + // get imu state + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + + // update gamepad + memcpy(rx_.buff, &low_state.wireless_remote()[0], 40); + gamepad_.update(rx_.RF_RX); + + // update mode machine + if (mode_machine_ != low_state.mode_machine()) { + if (mode_machine_ == 0) std::cout << "G1 type: " << unsigned(low_state.mode_machine()) << std::endl; + mode_machine_ = low_state.mode_machine(); + } + + // report robot status every second + if (++counter_ % 500 == 0) { + counter_ = 0; + // IMU + auto &rpy = low_state.imu_state().rpy(); + printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + + // RC + printf("gamepad_.A.pressed: %d\n", static_cast(gamepad_.A.pressed)); + printf("gamepad_.B.pressed: %d\n", static_cast(gamepad_.B.pressed)); + printf("gamepad_.X.pressed: %d\n", static_cast(gamepad_.X.pressed)); + printf("gamepad_.Y.pressed: %d\n", static_cast(gamepad_.Y.pressed)); + + // Motor + auto &ms = low_state.motor_state(); + printf("All %d Motors:", G1_NUM_MOTOR); + printf("\nmode: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,", ms[i].mode()); + printf("\npos: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].q()); + printf("\nvel: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].dq()); + printf("\ntau_est: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].tau_est()); + printf("\ntemperature: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%d,%d;", ms[i].temperature()[0], ms[i].temperature()[1]); + printf("\nvol: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].vol()); + printf("\nsensor: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,%u;", ms[i].sensor()[0], ms[i].sensor()[1]); + printf("\nmotorstate: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,", ms[i].motorstate()); + printf("\nreserve: "); + for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,%u,%u,%u;", ms[i].reserve()[0], ms[i].reserve()[1], ms[i].reserve()[2], ms[i].reserve()[3]); + printf("\n"); + } + } + + void LowCommandWriter() { + LowCmd_ dds_low_command; + dds_low_command.mode_pr() = static_cast(mode_pr_); + dds_low_command.mode_machine() = mode_machine_; + + const std::shared_ptr mc = motor_command_buffer_.GetData(); + if (mc) { + for (size_t i = 0; i < G1_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = mc->tau_ff.at(i); + dds_low_command.motor_cmd().at(i).q() = mc->q_target.at(i); + dds_low_command.motor_cmd().at(i).dq() = mc->dq_target.at(i); + dds_low_command.motor_cmd().at(i).kp() = mc->kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = mc->kd.at(i); + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void Control() { + MotorCommand motor_command_tmp; + const std::shared_ptr ms = motor_state_buffer_.GetData(); + + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = Kp[i]; + motor_command_tmp.kd.at(i) = Kd[i]; + } + + if (ms) { + time_ += control_dt_; + if (time_ < duration_) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i); + } + } else if (time_ < duration_ * 2) { + // [Stage 2]: swing ankle using PR mode + mode_pr_ = Mode::PR; + double max_P = M_PI * 30.0 / 180.0; + double max_R = M_PI * 10.0 / 180.0; + double t = time_ - duration_; + double L_P_des = max_P * std::sin(2.0 * M_PI * t); + double L_R_des = max_R * std::sin(2.0 * M_PI * t); + double R_P_des = max_P * std::sin(2.0 * M_PI * t); + double R_R_des = -max_R * std::sin(2.0 * M_PI * t); + + motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des; + motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des; + motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des; + motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des; + } else { + // [Stage 3]: swing ankle using AB mode + mode_pr_ = Mode::AB; + double max_A = M_PI * 30.0 / 180.0; + double max_B = M_PI * 10.0 / 180.0; + double t = time_ - duration_ * 2; + double L_A_des = +max_A * std::sin(M_PI * t); + double L_B_des = +max_B * std::sin(M_PI * t + M_PI); + double R_A_des = -max_A * std::sin(M_PI * t); + double R_B_des = -max_B * std::sin(M_PI * t + M_PI); + + motor_command_tmp.q_target.at(LeftAnkleA) = L_A_des; + motor_command_tmp.q_target.at(LeftAnkleB) = L_B_des; + motor_command_tmp.q_target.at(RightAnkleA) = R_A_des; + motor_command_tmp.q_target.at(RightAnkleB) = R_B_des; + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: g1_ankle_swing_example network_interface" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + G1Example custom(networkInterface); + while (true) sleep(10); + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/low_level/g1_dual_arm_example.cpp b/deps/unitree_sdk2/example/g1/low_level/g1_dual_arm_example.cpp new file mode 100644 index 0000000..7cce96c --- /dev/null +++ b/deps/unitree_sdk2/example/g1/low_level/g1_dual_arm_example.cpp @@ -0,0 +1,407 @@ +#include + +#include +#include +#include +#include + +// DDS +#include +#include + +// IDL +#include +#include + +#include +using namespace unitree::robot::b2; + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; + +const int G1_NUM_MOTOR = 29; + +template +class DataBuffer { + public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + + private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; + +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; + +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +enum MotorType { GearboxS = 0, GearboxM = 1, GearboxL = 2 }; + +std::array G1MotorType{ + // clang-format off + // legs + GearboxM, GearboxM, GearboxM, GearboxL, GearboxS, GearboxS, + GearboxM, GearboxM, GearboxM, GearboxL, GearboxS, GearboxS, + // waist + GearboxM, GearboxS, GearboxS, + // arms + GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, + GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS + // clang-format on +}; + +enum PRorAB { PR = 0, AB = 1 }; + +enum G1JointValidIndex { + LeftShoulderPitch = 15, + LeftShoulderRoll = 16, + LeftShoulderYaw = 17, + LeftElbow = 18, + LeftWristRoll = 19, + LeftWristPitch = 20, + LeftWristYaw = 21, + RightShoulderPitch = 22, + RightShoulderRoll = 23, + RightShoulderYaw = 24, + RightElbow = 25, + RightWristRoll = 26, + RightWristPitch = 27, + RightWristYaw = 28 +}; + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +float GetMotorKp(MotorType type) { + switch (type) { + case GearboxS: + return 40; + case GearboxM: + return 40; + case GearboxL: + return 100; + default: + return 0; + } +} + +float GetMotorKd(MotorType type) { + switch (type) { + case GearboxS: + return 1; + case GearboxM: + return 1; + case GearboxL: + return 1; + default: + return 0; + } +} + +class G1Example { + private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + PRorAB mode_; + uint8_t mode_machine_; + std::vector> frames_data_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer imu_state_buffer_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + std::shared_ptr msc; + + public: + G1Example(std::string networkInterface) + : time_(0.0), + control_dt_(0.002), + duration_(3.0), + mode_(PR), + mode_machine_(0) { + ChannelFactory::Instance()->Init(0, networkInterface); + + msc.reset(new MotionSwitcherClient()); + msc->SetTimeout(5.0F); + msc->Init(); + + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc->ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } + + loadBehaviorLibrary("motion"); + + // create publisher + lowcmd_publisher_.reset( + new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + + // create subscriber + lowstate_subscriber_.reset( + new ChannelSubscriber( + HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel( + std::bind(&G1Example::LowStateHandler, this, std::placeholders::_1), 1); + + // create threads + command_writer_ptr_ = + CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, + &G1Example::LowCommandWriter, this); + control_thread_ptr_ = CreateRecurrentThreadEx( + "control", UT_CPU_ID_NONE, 2000, &G1Example::Control, this); + } + + void loadBehaviorLibrary(std::string behavior_name) { + std::string resource_dir = BLIB_DIR; + YAML::Node motion = YAML::LoadFile(resource_dir + behavior_name + ".seq"); + + std::string content = motion["components"][1]["content"].as(); + int num_parts = motion["components"][1]["num_parts"].as(); + std::cout << "BehaviorName: " << behavior_name + ".seq\n"; + std::cout << content << " with " << num_parts << "\n"; + + auto frames = motion["components"][1]["frames"]; + + for (const auto &frame : frames) { + std::vector frame_data; + for (const auto &element : frame) { + frame_data.push_back(element.as()); + } + frames_data_.push_back(frame_data); + } + + std::cout << frames_data_.size() << " knots with " << frames_data_[0].size() + << " DOF\n"; + } + + void ReportRPY() { + const std::shared_ptr imu_tmp_ptr = + imu_state_buffer_.GetData(); + if (imu_tmp_ptr) { + std::cout << "rpy: [" << imu_tmp_ptr->rpy.at(0) << ", " + << imu_tmp_ptr->rpy.at(1) << ", " << imu_tmp_ptr->rpy.at(2) + << "]" << std::endl; + } + } + + void LowStateHandler(const void *message) { + unitree_hg::msg::dds_::LowState_ low_state = + *(const unitree_hg::msg::dds_::LowState_ *)message; + + if (low_state.crc() != + Crc32Core((uint32_t *)&low_state, + (sizeof(unitree_hg::msg::dds_::LowState_) >> 2) - 1)) { + std::cout << "low_state CRC Error" << std::endl; + return; + } + + // get motor state + MotorState ms_tmp; + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[i].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[i].dq(); + } + motor_state_buffer_.SetData(ms_tmp); + + // get imu state + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + + // update mode machine + if (mode_machine_ != low_state.mode_machine()) { + if (mode_machine_ == 0) + std::cout << "G1 type: " << unsigned(low_state.mode_machine()) + << std::endl; + mode_machine_ = low_state.mode_machine(); + } + } + + void LowCommandWriter() { + unitree_hg::msg::dds_::LowCmd_ dds_low_command; + dds_low_command.mode_pr() = mode_; + dds_low_command.mode_machine() = mode_machine_; + + const std::shared_ptr mc = + motor_command_buffer_.GetData(); + if (mc) { + for (size_t i = 0; i < G1_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = mc->tau_ff.at(i); + dds_low_command.motor_cmd().at(i).q() = mc->q_target.at(i); + dds_low_command.motor_cmd().at(i).dq() = mc->dq_target.at(i); + dds_low_command.motor_cmd().at(i).kp() = mc->kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = mc->kd.at(i); + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, + (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void Control() { + MotorCommand motor_command_tmp; + const std::shared_ptr ms = motor_state_buffer_.GetData(); + + if (ms) { + time_ += control_dt_; + if (time_ < duration_) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + + double q_des = 0; + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = + (q_des - ms->q.at(i)) * ratio + ms->q.at(i); + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = GetMotorKp(G1MotorType[i]); + motor_command_tmp.kd.at(i) = GetMotorKd(G1MotorType[i]); + } + } else { + // [Stage 2]: tracking the offline trajectory + size_t frame_index = (size_t)((time_ - duration_) / control_dt_); + if (frame_index >= frames_data_.size()) { + frame_index = frames_data_.size() - 1; + time_ = 0.0; // RESET + } + + if (frame_index % 100 == 0) + std::cout << "Frame Index: " << frame_index << std::endl; + + for (int i = 0; i < G1_NUM_MOTOR; ++i) { + size_t index_in_frame = i - LeftShoulderPitch; + motor_command_tmp.q_target.at(i) = + (i >= LeftShoulderPitch) + ? frames_data_[frame_index][index_in_frame] + : 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.kp.at(i) = GetMotorKp(G1MotorType[i]); + motor_command_tmp.kd.at(i) = GetMotorKd(G1MotorType[i]); + } + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } + + std::string queryServiceName(std::string form,std::string name) + { + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; + } + + int queryMotionStatus() + { + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc->CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: g1_dual_arm_example network_interface_name" + << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + G1Example custom(networkInterface); + + while (true) sleep(10); + + return 0; +} diff --git a/deps/unitree_sdk2/example/g1/low_level/gamepad.hpp b/deps/unitree_sdk2/example/g1/low_level/gamepad.hpp new file mode 100644 index 0000000..41910b7 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/low_level/gamepad.hpp @@ -0,0 +1,128 @@ +#pragma once + +#include + +namespace unitree::common +{ + + // bytecode mapping for raw joystick data + // 16b + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // 40 Byte (now used 24B) + typedef struct + { + uint8_t head[2]; + xKeySwitchUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; + + uint8_t idle[16]; + } xRockerBtnDataStruct; + + typedef union + { + xRockerBtnDataStruct RF_RX; + uint8_t buff[40]; + } REMOTE_DATA_RX; + + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + class Gamepad + { + public: + Gamepad() {} + + void update(xRockerBtnDataStruct &key_data) + { + lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth; + l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth; + + R1.update(key_data.btn.components.R1); + L1.update(key_data.btn.components.L1); + start.update(key_data.btn.components.start); + select.update(key_data.btn.components.select); + R2.update(key_data.btn.components.R2); + L2.update(key_data.btn.components.L2); + F1.update(key_data.btn.components.F1); + F2.update(key_data.btn.components.F2); + A.update(key_data.btn.components.A); + B.update(key_data.btn.components.B); + X.update(key_data.btn.components.X); + Y.update(key_data.btn.components.Y); + up.update(key_data.btn.components.up); + right.update(key_data.btn.components.right); + down.update(key_data.btn.components.down); + left.update(key_data.btn.components.left); + } + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float l2 = 0.; + float ly = 0.; + + float smooth = 0.03; + float dead_zone = 0.01; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/g1/low_level/terminations.cpp b/deps/unitree_sdk2/example/g1/low_level/terminations.cpp new file mode 100644 index 0000000..7f20f93 --- /dev/null +++ b/deps/unitree_sdk2/example/g1/low_level/terminations.cpp @@ -0,0 +1,46 @@ +#include +#include +#include + +namespace po = boost::program_options; + +using namespace unitree::robot; +using namespace unitree_hg::msg::dds_; + +int main(int argc, char** argv) +{ + // Parse command line arguments + po::options_description desc("Unitree G1 termination functions testing."); + desc.add_options() + ("network,n", po::value()->default_value(""), "dds network interface") + ; + po::variables_map vm; + po::store(po::parse_command_line(argc, argv, desc), vm); + po::notify(vm); + std::cout << desc << std::endl; + + // DDS Init + ChannelFactory::Instance()->Init(0, vm["network"].as()); + + auto lowstate_subscriber = std::make_shared>("rt/lowstate"); + LowState_ lowstate; + lowstate_subscriber->InitChannel([&lowstate](const void* message) { + lowstate = *(const LowState_*)message; + }); + + std::cout << "Checking terminations..." << std::endl; + + while (true) + { + if (g1::bad_orientation(lowstate, 1.0f)) { // Tip the robot over to test bad orientation + std::cout << "Bad orientation detected!" << std::endl; + } + if (g1::lost_connection(lowstate_subscriber, 1000)) { // Unplug the network cable to test lost connection + std::cout << "Lost connection!" << std::endl; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/CMakeLists.txt b/deps/unitree_sdk2/example/go2/CMakeLists.txt new file mode 100644 index 0000000..bff0846 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/CMakeLists.txt @@ -0,0 +1,21 @@ +# add_executable(go2_trajectory_follow go2_trajectory_follow.cpp) +# target_link_libraries(go2_trajectory_follow unitree_sdk2) + +add_executable(go2_sport_client go2_sport_client.cpp) +target_link_libraries(go2_sport_client unitree_sdk2) + +add_executable(go2_low_level go2_low_level.cpp) +target_link_libraries(go2_low_level unitree_sdk2) + +add_executable(go2_stand_example go2_stand_example.cpp) +target_link_libraries(go2_stand_example unitree_sdk2) + + +add_executable(go2_robot_state_client go2_robot_state_client.cpp) +target_link_libraries(go2_robot_state_client unitree_sdk2) + +add_executable(go2_video_client go2_video_client.cpp) +target_link_libraries(go2_video_client unitree_sdk2) + +add_executable(go2_vui_client go2_vui_client.cpp) +target_link_libraries(go2_vui_client unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/go2/go2_low_level.cpp b/deps/unitree_sdk2/example/go2/go2_low_level.cpp new file mode 100644 index 0000000..3a72803 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_low_level.cpp @@ -0,0 +1,215 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +constexpr double PosStopF = (2.146E+9f); +constexpr double VelStopF = (16000.0f); + +class Custom +{ +public: + explicit Custom() + {} + + ~Custom() + {} + + void Init(); + +private: + void InitLowCmd(); + void LowStateMessageHandler(const void* messages); + void LowCmdWrite(); + +private: + float qInit[3] = {0}; + float qDes[3] = {0}; + float sin_mid_q[3] = {0.0, 1.2, -2.0}; + float Kp[3] = {0}; + float Kd[3] = {0}; + double time_consume = 0; + int rate_count = 0; + int sin_count = 0; + int motiontime = 0; + float dt = 0.002; // 0.001~0.01 + + unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init + unitree_go::msg::dds_::LowState_ low_state{}; // default init + + /*publisher*/ + ChannelPublisherPtr lowcmd_publisher; + /*subscriber*/ + ChannelSubscriberPtr lowstate_subscriber; + + /*LowCmd write thread*/ + ThreadPtr lowCmdWriteThreadPtr; +}; + +uint32_t crc32_core(uint32_t* ptr, uint32_t len) +{ + unsigned int xbit = 0; + unsigned int data = 0; + unsigned int CRC32 = 0xFFFFFFFF; + const unsigned int dwPolynomial = 0x04c11db7; + + for (unsigned int i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (unsigned int bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + { + CRC32 <<= 1; + } + + if (data & xbit) + CRC32 ^= dwPolynomial; + xbit >>= 1; + } + } + + return CRC32; +} + +void Custom::Init() +{ + InitLowCmd(); + + /*create publisher*/ + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowcmd_publisher->InitChannel(); + + /*create subscriber*/ + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1); + + /*loop publishing thread*/ + lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this); +} + +void Custom::InitLowCmd() +{ + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } +} + +void Custom::LowStateMessageHandler(const void* message) +{ + low_state = *(unitree_go::msg::dds_::LowState_*)message; +} + +double jointLinearInterpolation(double initPos, double targetPos, double rate) +{ + double p; + rate = std::min(std::max(rate, 0.0), 1.0); + p = initPos * (1 - rate) + targetPos * rate; + return p; +} + +void Custom::LowCmdWrite() +{ + motiontime++; + + if (motiontime >= 0) + { + // first, get record initial position + if (motiontime >= 0 && motiontime < 20) + { + qInit[0] = low_state.motor_state()[0].q(); + qInit[1] = low_state.motor_state()[1].q(); + qInit[2] = low_state.motor_state()[2].q(); + } + // second, move to the origin point of a sine movement with Kp Kd + if (motiontime >= 10 && motiontime < 400) + { + rate_count++; + + double rate = rate_count / 200.0; // needs count to 200 + Kp[0] = 5.0; Kp[1] = 5.0; Kp[2] = 5.0; + Kd[0] = 1.0; Kd[1] = 1.0; Kd[2] = 1.0; + + qDes[0] = jointLinearInterpolation(qInit[0], sin_mid_q[0], rate); + qDes[1] = jointLinearInterpolation(qInit[1], sin_mid_q[1], rate); + qDes[2] = jointLinearInterpolation(qInit[2], sin_mid_q[2], rate); + } + + double sin_joint1, sin_joint2; + // last, do sine wave + float freq_Hz = 1; + // float freq_Hz = 5; + float freq_rad = freq_Hz * 2 * M_PI; + float t = dt * sin_count; + + if (motiontime >= 400) + { + sin_count++; + sin_joint1 = 0.6 * sin(t * freq_rad); + sin_joint2 = -0.9 * sin(t * freq_rad); + qDes[0] = sin_mid_q[0]; + qDes[1] = sin_mid_q[1] + sin_joint1; + qDes[2] = sin_mid_q[2] + sin_joint2; + } + + low_cmd.motor_cmd()[2].q() = qDes[2]; + low_cmd.motor_cmd()[2].dq() = 0; + low_cmd.motor_cmd()[2].kp() = Kp[2]; + low_cmd.motor_cmd()[2].kd() = Kd[2]; + low_cmd.motor_cmd()[2].tau() = 0; + } + + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + + lowcmd_publisher->Write(low_cmd); +} + +int main(int argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + ChannelFactory::Instance()->Init(0, argv[1]); + + Custom custom; + custom.Init(); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_robot_state_client.cpp b/deps/unitree_sdk2/example/go2/go2_robot_state_client.cpp new file mode 100644 index 0000000..5b34645 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_robot_state_client.cpp @@ -0,0 +1,82 @@ +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree::robot::go2; + +int main(int32_t argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: robot_state_client_example [NetWorkInterface(eth0)] [ServiceName(sport_mode)]" << std::endl; + exit(0); + } + + std::string networkInterface = "eth0", serviceName = "sport_mode"; + + if (argc > 1) + { + networkInterface = argv[1]; + } + + if (argc > 2) + { + serviceName = argv[2]; + } + + std::cout << "NetWorkInterface:" << networkInterface << std::endl; + std::cout << "Switch ServiceName:" << serviceName << std::endl; + + ChannelFactory::Instance()->Init(0, networkInterface); + + RobotStateClient rsc; + rsc.SetTimeout(10.0f); + rsc.Init(); + + std::string clientApiVersion = rsc.GetApiVersion(); + std::string serverApiVersion = rsc.GetServerApiVersion(); + + if (clientApiVersion != serverApiVersion) + { + std::cout << "client and server api versions are not equal." << std::endl; + } + + Timer timer; + + int32_t status; + int32_t ret = rsc.SetReportFreq(3, 30); + std::cout << "Call SetReportFreq[3,30] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl; + + sleep(5); + timer.Restart(); + + ret = rsc.ServiceSwitch(serviceName, 0, status); + std::cout << "Call ServiceSwitch[" << serviceName << ",0] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl; + + sleep(5); + timer.Restart(); + + ret = rsc.ServiceSwitch(serviceName, 1, status); + std::cout << "Call ServiceSwitch[" << serviceName << ",1] ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl; + + sleep(5); + timer.Restart(); + + std::vector serviceStateList; + ret = rsc.ServiceList(serviceStateList); + std::cout << "Call ServiceList ret:" << ret << ", cost:" << timer.Stop() << " (us)" << std::endl; + + size_t i, count=serviceStateList.size(); + std::cout << "serviceStateList size:" << count << std::endl; + + for (i=0; iRelease(); + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_sport_client.cpp b/deps/unitree_sdk2/example/go2/go2_sport_client.cpp new file mode 100644 index 0000000..2aafa33 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_sport_client.cpp @@ -0,0 +1,162 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include + +#include +#include +#include + +#define TOPIC_HIGHSTATE "rt/sportmodestate" + +using namespace unitree::common; + +enum test_mode +{ + /*---Basic motion---*/ + normal_stand, + balance_stand, + velocity_move, + stand_down, + stand_up, + damp, + recovery_stand, + /*---Special motion ---*/ + sit, + rise_sit, + stop_move = 99 +}; + +const int TEST_MODE = stand_down; + +class Custom +{ +public: + Custom() + { + sport_client.SetTimeout(10.0f); + sport_client.Init(); + + suber.reset(new unitree::robot::ChannelSubscriber(TOPIC_HIGHSTATE)); + suber->InitChannel(std::bind(&Custom::HighStateHandler, this, std::placeholders::_1), 1); + }; + + void RobotControl() + { + ct += dt; + double px_local, py_local, yaw_local; + double vx_local, vy_local, vyaw_local; + double px_err, py_err, yaw_err; + double time_seg, time_temp; + + unitree::robot::go2::PathPoint path_point_tmp; + std::vector path; + + switch (TEST_MODE) + { + case normal_stand: // 0. idle, default stand + // sport_client.SwitchGait(0); // 0:idle; 1:tort; 2:tort running; 3:climb stair; 4:tort obstacle + sport_client.StandUp(); + break; + + case balance_stand: // 1. Balance stand (controlled by dBodyHeight + rpy) + // sport_client.Euler(0.1, 0.2, 0.3); // roll, pitch, yaw + // sport_client.BodyHeight(0.0); // relative height [-0.18~0.03] + sport_client.BalanceStand(); + break; + + case velocity_move: // 2. target velocity walking (controlled by velocity + yawSpeed) + sport_client.Move(0.3, 0, 0.3); + break; + + case stand_down: // 4. position stand down. + sport_client.StandDown(); + break; + + case stand_up: // 5. position stand up + sport_client.StandUp(); + break; + + case damp: // 6. damping mode + sport_client.Damp(); + break; + + case recovery_stand: // 7. recovery stand + sport_client.RecoveryStand(); + break; + + case sit: + if (flag == 0) + { + sport_client.Sit(); + flag = 1; + } + break; + + case rise_sit: + if (flag == 0) + { + sport_client.RiseSit(); + flag = 1; + } + break; + + case stop_move: // stop move + sport_client.StopMove(); + break; + + default: + sport_client.StopMove(); + } + }; + + // Get initial position + void GetInitState() + { + px0 = state.position()[0]; + py0 = state.position()[1]; + yaw0 = state.imu_state().rpy()[2]; + std::cout << "initial position: x0: " << px0 << ", y0: " << py0 << ", yaw0: " << yaw0 << std::endl; + }; + + void HighStateHandler(const void *message) + { + state = *(unitree_go::msg::dds_::SportModeState_ *)message; + + // std::cout << "Position: " << state.position()[0] << ", " << state.position()[1] << ", " << state.position()[2] << std::endl; + // std::cout << "IMU rpy: " << state.imu_state().rpy()[0] << ", " << state.imu_state().rpy()[1] << ", " << state.imu_state().rpy()[2] << std::endl; + }; + + unitree_go::msg::dds_::SportModeState_ state; + unitree::robot::go2::SportClient sport_client; + unitree::robot::ChannelSubscriberPtr suber; + + double px0, py0, yaw0; // 初始状态的位置和偏航 + double ct = 0; // 运行时间 + int flag = 0; // 特殊动作执行标志 + float dt = 0.005; // 控制步长0.001~0.01 +}; + +int main(int argc, char **argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + Custom custom; + + sleep(1); // Wait for 1 second to obtain a stable state + + custom.GetInitState(); // Get initial position + unitree::common::ThreadPtr threadPtr = unitree::common::CreateRecurrentThread(custom.dt * 1000000, std::bind(&Custom::RobotControl, &custom)); + + while (1) + { + sleep(10); + } + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_stand_example.cpp b/deps/unitree_sdk2/example/go2/go2_stand_example.cpp new file mode 100644 index 0000000..36743c5 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_stand_example.cpp @@ -0,0 +1,330 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree::robot::b2; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +constexpr double PosStopF = (2.146E+9f); +constexpr double VelStopF = (16000.0f); + +class Custom +{ +public: + explicit Custom(){} + ~Custom(){} + + void Init(); + void Start(); + +private: + void InitLowCmd(); + void LowStateMessageHandler(const void* messages); + void LowCmdWrite(); + int queryMotionStatus(); + std::string queryServiceName(std::string form,std::string name); + +private: + float Kp = 60.0; + float Kd = 5.0; + double time_consume = 0; + int rate_count = 0; + int sin_count = 0; + int motiontime = 0; + float dt = 0.002; // 0.001~0.01 + + MotionSwitcherClient msc; + + unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init + unitree_go::msg::dds_::LowState_ low_state{}; // default init + + /*publisher*/ + ChannelPublisherPtr lowcmd_publisher; + /*subscriber*/ + ChannelSubscriberPtr lowstate_subscriber; + + /*LowCmd write thread*/ + ThreadPtr lowCmdWriteThreadPtr; + + float _targetPos_1[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65}; + + float _targetPos_2[12] = {0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3}; + + float _targetPos_3[12] = {-0.35, 1.36, -2.65, 0.35, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65}; + + float _startPos[12]; + float _duration_1 = 500; + float _duration_2 = 500; + float _duration_3 = 1000; + float _duration_4 = 900; + float _percent_1 = 0; + float _percent_2 = 0; + float _percent_3 = 0; + float _percent_4 = 0; + + bool firstRun = true; + bool done = false; +}; + +uint32_t crc32_core(uint32_t* ptr, uint32_t len) +{ + unsigned int xbit = 0; + unsigned int data = 0; + unsigned int CRC32 = 0xFFFFFFFF; + const unsigned int dwPolynomial = 0x04c11db7; + + for (unsigned int i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (unsigned int bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + { + CRC32 <<= 1; + } + + if (data & xbit) + CRC32 ^= dwPolynomial; + xbit >>= 1; + } + } + + return CRC32; +} + +void Custom::Init() +{ + InitLowCmd(); + + /*create publisher*/ + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowcmd_publisher->InitChannel(); + + /*create subscriber*/ + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1); + + /*init MotionSwitcherClient*/ + msc.SetTimeout(10.0f); + msc.Init(); + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc.ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } +} + +void Custom::InitLowCmd() +{ + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } +} + +int Custom::queryMotionStatus() +{ + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc.CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; +} + +std::string Custom::queryServiceName(std::string form,std::string name) +{ + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; +} + +void Custom::Start() +{ + /*loop publishing thread*/ + lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this); +} + +void Custom::LowStateMessageHandler(const void* message) +{ + low_state = *(unitree_go::msg::dds_::LowState_*)message; +} + +void Custom::LowCmdWrite() +{ + if(_percent_4<1) + { + std::cout<<"Read sensor data example: "<=500) + { + if(firstRun) + { + for(int i = 0; i < 12; i++) + { + _startPos[i] = low_state.motor_state()[i].q(); + } + firstRun = false; + } + + _percent_1 += (float)1 / _duration_1; + _percent_1 = _percent_1 > 1 ? 1 : _percent_1; + if (_percent_1 < 1) + { + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_1) * _startPos[j] + _percent_1 * _targetPos_1[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + if ((_percent_1 == 1)&&(_percent_2 < 1)) + { + _percent_2 += (float)1 / _duration_2; + _percent_2 = _percent_2 > 1 ? 1 : _percent_2; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_2) * _targetPos_1[j] + _percent_2 * _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3<1)) + { + _percent_3 += (float)1 / _duration_3; + _percent_3 = _percent_3 > 1 ? 1 : _percent_3; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&((_percent_4<=1))) + { + _percent_4 += (float)1 / _duration_4; + _percent_4 = _percent_4 > 1 ? 1 : _percent_4; + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_4) * _targetPos_2[j] + _percent_4 * _targetPos_3[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + + lowcmd_publisher->Write(low_cmd); + } + +} + +int main(int argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + std::cout << "WARNING: Make sure the robot is hung up or lying on the ground." << std::endl + << "Press Enter to continue..." << std::endl; + std::cin.ignore(); + + ChannelFactory::Instance()->Init(0, argv[1]); + + Custom custom; + custom.Init(); + custom.Start(); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_trajectory_follow.cpp b/deps/unitree_sdk2/example/go2/go2_trajectory_follow.cpp new file mode 100644 index 0000000..6537705 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_trajectory_follow.cpp @@ -0,0 +1,65 @@ +#include +#include +#include + +class Custom +{ +public: + Custom() {} + void control(); + + unitree::robot::go2::SportClient tc; + + int c = 0; + float dt = 0.002; // 0.001~0.01 +}; + +void Custom::control() +{ + c++; + + int32_t ret; + + float vx = 0.3; + float delta = 0.06; + static float count = 0; + count += dt; + std::vector path; + for (int i=0; i<30; i++) { + unitree::robot::go2::PathPoint p; + float var = (count + i * delta); + p.timeFromStart = i * delta; + p.x = vx * var; + p.y = 0.6 * sin(M_PI * vx * var); + p.yaw = 2*0.6 * vx * M_PI * cos(M_PI * vx * var); + p.vx = vx; + p.vy = M_PI * vx * (0.6 * cos(M_PI * vx * var)); + p.vyaw = - M_PI * vx*2*0.6 * vx * M_PI * sin(M_PI * vx * var); + path.push_back(p); + } + + ret = tc.TrajectoryFollow(path); + if(ret != 0){ + std::cout << "Call TrajectoryFollow: " << ret << std::endl; + } + + std::cout << c << std::endl; +} + +int main(int argc, char** argv) +{ + unitree::robot::ChannelFactory::Instance()->Init(0); + + Custom custom; + custom.tc.SetTimeout(10.0f); + custom.tc.Init(); + + unitree::common::ThreadPtr threadPtr = unitree::common::CreateRecurrentThread(custom.dt * 1000000, std::bind(&Custom::control, &custom)); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_video_client.cpp b/deps/unitree_sdk2/example/go2/go2_video_client.cpp new file mode 100644 index 0000000..43200d4 --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_video_client.cpp @@ -0,0 +1,55 @@ +#include +#include +#include +#include + + +int main() +{ + /* + * Initilaize ChannelFactory + */ + unitree::robot::ChannelFactory::Instance()->Init(0); + unitree::robot::go2::VideoClient video_client; + + /* + * Set request timeout 1.0s + */ + video_client.SetTimeout(1.0f); + video_client.Init(); + + //Test Api + + std::vector image_sample; + int ret; + + while (true) + { + ret = video_client.GetImageSample(image_sample); + + if (ret == 0) { + time_t rawtime; + struct tm *timeinfo; + char buffer[80]; + + time(&rawtime); + timeinfo = localtime(&rawtime); + + strftime(buffer, sizeof(buffer), "%Y%m%d%H%M%S.jpg", timeinfo); + std::string image_name(buffer); + + std::ofstream image_file(image_name, std::ios::binary); + if (image_file.is_open()) { + image_file.write(reinterpret_cast(image_sample.data()), image_sample.size()); + image_file.close(); + std::cout << "Image saved successfully as " << image_name << std::endl; + } else { + std::cerr << "Error: Failed to save image." << std::endl; + } + } + + sleep(3); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2/go2_vui_client.cpp b/deps/unitree_sdk2/example/go2/go2_vui_client.cpp new file mode 100644 index 0000000..69da4ac --- /dev/null +++ b/deps/unitree_sdk2/example/go2/go2_vui_client.cpp @@ -0,0 +1,40 @@ +#include + +int main(int32_t argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: vui_client_example network_interface_name" << std::endl; + exit(0); + } + /* + * Initilaize ChannelFactory + */ + std::string networkInterface = argv[1]; + unitree::robot::ChannelFactory::Instance()->Init(0, networkInterface); + unitree::robot::go2::VuiClient vc; + + /* + * Set request timeout 1.0s + */ + vc.SetTimeout(1.0f); + vc.Init(); + + //Test Api + + int level = 0, value = 0; + int ret; + + while (true) + { + ret = vc.SetBrightness(level); + std::cout << "SetBrightness level=" << level << ", api return:" << ret << std::endl; + ++level %= 11; + sleep(1); + ret = vc.GetBrightness(value); + std::cout << "GetBrightness value=" << value << ", api return:" << ret << std::endl; + sleep(1); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/go2w/CMakeLists.txt b/deps/unitree_sdk2/example/go2w/CMakeLists.txt new file mode 100644 index 0000000..4646cb5 --- /dev/null +++ b/deps/unitree_sdk2/example/go2w/CMakeLists.txt @@ -0,0 +1,5 @@ +add_executable(go2w_sport_client go2w_sport_client.cpp) +target_link_libraries(go2w_sport_client unitree_sdk2) + +add_executable(go2w_stand_example go2w_stand_example.cpp) +target_link_libraries(go2w_stand_example unitree_sdk2) diff --git a/deps/unitree_sdk2/example/go2w/go2w_sport_client.cpp b/deps/unitree_sdk2/example/go2w/go2w_sport_client.cpp new file mode 100644 index 0000000..2c65512 --- /dev/null +++ b/deps/unitree_sdk2/example/go2w/go2w_sport_client.cpp @@ -0,0 +1,194 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define TOPIC_HIGHSTATE "rt/lf/sportmodestate" + +using namespace std; + +// 测试选项 +struct TestOption +{ + std::string name; // 名称 + int id; // id +}; + +const vector option_list = + {{"damp", 0}, // 阻尼 + {"stand_up", 1}, // 站立锁定 + {"stand_down", 2}, // 趴下 + {"move", 3}, // 速度控制 + {"stop_move", 4}, // 停止运动 + {"speed_level", 5}, // 速度档位 + {"switch_gait", 6}, // 步态切换 + {"get_state", 7}, // 获取状态 + {"recovery", 8}, // 恢复站立 + {"balance", 9}}; // 平衡站立 + +int ConvertToInt(const std::string &str) +{ + try + { + std::stoi(str); // 尝试转换字符串为整数 + return std::stoi(str); + } + catch (const std::invalid_argument &) + { + return -1; // 字符串包含非数字字符 + } + catch (const std::out_of_range &) + { + return -1; // 字符串表示的数字超出int范围 + } +} + +class UserInterface +{ +public: + UserInterface(){}; + ~UserInterface(){}; + + void terminalHandle() + { + std::string input; + std::getline(std::cin, input); + + // 如果输入的是 list 则输出所有的测试选项名称和id + if (input.compare("list") == 0) + { + for (TestOption option : option_list) + { + std::cout << option.name << ", id: " << option.id << std::endl; + } + } + + // 如果输入的名名称或id在枚举的测试选项中，则记录测试选项名称和id + for (TestOption option : option_list) + { + if (input.compare(option.name) == 0 || ConvertToInt(input) == option.id) + { + test_option_->id = option.id; + test_option_->name = option.name; + std::cout << "Test: " << test_option_->name << ", test_id: " << test_option_->id << std::endl; + } + } + }; + + // 待测试的功能的指针 + TestOption *test_option_; +}; + +void HighStateHandler(const void *message) +{ + unitree_go::msg::dds_::SportModeState_ hs = *(unitree_go::msg::dds_::SportModeState_ *)message; + + // std::cout << "mode: " << (int)hs.mode() << ", " + // << "gait: " << (int)hs.gait_type() << ", " + // << "progress: " << hs.progress() << std::endl; +} + +int main(int argc, char **argv) +{ + // 初始化 dds + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelSubscriber suber(TOPIC_HIGHSTATE); + suber.InitChannel(HighStateHandler); + + // 待测试的选项 + TestOption test_option; + test_option.id = 1; + + // 初始化sportclient + unitree::robot::go2::SportClient sport_client; + sport_client.SetTimeout(20.0f); + sport_client.Init(); + + // 初始化用户终端 + UserInterface user_interface; + // 将user_interface.test_option_ 指向 test_option，用于传递终端输入的结果 + user_interface.test_option_ = &test_option; + + std::cout << "Input \"list \" to list all test option ..." << std::endl; + long res_count = 0; + while (1) + { + auto time_start_trick = std::chrono::high_resolution_clock::now(); + static const constexpr auto dt = std::chrono::microseconds(20000); // 50Hz + + // 等待终端输入，并解析 + user_interface.terminalHandle(); + + int res = 1; + if (test_option.id == 0) + { + res = sport_client.Damp(); + } + else if (test_option.id == 1) + { + res = sport_client.StandUp(); + } + else if (test_option.id == 2) + { + res = sport_client.StandDown(); + } + else if (test_option.id == 3) + { + // 此处为调用一次 Move 指令，机器人会移动1s后停下 + // 如果循环调用 Move 则可以持续移动，1s 中内无Move请求，机器人会自动停下。 + res = sport_client.Move(0.5, 0, 0); + } + else if (test_option.id == 4) + { + res = sport_client.StopMove(); + } + else if (test_option.id == 5) + { + res = sport_client.SpeedLevel(1); + } + else if (test_option.id == 6) + { + // res = sport_client.SwitchGait(1); + } + else if (test_option.id == 7) + { + // std::map state_map; + // std::vector state_name = {"speedLevel", "gait "}; + // res = sport_client.GetState(state_name, state_map); + // std::cout << "Speed level: " << state_map["speedLevel"] << ", Gait: " << state_map["gait"] << std::endl; + } + else if (test_option.id == 8) + { + res = sport_client.RecoveryStand(); + } + else if (test_option.id == 9) + { + res = sport_client.BalanceStand(); + } + + if (res < 0) + { + res_count += 1; + std::cout << "Request error for: " << option_list[test_option.id].name << ", code: " << res << ", count: " << res_count << std::endl; + } + else + { + res_count = 0; + std::cout << "Request successed: " << option_list[test_option.id].name << ", code: " << res << std::endl; + } + std::this_thread::sleep_until(time_start_trick + dt); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/go2w/go2w_stand_example.cpp b/deps/unitree_sdk2/example/go2w/go2w_stand_example.cpp new file mode 100644 index 0000000..ec875c1 --- /dev/null +++ b/deps/unitree_sdk2/example/go2w/go2w_stand_example.cpp @@ -0,0 +1,370 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree::robot::b2; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +constexpr double PosStopF = (2.146E+9f); +constexpr double VelStopF = (16000.0f); + +class Custom +{ +public: + explicit Custom(){} + ~Custom(){} + + void Init(); + void Start(); + +private: + void InitLowCmd(); + void LowStateMessageHandler(const void* messages); + void LowCmdWrite(); + int queryMotionStatus(); + std::string queryServiceName(std::string form,std::string name); + +private: + float Kp = 70.0; + float Kd = 5.0; + double time_consume = 0; + int rate_count = 0; + int sin_count = 0; + int motiontime = 0; + float dt = 0.002; // 0.001~0.01 + + MotionSwitcherClient msc; + + unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init + unitree_go::msg::dds_::LowState_ low_state{}; // default init + + /*publisher*/ + ChannelPublisherPtr lowcmd_publisher; + /*subscriber*/ + ChannelSubscriberPtr lowstate_subscriber; + + /*LowCmd write thread*/ + ThreadPtr lowCmdWriteThreadPtr; + + float _targetPos_1[12] = {0.0, 1.36, -2.65, 0.0, 1.36, -2.65, + -0.2, 1.36, -2.65, 0.2, 1.36, -2.65}; + + float _targetPos_2[12] = {0.0, 0.67, -1.3, 0.0, 0.67, -1.3, + 0.0, 0.67, -1.3, 0.0, 0.67, -1.3}; + + float _targetPos_3[12] = {-0.35, 1.36, -2.65, 0.35, 1.36, -2.65, + -0.5, 1.36, -2.65, 0.5, 1.36, -2.65}; + + float _startPos[12]; + float _duration_1 = 500; + float _duration_2 = 500; + float _duration_3 = 2000; + float _duration_4 = 900; + float _percent_1 = 0; + float _percent_2 = 0; + float _percent_3 = 0; + float _percent_4 = 0; + + bool firstRun = true; + bool done = false; +}; + +uint32_t crc32_core(uint32_t* ptr, uint32_t len) +{ + unsigned int xbit = 0; + unsigned int data = 0; + unsigned int CRC32 = 0xFFFFFFFF; + const unsigned int dwPolynomial = 0x04c11db7; + + for (unsigned int i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (unsigned int bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + { + CRC32 <<= 1; + } + + if (data & xbit) + CRC32 ^= dwPolynomial; + xbit >>= 1; + } + } + + return CRC32; +} + +void Custom::Init() +{ + InitLowCmd(); + + /*create publisher*/ + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowcmd_publisher->InitChannel(); + + /*create subscriber*/ + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + lowstate_subscriber->InitChannel(std::bind(&Custom::LowStateMessageHandler, this, std::placeholders::_1), 1); + + /*init MotionSwitcherClient*/ + msc.SetTimeout(10.0f); + msc.Init(); + + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc.ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } +} + +void Custom::InitLowCmd() +{ + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } +} + +int Custom::queryMotionStatus() +{ + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc.CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; +} + +std::string Custom::queryServiceName(std::string form,std::string name) +{ + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; +} + +void Custom::Start() +{ + /*loop publishing thread*/ + lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Custom::LowCmdWrite, this); +} + +void Custom::LowStateMessageHandler(const void* message) +{ + low_state = *(unitree_go::msg::dds_::LowState_*)message; +} + +void Custom::LowCmdWrite() +{ + if(_percent_4<1) + { + std::cout<<"Read sensor data example: "<=500) + { + if(firstRun) + { + for(int i = 0; i < 12; i++) + { + _startPos[i] = low_state.motor_state()[i].q(); + } + firstRun = false; + } + + _percent_1 += (float)1 / _duration_1; + _percent_1 = _percent_1 > 1 ? 1 : _percent_1; + if (_percent_1 < 1) + { + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_1) * _startPos[j] + _percent_1 * _targetPos_1[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + if ((_percent_1 == 1)&&(_percent_2 < 1)) + { + _percent_2 += (float)1 / _duration_2; + _percent_2 = _percent_2 > 1 ? 1 : _percent_2; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_2) * _targetPos_1[j] + _percent_2 * _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3<1)) + { + _percent_3 += (float)1 / _duration_3; + _percent_3 = _percent_3 > 1 ? 1 : _percent_3; + + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = _targetPos_2[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + if(_percent_3<0.4) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = 3; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + else if((_percent_3>=0.4)&&(_percent_3<0.8)) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = -3; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + + } + else if(_percent_3>=0.8) + { + for (int j = 12; j < 16; j++) + { + low_cmd.motor_cmd()[j].q() = 0; + low_cmd.motor_cmd()[j].kp() = 0; + low_cmd.motor_cmd()[j].dq() = 0; + + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + + } + if ((_percent_1 == 1)&&(_percent_2 == 1)&&(_percent_3==1)&&((_percent_4<=1))) + { + _percent_4 += (float)1 / _duration_4; + _percent_4 = _percent_4 > 1 ? 1 : _percent_4; + for (int j = 0; j < 12; j++) + { + low_cmd.motor_cmd()[j].q() = (1 - _percent_4) * _targetPos_2[j] + _percent_4 * _targetPos_3[j]; + low_cmd.motor_cmd()[j].dq() = 0; + low_cmd.motor_cmd()[j].kp() = Kp; + low_cmd.motor_cmd()[j].kd() = Kd; + low_cmd.motor_cmd()[j].tau() = 0; + } + } + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + + lowcmd_publisher->Write(low_cmd); + } + +} + +int main(int argc, const char** argv) +{ + if (argc < 2) + { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + std::cout << "WARNING: Make sure the robot is hung up or lying on the ground." << std::endl + << "Press Enter to continue..." << std::endl; + std::cin.ignore(); + + ChannelFactory::Instance()->Init(0, argv[1]); + + Custom custom; + custom.Init(); + custom.Start(); + + while (1) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/CMakeLists.txt b/deps/unitree_sdk2/example/h1/CMakeLists.txt new file mode 100644 index 0000000..d2b8fa1 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/CMakeLists.txt @@ -0,0 +1,18 @@ +add_executable(h1_loco_client high_level/h1_loco_client_example.cpp) +target_link_libraries(h1_loco_client unitree_sdk2) + +add_executable(h1_low_level_example low_level/humanoid.cpp) +target_link_libraries(h1_low_level_example unitree_sdk2) + +add_executable(h1_27dof_example low_level/h1_27dof_example.cpp) +target_link_libraries(h1_27dof_example unitree_sdk2) + +add_executable(h1_2_ankle_track low_level/h1_2_ankle_track.cpp) +target_link_libraries(h1_2_ankle_track unitree_sdk2) + +add_executable(h1_arm_sdk_dds_example high_level/h1_arm_sdk_dds_example.cpp) +target_link_libraries(h1_arm_sdk_dds_example unitree_sdk2) + +add_executable(h1_2_arm_sdk_dds_example high_level/h1_2_arm_sdk_dds_example.cpp) +target_link_libraries(h1_2_arm_sdk_dds_example unitree_sdk2) + diff --git a/deps/unitree_sdk2/example/h1/README.md b/deps/unitree_sdk2/example/h1/README.md new file mode 100644 index 0000000..3d0f983 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/README.md @@ -0,0 +1,111 @@ +# Unitree H1_2 Parallel Mechanism Control + +English | [简体中文](README_zh.md) + +## Parallel Mechanism Control Interface + +The Unitree H1_2 robot's parallel mechanism involves the ankle joints of its left and right legs. Since the left and right ankle joints are symmetrical, the following explanation will use the H1_2 left ankle joint as an example: + +

+ +On the hardware side, the H1_2 left ankle joint uses a parallel mechanism consisting of four joints: + +* Parallel joints: Joint A, Joint B +* Serial joints: Pitch joint (P joint), Roll joint (R joint) + +Only the A and B joints can be directly driven by motors, while the P and R joints cannot be directly controlled. The robot's URDF model and motion control algorithms typically only consider the serial P and R joints. To control these joints, we control the A and B joints indirectly, which allows us to achieve control over the P and R joints. On the software side, we provide an equivalent serial joint control interface, called `PR Mode`, enabling users to directly control the P and R joints. Similar to the typical joint control method, in `PR Mode`, each serial joint receives the following commands: + +| Command Name | Variable | +| ----------------------- | -------- | +| Feedforward Torque | `tau` | +| Target Angle | `q` | +| Target Angular Velocity | `dq` | +| Joint Stiffness | `kp` | +| Joint Damping | `kd` | + +The total torque applied to the serial joint is calculated as `T = kp * (q - q_m) + kd * (dq - dq_m) + tau`. To improve the control precision of the serial joints, the H1_2 robot internally converts the feedforward torque, target angle, target angular velocity, joint stiffness, and joint damping commands for the P and R joints into actual commands for the A and B joints based on kinematic and dynamic relationships. + +## Serial Joint Tracking Experiment + +To test the performance of the H1_2 ankle in `PR Mode`, we have the P and R joints track a sinusoidal curve. You can refer to the [example](https://github.com/unitreerobotics/unitree_sdk2/blob/main/example/h1/low_level/h1_2_ankle_track.cpp). The core code is as follows: + +**Enabling PR Mode and Generating Sinusoidal Curve** + +```c++ +// [Stage 2]: swing ankle's PR +mode_ = PR; // Enable PR mode +// generate sin/cos trajectory +double max_P = 0.25; // [rad] +double max_R = 0.25; // [rad] +double t = time_ - duration_; +double L_P_des = max_P * std::cos(2.0 * M_PI * t); +double L_R_des = max_R * std::sin(2.0 * M_PI * t); +double R_P_des = max_P * std::cos(2.0 * M_PI * t); +double R_R_des = -max_R * std::sin(2.0 * M_PI * t); +``` + +**Setting Ankle Joint Commands** + +```c++ +// update ankle joint position targets +float Kp_Pitch = 80; +float Kd_Pitch = 1; +float Kp_Roll = 80; +float Kd_Roll = 1; +dds_low_command.motor_cmd().at(4).q() = L_P_des; // 4: LeftAnklePitch +dds_low_command.motor_cmd().at(4).dq() = 0; +dds_low_command.motor_cmd().at(4).kp() = Kp_Pitch; +dds_low_command.motor_cmd().at(4).kd() = Kd_Pitch; +dds_low_command.motor_cmd().at(4).tau() = 0; +dds_low_command.motor_cmd().at(5).q() = L_R_des; // 5: LeftAnkleRoll +dds_low_command.motor_cmd().at(5).dq() = 0; +dds_low_command.motor_cmd().at(5).kp() = Kp_Roll; +dds_low_command.motor_cmd().at(5).kd() = Kd_Roll; +dds_low_command.motor_cmd().at(5).tau() = 0; +dds_low_command.motor_cmd().at(10).q() = R_P_des; // 10: RightAnklePitch +dds_low_command.motor_cmd().at(10).dq() = 0; +dds_low_command.motor_cmd().at(10).kp() = Kp_Pitch; +dds_low_command.motor_cmd().at(10).kd() = Kd_Pitch; +dds_low_command.motor_cmd().at(10).tau() = 0; +dds_low_command.motor_cmd().at(11).q() = R_R_des; // 11: RightAnkleRoll +dds_low_command.motor_cmd().at(11).dq() = 0; +dds_low_command.motor_cmd().at(11).kp() = Kp_Roll; +dds_low_command.motor_cmd().at(11).kd() = Kd_Roll; +dds_low_command.motor_cmd().at(11).tau() = 0; +``` + +**Printing Desired and Measured Values to Terminal** + +```c++ +float L_P_m = low_state_.motor_state().at(4).q(); +float L_R_m = low_state_.motor_state().at(5).q(); +float R_P_m = low_state_.motor_state().at(10).q(); +float R_R_m = low_state_.motor_state().at(11).q(); +printf("%f,%f,%f,%f,%f,%f,%f,%f\n", L_P_des, L_P_m, L_R_des, L_R_m, R_P_des, R_P_m, R_R_des, R_R_m); +``` + +| L_P_des | L_P_m | L_R_des | L_R_m | R_P_des | R_P_m | R_R_des | R_R_m | +| ------------------ | ------------------- | ----------------- | ------------------ | ------------------- | -------------------- | ------------------ | ------------------- | +| Left Pitch Desired | Left Pitch Measured | Left Roll Desired | Left Roll Measured | Right Pitch Desired | Right Pitch Measured | Right Roll Desired | Right Roll Measured | + +To install and compile [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2), ensure that the robot is **suspended first**, then run the test routine in the terminal: + +```bash +h1_2_ankle_track network_interface +``` + +Once started, the robot will first reset to the zero position, then periodically swing its ankles while printing the desired and measured values for both ankle joints. The position tracking results are shown below: + +

+ + +

+ +Definitions of the symbols in the figures: + +* `L_Pitch_d`: Desired value of the left ankle's P joint +* `L_Pitch_m`: Measured value of the left ankle's P joint +* `L_Roll_d`: Desired value of the left ankle's R joint +* `L_Roll_m`: Measured value of the left ankle's R joint + +The left graph shows that the serial Pitch and Roll joints can accurately track the sinusoidal target position commands, while the right graph illustrates the tracking performance of the serial joints in phase space. diff --git a/deps/unitree_sdk2/example/h1/README_zh.md b/deps/unitree_sdk2/example/h1/README_zh.md new file mode 100644 index 0000000..1f44877 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/README_zh.md @@ -0,0 +1,111 @@ +# Unitree H1_2 并联机构控制 + +[English](README.md) | 简体中文 + +## 并联机构控制接口 + +Unitree H1_2 机器人并联机构涉及机器人的左右腿的脚踝。因左右脚踝对称，故下面以 H1_2 左脚踝关节为例： + +

+ +硬件上，H1_2 左脚踝关节采用并联机构，包括四个关节： + +* 并联关节：A 关节、B 关节 +* 串联关节：Pitch 关节 (简称 P 关节)、Roll 关节 (简称 R 关) + +其中只有 A、B 关节是可被电机直接驱动的关节，P、R 关节不能被直接控制。而机器人 URDF 模型和运动控制算法通常只考虑 P、R 串联关节。为了实现对 P、R 关节的控制，我们通过控制 A、B 关节从而间接实现对 P、R 关节的控制。具体到软件上，我们为用户提供了等价的串联关节控制接口，即 `PR 模式`，让用户能直接控制 P、R 关节。与普通关节控制方法一样，`PR 模式` 下每个串联关节接收以下指令： + +| 指令名称 | 变量 | +| ---------- | ----- | +| 前馈力矩 | `tau` | +| 目标角度 | `q` | +| 目标角速度 | `dq` | +| 关节刚度 | `kp` | +| 关节阻尼 | `kd` | + +最终串联关节执行总的力矩为 `T = kp * (q - q_m) + kd * (dq - dq_m) + tau`。为了提高串联关节控制精度，H1_2 机器人内部根据运动学和动力学关系，把 P、R 关节的前馈力矩、目标角度、目标角速度、关节刚度和关节阻尼指令转换为 A、B 实际关节执行单元。 + +## 串联关节跟踪实验 + +为测试 H1_2 脚踝 `PR 模式` 控制效果，我们让脚踝 P、R 关节跟踪正弦曲线，参考[测试例程](https://github.com/unitreerobotics/unitree_sdk2/blob/main/example/h1/low_level/h1_2_ankle_track.cpp)。核心代码段如下： + +**启用 PR 模式并生成正弦曲线** + +```c++ +// [Stage 2]: swing ankle's PR +mode_ = PR; // Enable PR mode +// generate sin/cos trajectory +double max_P = 0.25; // [rad] +double max_R = 0.25; // [rad] +double t = time_ - duration_; +double L_P_des = max_P * std::cos(2.0 * M_PI * t); +double L_R_des = max_R * std::sin(2.0 * M_PI * t); +double R_P_des = max_P * std::cos(2.0 * M_PI * t); +double R_R_des = -max_R * std::sin(2.0 * M_PI * t); +``` + +**设置踝关节指令** + +```c++ +// update ankle joint position targets +float Kp_Pitch = 80; +float Kd_Pitch = 1; +float Kp_Roll = 80; +float Kd_Roll = 1; +dds_low_command.motor_cmd().at(4).q() = L_P_des; // 4: LeftAnklePitch +dds_low_command.motor_cmd().at(4).dq() = 0; +dds_low_command.motor_cmd().at(4).kp() = Kp_Pitch; +dds_low_command.motor_cmd().at(4).kd() = Kd_Pitch; +dds_low_command.motor_cmd().at(4).tau() = 0; +dds_low_command.motor_cmd().at(5).q() = L_R_des; // 5: LeftAnkleRoll +dds_low_command.motor_cmd().at(5).dq() = 0; +dds_low_command.motor_cmd().at(5).kp() = Kp_Roll; +dds_low_command.motor_cmd().at(5).kd() = Kd_Roll; +dds_low_command.motor_cmd().at(5).tau() = 0; +dds_low_command.motor_cmd().at(10).q() = R_P_des; // 10: RightAnklePitch +dds_low_command.motor_cmd().at(10).dq() = 0; +dds_low_command.motor_cmd().at(10).kp() = Kp_Pitch; +dds_low_command.motor_cmd().at(10).kd() = Kd_Pitch; +dds_low_command.motor_cmd().at(10).tau() = 0; +dds_low_command.motor_cmd().at(11).q() = R_R_des; // 11: RightAnkleRoll +dds_low_command.motor_cmd().at(11).dq() = 0; +dds_low_command.motor_cmd().at(11).kp() = Kp_Roll; +dds_low_command.motor_cmd().at(11).kd() = Kd_Roll; +dds_low_command.motor_cmd().at(11).tau() = 0; +``` + +**打印期望值和测量值到终端** + +```c++ +float L_P_m = low_state_.motor_state().at(4).q(); +float L_R_m = low_state_.motor_state().at(5).q(); +float R_P_m = low_state_.motor_state().at(10).q(); +float R_R_m = low_state_.motor_state().at(11).q(); +printf("%f,%f,%f,%f,%f,%f,%f,%f\n", L_P_des, L_P_m, L_R_des, L_R_m, R_P_des, R_P_m, R_R_des, R_R_m); +``` + +| L_P_des | L_P_m | L_R_des | L_R_m | R_P_des | R_P_m | R_R_des | R_R_m | +| ----------------- | ----------------- | ---------------- | ---------------- | ----------------- | ----------------- | ---------------- | ---------------- | +| 左脚 Pitch 期望值 | 左脚 Pitch 测量值 | 左脚 Roll 期望值 | 左脚 Roll 测量值 | 右脚 Pitch 期望值 | 右脚 Pitch 测量值 | 右脚 Roll 期望值 | 右脚 Roll 测量值 | + +安装并编译 [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2)，务必先把机器人**悬挂起来**，然后终端运行测试例程： + +```bash +h1_2_ankle_track network_interface +``` + +启动后，机器人会先恢复到零位，然后周期性摆动脚踝，并打印左右踝关节期望值和测量值，其位置跟踪效果如图： + +

+ + +

+ +图中符号定义： + +* `L_Pitch_d`：左脚踝 P 关节期望值 +* `L_Pitch_m`：左脚踝 P 关节测量值 +* `L_Roll_d`：左脚踝 R 关节期望值 +* `L_Roll_m`：左脚踝 R 关节测量值 + +左图表示串联 Pitch、Roll 关节能较准确地跟踪正弦曲线目标位置指令；右图表示串联关节在相空间中的跟踪效果。 diff --git a/deps/unitree_sdk2/example/h1/doc/images/ankle.png b/deps/unitree_sdk2/example/h1/doc/images/ankle.png new file mode 100644 index 0000000000000000000000000000000000000000..1a8fd5041779d22be318f55a4e7090f5b2f8fce5 GIT binary patch literal 244542 zcmeFZxvuoywlB0VNC;i&5)vRJqAfvix7?P?q5E=Q?wbU;sdC?xyR!WNNW2V>f<#V6 zM93R3yuR{ufa4zyH_&)Bgrv|8BM=_Amd-|N7tlpMUvx|JQ%F2;tK0@2Y+M z<*zvR>*}uH57$EjnT=*-(z>VvJb9t2%Q_{gdeFB~O zsqqQ(^B;e|Ugf{aN?cPsIpV07{z6@R6h&_Sm$m&-XSYjJGM4&~zgnm`-+y-qzY)Ls zlpnuJ?gaj;pqTz>=XbMLfm5A-4CSZe7*ecN{+fT+_Up}M7}}*8|9N3H^gXQiKYK8l zrs4a~AA1k&@6r8kb%cTcvzM*{=U+|fRT@+dQ5RWL8d9|R0@G+y_r?q^w8p!%hP z#n6)U)jo&0T7K<;bXb<5gH79BH`pX=ifLH;oEzHVBK-XIPSzIY@b5J+ZB<;mXBkE) zP3G|zvAnDO1q8wVG|2o>3cKW2$yHUdB!9)3Up>Oau`giTS3YanUqqFPfq@^x@k+rf 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z7gXzyaBM4ZMHlB*59K80{bU4j+=^*iHtF>{Qlv0Rryn~5Qa+z-jeqK3Qi;N5Gf9BeovnF#tL3w>e7owjtZsY2x`ZH!1wmqWgUvj9(rn``IK%JV-v?| zG=t2FLd$aAm>>D$)iS;UJIj|2#=Vrq0{r|bS@Q-_V|8*DQAN|CRFOBC +#include +#include +#include + +#include +#include +#include +#include + +static const std::string kTopicArmSDK = "rt/arm_sdk"; +static const std::string kTopicState = "rt/lowstate"; +constexpr float kPi = 3.141592654; +constexpr float kPi_2 = 1.57079632; + +enum JointIndex { + // Left leg + kLeftHipYaw = 0, + kLeftHipPitch = 1, + kLeftHipRoll = 2, + kLeftKnee = 3, + kLeftAnkle = 4, + kLeftAnkleRoll = 5, + // Right leg + kRightHipYaw = 6, + kRightHipPitch = 7, + kRightHipRoll = 8, + kRightKnee = 9, + kRightAnkle = 10, + kRightAnkleRoll = 11, + + kWaistYaw = 12, + + // Left arm + kLeftShoulderPitch = 13, + kLeftShoulderRoll = 14, + kLeftShoulderYaw = 15, + kLeftElbow = 16, + kLeftWristRoll = 17, + kLeftWristPitch = 18, + kLeftWristYaw = 19, + // Right arm + kRightShoulderPitch = 20, + kRightShoulderRoll = 21, + kRightShoulderYaw = 22, + kRightElbow = 23, + kRightWristRoll = 24, + kRightWristPitch = 25, + kRightWristYaw = 26, + + kNotUsedJoint = 27, + kNotUsedJoint1 = 28, + kNotUsedJoint2 = 29, + kNotUsedJoint3 = 30, + kNotUsedJoint4 = 31, + kNotUsedJoint5 = 32, + kNotUsedJoint6 = 33, + kNotUsedJoint7 = 34 +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelPublisherPtr + arm_sdk_publisher; + unitree_hg::msg::dds_::LowCmd_ msg; + + arm_sdk_publisher.reset( + new unitree::robot::ChannelPublisher( + kTopicArmSDK)); + arm_sdk_publisher->InitChannel(); + + unitree::robot::ChannelSubscriberPtr + low_state_subscriber; + + // create subscriber + unitree_hg::msg::dds_::LowState_ state_msg; + low_state_subscriber.reset( + new unitree::robot::ChannelSubscriber( + kTopicState)); + low_state_subscriber->InitChannel([&](const void *msg) { + auto s = ( const unitree_hg::msg::dds_::LowState_* )msg; + memcpy( &state_msg, s, sizeof( unitree_hg::msg::dds_::LowState_ ) ); + }, 1); + + std::array arm_joints = { + JointIndex::kLeftShoulderPitch, JointIndex::kLeftShoulderRoll, + JointIndex::kLeftShoulderYaw, JointIndex::kLeftElbow, + JointIndex::kLeftWristRoll, JointIndex::kLeftWristPitch, JointIndex::kLeftWristYaw, + JointIndex::kRightShoulderPitch, JointIndex::kRightShoulderRoll, + JointIndex::kRightShoulderYaw, JointIndex::kRightElbow, + JointIndex::kRightWristRoll, JointIndex::kRightWristPitch, JointIndex::kRightWristYaw, + JointIndex::kWaistYaw}; + + float weight = 0.f; + float weight_rate = 0.2f; + + std::array kp_array = { 120, 120, 80, 50, 50, 50, 50, + 120, 120, 80, 50, 50, 50, 50, + 200 }; + std::array kd_array = { 2.0, 2.0, 1.5, 1.0, 1.0, 1.0, 1.0, + 2.0, 2.0, 1.5, 1.0, 1.0, 1.0, 1.0, + 2.0 }; + float dq = 0.f; + float tau_ff = 0.f; + + float control_dt = 0.02f; + float max_joint_velocity = 0.5f; + + float delta_weight = weight_rate * control_dt; + float max_joint_delta = max_joint_velocity * control_dt; + auto sleep_time = + std::chrono::milliseconds(static_cast(control_dt / 0.001f)); + + // modify the initial position to avoid collision + std::array init_pos{0.f, 0.3, 0.f, 0, 0, 0, 0, + 0.f, -0.3, 0.f, 0, 0, 0, 0, + 0.f}; + + std::array target_pos = {0.f, kPi_2, 0.f, kPi_2, 0, 0, 0, + 0.f, -kPi_2, 0.f, kPi_2, 0, 0, 0, + 0.f}; + + // wait for init + std::cout << "Press ENTER to init arms ..."; + std::cin.get(); + + + // get current joint position + std::array current_jpos{}; + std::cout<<"Current joint position: "; + for (int i = 0; i < arm_joints.size(); ++i) { + current_jpos.at(i) = state_msg.motor_state().at(arm_joints.at(i)).q(); + std::cout << current_jpos.at(i) << " "; + } + std::cout << std::endl; + + // set init pos + std::cout << "Initailizing arms ..."; + float init_time = 2.0f; + int init_time_steps = static_cast(init_time / control_dt); + + for (int i = 0; i < init_time_steps; ++i) { + // set weight + weight = 1.0; + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + float phase = 1.0 * i / init_time_steps; + std::cout << "Phase: " << phase << std::endl; + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(init_pos.at(j) * phase + current_jpos.at(j) * (1 - phase)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + // wait for control + std::cout << "Press ENTER to start arm ctrl ..." << std::endl; + std::cin.get(); + + // start control + std::cout << "Start arm ctrl!" << std::endl; + float period = 5.f; + int num_time_steps = static_cast(period / control_dt); + + std::array current_jpos_des{0.f, 0.3, 0.f, 0, 0, 0, 0, + 0.f, -0.3, 0.f, 0, 0, 0, 0, + 0.f}; + + // lift arms up + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(target_pos.at(j) - current_jpos_des.at(j), + -max_joint_delta, max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // put arms down + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(init_pos.at(j) - current_jpos_des.at(j), -max_joint_delta, + max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd_array.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // stop control + std::cout << "Stoping arm ctrl ..."; + float stop_time = 2.0f; + int stop_time_steps = static_cast(stop_time / control_dt); + + for (int i = 0; i < stop_time_steps; ++i) { + // increase weight + weight -= delta_weight; + weight = std::clamp(weight, 0.f, 1.f); + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/high_level/h1_arm_sdk_dds_example.cpp b/deps/unitree_sdk2/example/h1/high_level/h1_arm_sdk_dds_example.cpp new file mode 100644 index 0000000..1a4c960 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/high_level/h1_arm_sdk_dds_example.cpp @@ -0,0 +1,234 @@ +#include +#include +#include +#include + +#include +#include +#include +#include + +static const std::string kTopicArmSDK = "rt/arm_sdk"; +static const std::string kTopicState = "rt/lowstate"; +constexpr float kPi = 3.141592654; +constexpr float kPi_2 = 1.57079632; + +enum JointIndex { + // Right leg + kRightHipYaw = 8, + kRightHipRoll = 0, + kRightHipPitch = 1, + kRightKnee = 2, + kRightAnkle = 11, + // Left leg + kLeftHipYaw = 7, + kLeftHipRoll = 3, + kLeftHipPitch = 4, + kLeftKnee = 5, + kLeftAnkle = 10, + + kWaistYaw = 6, + + kNotUsedJoint = 9, + + // Right arm + kRightShoulderPitch = 12, + kRightShoulderRoll = 13, + kRightShoulderYaw = 14, + kRightElbow = 15, + // Left arm + kLeftShoulderPitch = 16, + kLeftShoulderRoll = 17, + kLeftShoulderYaw = 18, + kLeftElbow = 19, + +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + + unitree::robot::ChannelPublisherPtr + arm_sdk_publisher; + unitree_go::msg::dds_::LowCmd_ msg; + + arm_sdk_publisher.reset( + new unitree::robot::ChannelPublisher( + kTopicArmSDK)); + arm_sdk_publisher->InitChannel(); + + unitree::robot::ChannelSubscriberPtr + low_state_subscriber; + + // create subscriber + unitree_hg::msg::dds_::LowState_ state_msg; + low_state_subscriber.reset( + new unitree::robot::ChannelSubscriber( + kTopicState)); + low_state_subscriber->InitChannel([&](const void *msg) { + auto s = ( const unitree_hg::msg::dds_::LowState_* )msg; + memcpy( &state_msg, s, sizeof( unitree_hg::msg::dds_::LowState_ ) ); + }, 1); + + std::array arm_joints = { + JointIndex::kLeftShoulderPitch, JointIndex::kLeftShoulderRoll, + JointIndex::kLeftShoulderYaw, JointIndex::kLeftElbow, + JointIndex::kRightShoulderPitch, JointIndex::kRightShoulderRoll, + JointIndex::kRightShoulderYaw, JointIndex::kRightElbow, JointIndex::kWaistYaw}; + + float weight = 0.f; + float weight_rate = 0.2f; + + float kp = 60.f; + float kd = 1.5f; + float dq = 0.f; + float tau_ff = 0.f; + + float control_dt = 0.02f; + float max_joint_velocity = 0.5f; + + float delta_weight = weight_rate * control_dt; + float max_joint_delta = max_joint_velocity * control_dt; + auto sleep_time = + std::chrono::milliseconds(static_cast(control_dt / 0.001f)); + + std::array init_pos{0, 0, 0, 0, + 0, 0, 0, 0, + 0}; + + std::array target_pos = {0.f, kPi_2, 0.f, kPi_2, + 0.f, -kPi_2, 0.f, kPi_2, + 0.f}; + + // wait for init + std::cout << "Press ENTER to init arms ..."; + std::cin.get(); + + // get current joint position + std::array current_jpos{}; + std::cout<<"Current joint position: "; + for (int i = 0; i < arm_joints.size(); ++i) { + current_jpos.at(i) = state_msg.motor_state().at(arm_joints.at(i)).q(); + std::cout << current_jpos.at(i) << " "; + } + std::cout << std::endl; + + // set init pos + std::cout << "Initailizing arms ..."; + float init_time = 2.0f; + int init_time_steps = static_cast(init_time / control_dt); + + for (int i = 0; i < init_time_steps; ++i) { + // set weight + weight = 1.0; + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + float phase = 1.0 * i / init_time_steps; + std::cout << "Phase: " << phase << std::endl; + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(init_pos.at(j) * phase + current_jpos.at(j) * (1 - phase)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + // wait for control + std::cout << "Press ENTER to start arm ctrl ..." << std::endl; + std::cin.get(); + + // start control + std::cout << "Start arm ctrl!" << std::endl; + float period = 5.f; + int num_time_steps = static_cast(period / control_dt); + + std::array current_jpos_des{}; + + // lift arms up + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(target_pos.at(j) - current_jpos_des.at(j), + -max_joint_delta, max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // put arms down + for (int i = 0; i < num_time_steps; ++i) { + // update jpos des + for (int j = 0; j < init_pos.size(); ++j) { + current_jpos_des.at(j) += + std::clamp(init_pos.at(j) - current_jpos_des.at(j), -max_joint_delta, + max_joint_delta); + } + + // set control joints + for (int j = 0; j < init_pos.size(); ++j) { + msg.motor_cmd().at(arm_joints.at(j)).q(current_jpos_des.at(j)); + msg.motor_cmd().at(arm_joints.at(j)).dq(dq); + msg.motor_cmd().at(arm_joints.at(j)).kp(kp); + msg.motor_cmd().at(arm_joints.at(j)).kd(kd); + msg.motor_cmd().at(arm_joints.at(j)).tau(tau_ff); + } + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + // stop control + std::cout << "Stoping arm ctrl ..."; + float stop_time = 2.0f; + int stop_time_steps = static_cast(stop_time / control_dt); + + for (int i = 0; i < stop_time_steps; ++i) { + // increase weight + weight -= delta_weight; + weight = std::clamp(weight, 0.f, 1.f); + + // set weight + msg.motor_cmd().at(JointIndex::kNotUsedJoint).q(weight); + + // send dds msg + arm_sdk_publisher->Write(msg); + + // sleep + std::this_thread::sleep_for(sleep_time); + } + + std::cout << "Done!" << std::endl; + + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/high_level/h1_loco_client_example.cpp b/deps/unitree_sdk2/example/h1/high_level/h1_loco_client_example.cpp new file mode 100644 index 0000000..e6029e1 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/high_level/h1_loco_client_example.cpp @@ -0,0 +1,300 @@ +#include +#include +#include + +#include +#include + +std::vector stringToFloatVector(const std::string &str) { + std::vector result; + std::stringstream ss(str); + float num; + while (ss >> num) { + result.push_back(num); + // ignore any trailing whitespace + ss.ignore(); + } + return result; +} + +int main(int argc, char const *argv[]) { + std::map args = {{"network_interface", "lo"}}; + + std::map values; + for (int i = 1; i < argc; ++i) { + std::string arg = argv[i]; + if (arg.substr(0, 2) == "--") { + size_t pos = arg.find("="); + std::string key, value; + if (pos != std::string::npos) { + key = arg.substr(2, pos - 2); + value = arg.substr(pos + 1); + + if (value.front() == '"' && value.back() == '"') { + value = value.substr(1, value.length() - 2); + } + } else { + key = arg.substr(2); + value = ""; + } + if (args.find(key) != args.end()) { + args[key] = value; + } else { + args.insert({{key, value}}); + } + } + } + + unitree::robot::ChannelFactory::Instance()->Init(0, args["network_interface"]); + + unitree::robot::h1::LocoClient client; + + client.Init(); + client.SetTimeout(10.f); + + for (const auto &arg_pair : args) { + std::cout << "Processing command: [" << arg_pair.first << "] with param: [" << arg_pair.second << "] ..." + << std::endl; + if (arg_pair.first == "network_interface") { + continue; + } + + if (arg_pair.first == "get_fsm_id") { + int fsm_id; + client.GetFsmId(fsm_id); + std::cout << "current fsm_id: " << fsm_id << std::endl; + } + + if (arg_pair.first == "get_fsm_mode") { + int fsm_mode; + client.GetFsmMode(fsm_mode); + std::cout << "current fsm_mode: " << fsm_mode << std::endl; + } + + if (arg_pair.first == "get_balance_mode") { + int balance_mode; + client.GetBalanceMode(balance_mode); + std::cout << "current balance_mode: " << balance_mode << std::endl; + } + + if (arg_pair.first == "get_swing_height") { + float swing_height; + client.GetSwingHeight(swing_height); + std::cout << "current swing_height: " << swing_height << std::endl; + } + + if (arg_pair.first == "get_stand_height") { + float stand_height; + client.GetStandHeight(stand_height); + std::cout << "current stand_height: " << stand_height << std::endl; + } + + if (arg_pair.first == "get_phase") { + std::vector phase; + client.GetPhase(phase); + std::cout << "current phase: ("; + for (const auto &p : phase) { + std::cout << p << ", "; + } + std::cout << ")" << std::endl; + } + + if (arg_pair.first == "enable_odom") { + float x, y, yaw; + client.EnableOdom(); + std::cout << "Send enable odom signal" << std::endl; + } + + if (arg_pair.first == "disable_odom") { + float x, y, yaw; + client.DisableOdom(); + std::cout << "Send disable odom signal" << std::endl; + } + + if (arg_pair.first == "get_odom") { + float x, y, yaw; + client.GetOdom(x, y, yaw); + std::cout << "Get Odom: (" << x << ", " << y << ", " << yaw << ")" << std::endl; + } + + if (arg_pair.first == "set_fsm_id") { + int fsm_id = std::stoi(arg_pair.second); + client.SetFsmId(fsm_id); + std::cout << "set fsm_id to " << fsm_id << std::endl; + } + + if (arg_pair.first == "set_balance_mode") { + int balance_mode = std::stoi(arg_pair.second); + client.SetBalanceMode(balance_mode); + std::cout << "set balance_mode to " << balance_mode << std::endl; + } + + if (arg_pair.first == "set_swing_height") { + float swing_height = std::stof(arg_pair.second); + client.SetSwingHeight(swing_height); + std::cout << "set swing_height to " << swing_height << std::endl; + } + + if (arg_pair.first == "set_stand_height") { + float stand_height = std::stof(arg_pair.second); + client.SetStandHeight(stand_height); + std::cout << "set stand_height to " << stand_height << std::endl; + } + + if (arg_pair.first == "set_velocity") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega, duration; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = 1.f; + } else if (param_size == 4) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = param.at(3); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + + client.SetVelocity(vx, vy, omega, duration); + std::cout << "set velocity to " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "set_phase") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + if (param_size == 2) { + client.SetPhase(param); + std::cout << "set phase to " << arg_pair.second << std::endl; + } else { + std::cerr << "Invalid param size for method SetPhase: " << param_size << std::endl; + return 1; + } + } + + if (arg_pair.first == "set_target_pos") { + std::vector param = stringToFloatVector(arg_pair.second); + client.SetTargetPos(param.at(0), param.at(1), param.at(2), false); + std::cout << "set_target_pos: " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "set_target_pos_relative") { + std::vector param = stringToFloatVector(arg_pair.second); + client.SetTargetPos(param.at(0), param.at(1), param.at(2)); + std::cout << "set_target_pos: " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "damp") { + client.Damp(); + } + + if (arg_pair.first == "start") { + client.Start(); + } + + if (arg_pair.first == "stand_up") { + client.StandUp(); + } + + if (arg_pair.first == "zero_torque") { + client.ZeroTorque(); + } + + if (arg_pair.first == "stop_move") { + client.StopMove(); + } + + if (arg_pair.first == "high_stand") { + client.HighStand(); + } + + if (arg_pair.first == "low_stand") { + client.LowStand(); + } + + if (arg_pair.first == "balance_stand") { + client.BalanceStand(); + } + + if (arg_pair.first == "continous_gait") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.ContinuousGait(flag); + } + + if (arg_pair.first == "switch_move_mode") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.SwitchMoveMode(flag); + } + + if (arg_pair.first == "move") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + client.Move(vx, vy, omega); + } + + if (arg_pair.first == "set_next_foot") { + bool flag; + if (arg_pair.second == "0") { + flag = true; + } else if (arg_pair.second == "1") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.SetNextFoot(flag); + } + + if (arg_pair.first == "set_task_id") { + int task_id = std::stoi(arg_pair.second); + client.SetTaskId(task_id); + std::cout << "set task_id to " << task_id << std::endl; + } + + if (arg_pair.first == "shake_hand") { + client.ShakeHand(0); + std::cout << "Shake hand starts! Waiting for 10 s for ending" << std::endl; + std::this_thread::sleep_for(std::chrono::seconds(10)); + std::cout << "Shake hand ends!" << std::endl; + client.ShakeHand(1); + } + + if (arg_pair.first == "wave_hand") { + client.WaveHand(); + std::cout << "wave hand" << std::endl; + } + + std::cout << "Done!" << std::endl; + } + + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/h1/low_level/base_state.h b/deps/unitree_sdk2/example/h1/low_level/base_state.h new file mode 100644 index 0000000..685a133 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/base_state.h @@ -0,0 +1,8 @@ +#pragma once + +#include + +struct BaseState { + std::array rpy = {}; + std::array omega = {}; +}; diff --git a/deps/unitree_sdk2/example/h1/low_level/data_buffer.hpp b/deps/unitree_sdk2/example/h1/low_level/data_buffer.hpp new file mode 100644 index 0000000..7404217 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/data_buffer.hpp @@ -0,0 +1,28 @@ +#pragma once + +#include +#include +#include +#include + +template class DataBuffer { +public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + +private: + std::shared_ptr data; + std::shared_mutex mutex; +}; diff --git a/deps/unitree_sdk2/example/h1/low_level/h1_27dof_example.cpp b/deps/unitree_sdk2/example/h1/low_level/h1_27dof_example.cpp new file mode 100644 index 0000000..28c80e8 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/h1_27dof_example.cpp @@ -0,0 +1,367 @@ +#include +#include +#include +#include +#include + +// DDS +#include +#include + +// IDL +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; + +const int H1_NUM_MOTOR = 27; + +template +class DataBuffer { + public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + + private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; + +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; + +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +enum MotorType { GearboxS = 0, GearboxM = 1, GearboxL = 2 }; + +std::array H1MotorType{ + // clang-format off + // legs + GearboxM, GearboxM, GearboxM, GearboxL, GearboxS, GearboxS, + GearboxM, GearboxM, GearboxM, GearboxL, GearboxS, GearboxS, + // waist + GearboxM, + // arms + GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, + GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS, GearboxS + // clang-format on +}; + +enum PRorAB { PR = 0, AB = 1 }; + +enum H1JointIndex { + // legs + LeftHipYaw = 0, + LeftHipPitch = 1, + LeftHipRoll = 2, + LeftKnee = 3, + LeftAnklePitch = 4, + LeftAnkleB = 4, + LeftAnkleRoll = 5, + LeftAnkleA = 5, + RightHipYaw = 6, + RightHipPitch = 7, + RightHipRoll = 8, + RightKnee = 9, + RightAnklePitch = 10, + RightAnkleB = 10, + RightAnkleRoll = 11, + RightAnkleA = 11, + // torso + WaistYaw = 12, + // arms + LeftShoulderPitch = 13, + LeftShoulderRoll = 14, + LeftShoulderYaw = 15, + LeftElbow = 16, + LeftWristRoll = 17, + LeftWristPitch = 18, + LeftWristYaw = 19, + RightShoulderPitch = 20, + RightShoulderRoll = 21, + RightShoulderYaw = 22, + RightElbow = 23, + RightWristRoll = 24, + RightWristPitch = 25, + RightWristYaw = 26 +}; + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +float GetMotorKp(MotorType type) { + switch (type) { + case GearboxS: + return 80; + case GearboxM: + return 100; + case GearboxL: + return 200; + default: + return 0; + } +} + +float GetMotorKd(MotorType type) { + switch (type) { + case GearboxS: + return 2; + case GearboxM: + return 3; + case GearboxL: + return 5; + default: + return 0; + } +} + +class H1Example { + private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + PRorAB mode_; + uint8_t mode_machine_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer imu_state_buffer_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + public: + H1Example(std::string networkInterface) + : time_(0.0), + control_dt_(0.002), + duration_(3.0), + mode_(PR), + mode_machine_(0) { + ChannelFactory::Instance()->Init(0, networkInterface); + + // create publisher + lowcmd_publisher_.reset( + new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + + // create subscriber + lowstate_subscriber_.reset( + new ChannelSubscriber( + HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel( + std::bind(&H1Example::LowStateHandler, this, std::placeholders::_1), 1); + + // create threads + command_writer_ptr_ = + CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, + &H1Example::LowCommandWriter, this); + control_thread_ptr_ = CreateRecurrentThreadEx( + "control", UT_CPU_ID_NONE, 2000, &H1Example::Control, this); + } + + void ReportRPY() { + const std::shared_ptr imu_tmp_ptr = + imu_state_buffer_.GetData(); + if (imu_tmp_ptr) { + std::cout << "rpy: [" << imu_tmp_ptr->rpy.at(0) << ", " + << imu_tmp_ptr->rpy.at(1) << ", " << imu_tmp_ptr->rpy.at(2) + << "]" << std::endl; + } + } + + void LowStateHandler(const void *message) { + unitree_hg::msg::dds_::LowState_ low_state = + *(const unitree_hg::msg::dds_::LowState_ *)message; + + if (low_state.crc() != + Crc32Core((uint32_t *)&low_state, + (sizeof(unitree_hg::msg::dds_::LowState_) >> 2) - 1)) { + std::cout << "low_state CRC Error" << std::endl; + return; + } + + // get motor state + MotorState ms_tmp; + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[i].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[i].dq(); + + if (low_state.motor_state()[i].motorstate()) + std::cout << "[ERROR] motor " << i << " with code " + << low_state.motor_state()[i].motorstate() << "\n"; + } + motor_state_buffer_.SetData(ms_tmp); + + // get imu state + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + + // update mode machine + if (mode_machine_ != low_state.mode_machine()) { + if (mode_machine_ == 0) + std::cout << "G1 type: " << unsigned(low_state.mode_machine()) + << std::endl; + mode_machine_ = low_state.mode_machine(); + } + } + + void LowCommandWriter() { + unitree_hg::msg::dds_::LowCmd_ dds_low_command; + dds_low_command.mode_pr() = mode_; + dds_low_command.mode_machine() = mode_machine_; + + const std::shared_ptr mc = + motor_command_buffer_.GetData(); + if (mc) { + for (size_t i = 0; i < H1_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = mc->tau_ff.at(i); + dds_low_command.motor_cmd().at(i).q() = mc->q_target.at(i); + dds_low_command.motor_cmd().at(i).dq() = mc->dq_target.at(i); + dds_low_command.motor_cmd().at(i).kp() = mc->kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = mc->kd.at(i); + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, + (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void Control() { + ReportRPY(); + + MotorCommand motor_command_tmp; + const std::shared_ptr ms = motor_state_buffer_.GetData(); + + if (ms) { + time_ += control_dt_; + if (time_ < duration_ * 1) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + + double q_des = 0; + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = + (q_des - ms->q.at(i)) * ratio + ms->q.at(i); + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = GetMotorKp(H1MotorType[i]); + motor_command_tmp.kd.at(i) = GetMotorKd(H1MotorType[i]); + } + } else if (time_ < duration_ * 2) { + // [Stage 2]: swing ankle's PR + mode_ = PR; + double max_P = M_PI * 30.0 / 180.0; + double max_R = M_PI * 10.0 / 180.0; + double t = time_ - duration_ * 1; + double L_P_des = +max_P * std::sin(2.0 * M_PI * t); + double L_R_des = +max_R * std::sin(2.0 * M_PI * t); + double R_P_des = +max_P * std::sin(2.0 * M_PI * t); + double R_R_des = -max_R * std::sin(2.0 * M_PI * t); + + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = GetMotorKp(H1MotorType[i]); + motor_command_tmp.kd.at(i) = GetMotorKd(H1MotorType[i]); + } + + motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des; + motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des; + motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des; + motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des; + } else { + // [Stage 3]: swing ankle's AB + mode_ = AB; + double max_A = M_PI * 30.0 / 180.0; + double max_B = M_PI * 10.0 / 180.0; + double t = time_ - duration_ * 2; + double L_A_des = +max_A * std::sin(M_PI * t); + double L_B_des = +max_B * std::sin(M_PI * t + M_PI); + double R_A_des = -max_A * std::sin(M_PI * t); + double R_B_des = -max_B * std::sin(M_PI * t + M_PI); + + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = GetMotorKp(H1MotorType[i]); + motor_command_tmp.kd.at(i) = GetMotorKd(H1MotorType[i]); + } + + motor_command_tmp.q_target.at(LeftAnkleA) = L_A_des; + motor_command_tmp.q_target.at(LeftAnkleB) = L_B_des; + motor_command_tmp.q_target.at(RightAnkleA) = R_A_des; + motor_command_tmp.q_target.at(RightAnkleB) = R_B_des; + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: h1_27dof_example network_interface_name" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + H1Example custom(networkInterface); + + while (true) sleep(10); + + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/low_level/h1_2_ankle_track.cpp b/deps/unitree_sdk2/example/h1/low_level/h1_2_ankle_track.cpp new file mode 100644 index 0000000..72d0c93 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/h1_2_ankle_track.cpp @@ -0,0 +1,175 @@ +#include + +// DDS +#include +#include + +// IDL +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; + +const int H1_NUM_MOTOR = 27; + +enum PRorAB { PR = 0, AB = 1 }; + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +class H1Example { + private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + PRorAB mode_; + + unitree_hg::msg::dds_::LowState_ low_state_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + public: + H1Example(std::string networkInterface) + : time_(0.0), control_dt_(0.002), duration_(3.0), mode_(PR) { + ChannelFactory::Instance()->Init(0, networkInterface); + + // create publisher + lowcmd_publisher_.reset( + new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + + // create subscriber + lowstate_subscriber_.reset( + new ChannelSubscriber( + HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel( + std::bind(&H1Example::LowStateHandler, this, std::placeholders::_1), 1); + + // create threads + control_thread_ptr_ = CreateRecurrentThreadEx( + "control", UT_CPU_ID_NONE, 2000, &H1Example::Control, this); + } + + void LowStateHandler(const void *message) { + low_state_ = *(const unitree_hg::msg::dds_::LowState_ *)message; + + if (low_state_.crc() != + Crc32Core((uint32_t *)&low_state_, + (sizeof(unitree_hg::msg::dds_::LowState_) >> 2) - 1)) { + std::cout << "low_state CRC Error" << std::endl; + return; + } + } + + void Control() { + unitree_hg::msg::dds_::LowCmd_ dds_low_command; + dds_low_command.mode_pr() = mode_; + dds_low_command.mode_machine() = low_state_.mode_machine(); + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = 0.0; + dds_low_command.motor_cmd().at(i).q() = 0.0; + dds_low_command.motor_cmd().at(i).dq() = 0.0; + dds_low_command.motor_cmd().at(i).kp() = (i < 13) ? 100.0 : 50.0; + dds_low_command.motor_cmd().at(i).kd() = 1.0; + } + + time_ += control_dt_; + if (time_ < duration_) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < H1_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + dds_low_command.motor_cmd().at(i).q() = + (1. - ratio) * low_state_.motor_state().at(i).q(); + } + } else { + // [Stage 2]: swing ankle's PR + mode_ = PR; // Enable PR mode + + // generate sin/cos trajectory + double max_P = 0.25; // [rad] + double max_R = 0.25; // [rad] + double t = time_ - duration_; + double L_P_des = max_P * std::cos(2.0 * M_PI * t); + double L_R_des = max_R * std::sin(2.0 * M_PI * t); + double R_P_des = max_P * std::cos(2.0 * M_PI * t); + double R_R_des = -max_R * std::sin(2.0 * M_PI * t); + + // update ankle joint position targets + float Kp_Pitch = 80; + float Kd_Pitch = 1; + float Kp_Roll = 80; + float Kd_Roll = 1; + dds_low_command.motor_cmd().at(4).q() = L_P_des; // 4: LeftAnklePitch + dds_low_command.motor_cmd().at(4).dq() = 0; + dds_low_command.motor_cmd().at(4).kp() = Kp_Pitch; + dds_low_command.motor_cmd().at(4).kd() = Kd_Pitch; + dds_low_command.motor_cmd().at(4).tau() = 0; + dds_low_command.motor_cmd().at(5).q() = L_R_des; // 5: LeftAnkleRoll + dds_low_command.motor_cmd().at(5).dq() = 0; + dds_low_command.motor_cmd().at(5).kp() = Kp_Roll; + dds_low_command.motor_cmd().at(5).kd() = Kd_Roll; + dds_low_command.motor_cmd().at(5).tau() = 0; + dds_low_command.motor_cmd().at(10).q() = R_P_des; // 10: RightAnklePitch + dds_low_command.motor_cmd().at(10).dq() = 0; + dds_low_command.motor_cmd().at(10).kp() = Kp_Pitch; + dds_low_command.motor_cmd().at(10).kd() = Kd_Pitch; + dds_low_command.motor_cmd().at(10).tau() = 0; + dds_low_command.motor_cmd().at(11).q() = R_R_des; // 11: RightAnkleRoll + dds_low_command.motor_cmd().at(11).dq() = 0; + dds_low_command.motor_cmd().at(11).kp() = Kp_Roll; + dds_low_command.motor_cmd().at(11).kd() = Kd_Roll; + dds_low_command.motor_cmd().at(11).tau() = 0; + + float L_P_m = low_state_.motor_state().at(4).q(); + float L_R_m = low_state_.motor_state().at(5).q(); + float R_P_m = low_state_.motor_state().at(10).q(); + float R_R_m = low_state_.motor_state().at(11).q(); + // clang-format off + printf("%f,%f,%f,%f,%f,%f,%f,%f\n", + L_P_des, L_P_m, L_R_des, L_R_m, + R_P_des, R_P_m, R_R_des, R_R_m); + // clang-format on + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, + (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: h1_2_ankle_track network_interface_name" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + H1Example custom(networkInterface); + while (true) sleep(10); + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/low_level/humanoid.cpp b/deps/unitree_sdk2/example/h1/low_level/humanoid.cpp new file mode 100644 index 0000000..a15e8ce --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/humanoid.cpp @@ -0,0 +1,14 @@ +#include "humanoid.hpp" + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl; + exit(-1); + } + + HumanoidExample example(argv[1]); + while (1) { + sleep(10); + } + return 0; +} diff --git a/deps/unitree_sdk2/example/h1/low_level/humanoid.hpp b/deps/unitree_sdk2/example/h1/low_level/humanoid.hpp new file mode 100644 index 0000000..8fd6178 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/humanoid.hpp @@ -0,0 +1,263 @@ +#pragma once + +#include +#include +#include + +#include "unitree/robot/channel/channel_publisher.hpp" +#include "unitree/robot/channel/channel_subscriber.hpp" +#include +#include +#include + +#include "base_state.h" +#include "data_buffer.hpp" +#include "motors.hpp" + +#include +using namespace unitree::robot::b2; + +static const std::string kTopicLowCommand = "rt/lowcmd"; +static const std::string kTopicLowState = "rt/lowstate"; + +class HumanoidExample { +public: + HumanoidExample(const std::string &networkInterface = "") { + unitree::robot::ChannelFactory::Instance()->Init(0, networkInterface); + std::cout << "Initialize channel factory." << std::endl; + + msc.reset(new MotionSwitcherClient()); + msc->SetTimeout(5.0F); + msc->Init(); + + /*Shut down motion control-related service*/ + while(queryMotionStatus()) + { + std::cout << "Try to deactivate the motion control-related service." << std::endl; + int32_t ret = msc->ReleaseMode(); + if (ret == 0) { + std::cout << "ReleaseMode succeeded." << std::endl; + } else { + std::cout << "ReleaseMode failed. Error code: " << ret << std::endl; + } + sleep(5); + } + + lowcmd_publisher_.reset( + new unitree::robot::ChannelPublisher( + kTopicLowCommand)); + lowcmd_publisher_->InitChannel(); + command_writer_ptr_ = unitree::common::CreateRecurrentThreadEx( + "command_writer", UT_CPU_ID_NONE, 2000, + &HumanoidExample::LowCommandWriter, this); + + lowstate_subscriber_.reset( + new unitree::robot::ChannelSubscriber( + kTopicLowState)); + lowstate_subscriber_->InitChannel( + std::bind(&HumanoidExample::LowStateHandler, this, + std::placeholders::_1), + 1); + int control_period_us = control_dt_ * 1e6; + control_thread_ptr_ = unitree::common::CreateRecurrentThreadEx( + "control", UT_CPU_ID_NONE, control_period_us, &HumanoidExample::Control, + this); + + int report_period_us = report_dt_ * 1e6; + report_rpy_ptr_ = unitree::common::CreateRecurrentThreadEx( + "report_rpy", UT_CPU_ID_NONE, report_period_us, + &HumanoidExample::ReportRPY, this); + } + + ~HumanoidExample() = default; + + void LowCommandWriter() { + unitree_go::msg::dds_::LowCmd_ dds_low_command{}; + dds_low_command.head()[0] = 0xFE; + dds_low_command.head()[1] = 0xEF; + dds_low_command.level_flag() = 0xFF; + dds_low_command.gpio() = 0; + + const std::shared_ptr mc_tmp_ptr = + motor_command_buffer_.GetData(); + if (mc_tmp_ptr) { + for (int i = 0; i < kNumMotors; ++i) { + if (IsWeakMotor(i)) { + dds_low_command.motor_cmd().at(i).mode() = (0x01); + } else { + dds_low_command.motor_cmd().at(i).mode() = (0x0A); + } + dds_low_command.motor_cmd().at(i).tau() = mc_tmp_ptr->tau_ff.at(i); + dds_low_command.motor_cmd().at(i).q() = mc_tmp_ptr->q_ref.at(i); + dds_low_command.motor_cmd().at(i).dq() = mc_tmp_ptr->dq_ref.at(i); + dds_low_command.motor_cmd().at(i).kp() = mc_tmp_ptr->kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = mc_tmp_ptr->kd.at(i); + } + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, + (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void LowStateHandler(const void *message) { + unitree_go::msg::dds_::LowState_ low_state = + *(unitree_go::msg::dds_::LowState_ *)message; + + RecordMotorState(low_state); + RecordBaseState(low_state); + } + + void Control() { + MotorCommand motor_command_tmp; + const std::shared_ptr ms_tmp_ptr = + motor_state_buffer_.GetData(); + + if (ms_tmp_ptr) { + time_ += control_dt_; + time_ = std::clamp(time_, 0.f, init_duration_); + float ratio = time_ / init_duration_; + for (int i = 0; i < kNumMotors; ++i) { + motor_command_tmp.kp.at(i) = IsWeakMotor(i) ? kp_low_ : kp_high_; + motor_command_tmp.kd.at(i) = IsWeakMotor(i) ? kd_low_ : kd_high_; + motor_command_tmp.dq_ref.at(i) = 0.f; + motor_command_tmp.tau_ff.at(i) = 0.f; + + float q_des = 0.f; + if (i == JointIndex::kLeftHipPitch || i == JointIndex::kRightHipPitch) { + q_des = hip_pitch_init_pos_; + } + if (i == JointIndex::kLeftKnee || i == JointIndex::kRightKnee) { + q_des = knee_init_pos_; + } + if (i == JointIndex::kLeftAnkle || i == JointIndex::kRightAnkle) { + q_des = ankle_init_pos_; + } + if (i == JointIndex::kLeftShoulderPitch || + i == JointIndex::kRightShoulderPitch) { + q_des = shoulder_pitch_init_pos_; + } + + q_des = (q_des - ms_tmp_ptr->q.at(i)) * ratio + ms_tmp_ptr->q.at(i); + motor_command_tmp.q_ref.at(i) = q_des; + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } + + void ReportRPY() { + const std::shared_ptr bs_tmp_ptr = + base_state_buffer_.GetData(); + if (bs_tmp_ptr) { + std::cout << "rpy: [" << bs_tmp_ptr->rpy.at(0) << ", " + << bs_tmp_ptr->rpy.at(1) << ", " << bs_tmp_ptr->rpy.at(2) << "]" + << std::endl; + } + } + +private: + void RecordMotorState(const unitree_go::msg::dds_::LowState_ &msg) { + MotorState ms_tmp; + for (int i = 0; i < kNumMotors; ++i) { + ms_tmp.q.at(i) = msg.motor_state()[i].q(); + ms_tmp.dq.at(i) = msg.motor_state()[i].dq(); + } + + motor_state_buffer_.SetData(ms_tmp); + } + + void RecordBaseState(const unitree_go::msg::dds_::LowState_ &msg) { + BaseState bs_tmp; + bs_tmp.omega = msg.imu_state().gyroscope(); + bs_tmp.rpy = msg.imu_state().rpy(); + + base_state_buffer_.SetData(bs_tmp); + } + + inline bool IsWeakMotor(int motor_index) { + return motor_index == JointIndex::kLeftAnkle || + motor_index == JointIndex::kRightAnkle || + motor_index == JointIndex::kRightShoulderPitch || + motor_index == JointIndex::kRightShoulderRoll || + motor_index == JointIndex::kRightShoulderYaw || + motor_index == JointIndex::kRightElbow || + motor_index == JointIndex::kLeftShoulderPitch || + motor_index == JointIndex::kLeftShoulderRoll || + motor_index == JointIndex::kLeftShoulderYaw || + motor_index == JointIndex::kLeftElbow; + } + + std::string queryServiceName(std::string form,std::string name) + { + if(form == "0") + { + if(name == "normal" ) return "sport_mode"; + if(name == "ai" ) return "ai_sport"; + if(name == "advanced" ) return "advanced_sport"; + } + else + { + if(name == "ai-w" ) return "wheeled_sport(go2W)"; + if(name == "normal-w" ) return "wheeled_sport(b2W)"; + } + return ""; + } + + int queryMotionStatus() + { + std::string robotForm,motionName; + int motionStatus; + int32_t ret = msc->CheckMode(robotForm,motionName); + if (ret == 0) { + std::cout << "CheckMode succeeded." << std::endl; + } else { + std::cout << "CheckMode failed. Error code: " << ret << std::endl; + } + if(motionName.empty()) + { + std::cout << "The motion control-related service is deactivated." << std::endl; + motionStatus = 0; + } + else + { + std::string serviceName = queryServiceName(robotForm,motionName); + std::cout << "Service: "<< serviceName<< " is activate" << std::endl; + motionStatus = 1; + } + return motionStatus; + } + + unitree::robot::ChannelPublisherPtr + lowcmd_publisher_; + unitree::robot::ChannelSubscriberPtr + lowstate_subscriber_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer base_state_buffer_; + + std::shared_ptr msc; + + // control params + float kp_low_ = 60.f; + float kp_high_ = 200.f; + float kd_low_ = 1.5f; + float kd_high_ = 5.f; + + float control_dt_ = 0.01f; + + float hip_pitch_init_pos_ = -0.5f; + float knee_init_pos_ = 1.f; + float ankle_init_pos_ = -0.5f; + float shoulder_pitch_init_pos_ = 0.4f; + + float time_ = 0.f; + float init_duration_ = 10.f; + + float report_dt_ = 0.1f; + + // multithreading + unitree::common::ThreadPtr command_writer_ptr_; + unitree::common::ThreadPtr control_thread_ptr_; + unitree::common::ThreadPtr report_rpy_ptr_; +}; diff --git a/deps/unitree_sdk2/example/h1/low_level/motors.hpp b/deps/unitree_sdk2/example/h1/low_level/motors.hpp new file mode 100644 index 0000000..8245b82 --- /dev/null +++ b/deps/unitree_sdk2/example/h1/low_level/motors.hpp @@ -0,0 +1,75 @@ +#pragma once + +#include +#include + +#include + +constexpr int kNumMotors = 20; + +struct MotorCommand { + std::array q_ref = {}; + std::array dq_ref = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; + +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +enum JointIndex { + // Right leg + kRightHipYaw = 8, + kRightHipRoll = 0, + kRightHipPitch = 1, + kRightKnee = 2, + kRightAnkle = 11, + // Left leg + kLeftHipYaw = 7, + kLeftHipRoll = 3, + kLeftHipPitch = 4, + kLeftKnee = 5, + kLeftAnkle = 10, + + kWaistYaw = 6, + + kNotUsedJoint = 9, + + // Right arm + kRightShoulderPitch = 12, + kRightShoulderRoll = 13, + kRightShoulderYaw = 14, + kRightElbow = 15, + // Left arm + kLeftShoulderPitch = 16, + kLeftShoulderRoll = 17, + kLeftShoulderYaw = 18, + kLeftElbow = 19, + +}; + +uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) + CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; diff --git a/deps/unitree_sdk2/example/h2/CMakeLists.txt b/deps/unitree_sdk2/example/h2/CMakeLists.txt new file mode 100644 index 0000000..362d49c --- /dev/null +++ b/deps/unitree_sdk2/example/h2/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 3.10) + +add_executable(h2_loco_client high_level/h2_loco_client_example.cpp) +target_link_libraries(h2_loco_client unitree_sdk2) + +add_executable(h2_ankle_swing_example low_level/h2_ankle_swing_example.cpp) +target_link_libraries(h2_ankle_swing_example unitree_sdk2) diff --git a/deps/unitree_sdk2/example/h2/high_level/h2_loco_client_example.cpp b/deps/unitree_sdk2/example/h2/high_level/h2_loco_client_example.cpp new file mode 100644 index 0000000..fa1f290 --- /dev/null +++ b/deps/unitree_sdk2/example/h2/high_level/h2_loco_client_example.cpp @@ -0,0 +1,161 @@ +#include +#include +#include + +#include "unitree/robot/h2/loco/h2_loco_api.hpp" +#include "unitree/robot/h2/loco/h2_loco_client.hpp" + +std::vector stringToFloatVector(const std::string &str) { + std::vector result; + std::stringstream ss(str); + float num; + while (ss >> num) { + result.push_back(num); + // ignore any trailing whitespace + ss.ignore(); + } + return result; +} + +int main(int argc, char const *argv[]) { + std::map args = {{"network_interface", "lo"}}; + + std::map values; + for (int i = 1; i < argc; ++i) { + std::string arg = argv[i]; + if (arg.substr(0, 2) == "--") { + size_t pos = arg.find("="); + std::string key, value; + if (pos != std::string::npos) { + key = arg.substr(2, pos - 2); + value = arg.substr(pos + 1); + + if (value.front() == '"' && value.back() == '"') { + value = value.substr(1, value.length() - 2); + } + } else { + key = arg.substr(2); + value = ""; + } + if (args.find(key) != args.end()) { + args[key] = value; + } else { + args.insert({{key, value}}); + } + } + } + std::string network_interface = args["network_interface"]; + unitree::robot::ChannelFactory::Instance()->Init(0, network_interface); + + unitree::robot::h2::LocoClient client; + + client.Init(); + client.SetTimeout(10.f); + + for (const auto &arg_pair : args) { + std::cout << "Processing command: [" << arg_pair.first << "] with param: [" << arg_pair.second << "] ..." + << std::endl; + if (arg_pair.first == "network_interface") { + continue; + } + + if (arg_pair.first == "get_fsm_id") { + int fsm_id; + client.GetFsmId(fsm_id); + std::cout << "current fsm_id: " << fsm_id << std::endl; + } + + if (arg_pair.first == "get_fsm_mode") { + int fsm_mode; + client.GetFsmMode(fsm_mode); + std::cout << "current fsm_mode: " << fsm_mode << std::endl; + } + + if (arg_pair.first == "set_fsm_id") { + int fsm_id = std::stoi(arg_pair.second); + client.SetFsmId(fsm_id); + std::cout << "set fsm_id to " << fsm_id << std::endl; + } + + if (arg_pair.first == "set_velocity") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega, duration; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = 1.f; + } else if (param_size == 4) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = param.at(3); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + + client.SetVelocity(vx, vy, omega, duration); + std::cout << "set velocity to " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "damp") { + client.Damp(); + } + + if (arg_pair.first == "start") { + client.Start(); + } + + if (arg_pair.first == "stand_up") { + client.StandUp(); + } + + if (arg_pair.first == "zero_torque") { + client.ZeroTorque(); + } + + if (arg_pair.first == "stop_move") { + client.StopMove(); + } + + if (arg_pair.first == "switch_move_mode") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.SwitchMoveMode(flag); + } + + if (arg_pair.first == "move") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + client.Move(vx, vy, omega); + } + + if (arg_pair.first == "set_speed_mode") { + int param = std::stoi(arg_pair.second); + client.SetSpeedMode(param); + std::cout << "set speed mode to " << arg_pair.second << std::endl; + } + + std::cout << "Done!" << std::endl; + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/h2/low_level/gamepad.hpp b/deps/unitree_sdk2/example/h2/low_level/gamepad.hpp new file mode 100644 index 0000000..41910b7 --- /dev/null +++ b/deps/unitree_sdk2/example/h2/low_level/gamepad.hpp @@ -0,0 +1,128 @@ +#pragma once + +#include + +namespace unitree::common +{ + + // bytecode mapping for raw joystick data + // 16b + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // 40 Byte (now used 24B) + typedef struct + { + uint8_t head[2]; + xKeySwitchUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; + + uint8_t idle[16]; + } xRockerBtnDataStruct; + + typedef union + { + xRockerBtnDataStruct RF_RX; + uint8_t buff[40]; + } REMOTE_DATA_RX; + + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + class Gamepad + { + public: + Gamepad() {} + + void update(xRockerBtnDataStruct &key_data) + { + lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth; + l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth; + + R1.update(key_data.btn.components.R1); + L1.update(key_data.btn.components.L1); + start.update(key_data.btn.components.start); + select.update(key_data.btn.components.select); + R2.update(key_data.btn.components.R2); + L2.update(key_data.btn.components.L2); + F1.update(key_data.btn.components.F1); + F2.update(key_data.btn.components.F2); + A.update(key_data.btn.components.A); + B.update(key_data.btn.components.B); + X.update(key_data.btn.components.X); + Y.update(key_data.btn.components.Y); + up.update(key_data.btn.components.up); + right.update(key_data.btn.components.right); + down.update(key_data.btn.components.down); + left.update(key_data.btn.components.left); + } + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float l2 = 0.; + float ly = 0.; + + float smooth = 0.03; + float dead_zone = 0.01; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/h2/low_level/h2_ankle_swing_example.cpp b/deps/unitree_sdk2/example/h2/low_level/h2_ankle_swing_example.cpp new file mode 100644 index 0000000..e5f694b --- /dev/null +++ b/deps/unitree_sdk2/example/h2/low_level/h2_ankle_swing_example.cpp @@ -0,0 +1,380 @@ +#include +#include +#include +#include + +#include "gamepad.hpp" + +// DDS +#include +#include + +// IDL +#include +#include +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_IMU_TORSO = "rt/secondary_imu"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree_hg::msg::dds_; + +template class DataBuffer { +public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + +private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +const int H2_NUM_MOTOR = 31; +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +// Stiffness for all H2 Joints +std::array Kp{ + 150, 150, 150, 250, 60, 90, + 150, 150, 150, 250, 60, 90, + 200, 200, 200, + 90, 60, 20, 60, 4, 4, 4, + 90, 60, 20, 60, 4, 4, 4, + 30, 30, +}; + +// Damping for all H2 Joints +std::array Kd{ + 2.0, 2.0, 2.0, 2.0, 0.3, 0.1, + 2.0, 2.0, 2.0, 2.0, 0.3, 0.1, + 2.5, 5.0, 5.0, + 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, + 2.0, 1.0, 0.4, 1.0, 0.2, 0.2, 0.2, + 1.0, 1.0, +}; + +enum class Mode { + PR = 0, // Series Control for Ptich/Roll Joints + AB = 1 // Parallel Control for A/B Joints +}; + +enum H2JointIndex { + LeftHipPitch = 0, + LeftHipRoll = 1, + LeftHipYaw = 2, + LeftKnee = 3, + LeftAnkleRoll = 4, + LeftAnkleRollRaw = 4, + LeftAnklePitch = 5, + LeftAnklePitchRaw = 5, + RightHipPitch = 6, + RightHipRoll = 7, + RightHipYaw = 8, + RightKnee = 9, + RightAnkleRoll = 10, + RightAnkleRollRaw = 10, + RightAnklePitch = 11, + RightAnklePitchRaw = 11, + WaistYaw = 12, + WaistRoll = 13, + WaistA = 13, + WaistPitch = 14, + WaistB = 14, + LeftShoulderPitch = 15, + LeftShoulderRoll = 16, + LeftShoulderYaw = 17, + LeftElbow = 18, + LeftWristRoll = 19, + LeftWristpitch = 20, + LeftWristyaw = 21, + RightShoulderPitch = 22, + RightShoulderRoll = 23, + RightShoulderYaw = 24, + RightElbow = 25, + RightWristRoll = 26, + RightWristpitch = 27, + RightWristyaw = 28, + HEAD_PITCH = 29, + HEAD_YAW = 30, +}; + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) + CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +class H2Example { +private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + int counter_; + Mode mode_pr_; + uint8_t mode_machine_; + + Gamepad gamepad_; + REMOTE_DATA_RX rx_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer imu_state_buffer_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ChannelSubscriberPtr imutorso_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + std::shared_ptr msc_; + +public: + H2Example(std::string networkInterface) + : time_(0.0), control_dt_(0.002), duration_(3.0), counter_(0), + mode_pr_(Mode::PR), mode_machine_(0) { + ChannelFactory::Instance()->Init(0, networkInterface); + + // try to shutdown motion control-related service + msc_ = std::make_shared(); + msc_->SetTimeout(5.0f); + msc_->Init(); + std::string form, name; + while (msc_->CheckMode(form, name), !name.empty()) { + if (msc_->ReleaseMode()) + std::cout << "Failed to switch to Release Mode\n"; + sleep(5); + } + + // create publisher + lowcmd_publisher_.reset(new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + // create subscriber + lowstate_subscriber_.reset( + new ChannelSubscriber(HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel( + std::bind(&H2Example::LowStateHandler, this, std::placeholders::_1), 1); + imutorso_subscriber_.reset(new ChannelSubscriber(HG_IMU_TORSO)); + imutorso_subscriber_->InitChannel( + std::bind(&H2Example::imuTorsoHandler, this, std::placeholders::_1), 1); + // create threads + command_writer_ptr_ = + CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, + &H2Example::LowCommandWriter, this); + control_thread_ptr_ = CreateRecurrentThreadEx( + "control", UT_CPU_ID_NONE, 2000, &H2Example::Control, this); + } + + void imuTorsoHandler(const void *message) { + IMUState_ imu_torso = *(const IMUState_ *)message; + auto &rpy = imu_torso.rpy(); + if (counter_ % 500 == 0) + printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + } + + void LowStateHandler(const void *message) { + LowState_ low_state = *(const LowState_ *)message; + if (low_state.crc() != + Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) { + std::cout << "[ERROR] CRC Error" << std::endl; + return; + } + + // get motor state + MotorState ms_tmp; + for (int i = 0; i < H2_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[i].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[i].dq(); + if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll) + std::cout << "[ERROR] motor " << i << " with code " + << low_state.motor_state()[i].motorstate() << "\n"; + } + motor_state_buffer_.SetData(ms_tmp); + + // get imu state + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + + // update gamepad + memcpy(rx_.buff, &low_state.wireless_remote()[0], 40); + gamepad_.update(rx_.RF_RX); + + // update mode machine + if (mode_machine_ != low_state.mode_machine()) { + if (mode_machine_ == 0) + std::cout << "H2 type: " << unsigned(low_state.mode_machine()) + << std::endl; + mode_machine_ = low_state.mode_machine(); + } + + // report robot status every second + if (++counter_ % 500 == 0) { + counter_ = 0; + // IMU + auto &rpy = low_state.imu_state().rpy(); + printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + + // RC + printf("gamepad_.A.pressed: %d\n", static_cast(gamepad_.A.pressed)); + printf("gamepad_.B.pressed: %d\n", static_cast(gamepad_.B.pressed)); + printf("gamepad_.X.pressed: %d\n", static_cast(gamepad_.X.pressed)); + printf("gamepad_.Y.pressed: %d\n", static_cast(gamepad_.Y.pressed)); + + // Motor + auto &ms = low_state.motor_state(); + printf("All %d Motors:", H2_NUM_MOTOR); + printf("\nmode: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%u,", ms[i].mode()); + printf("\npos: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%.2f,", ms[i].q()); + printf("\nvel: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%.2f,", ms[i].dq()); + printf("\ntau_est: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%.2f,", ms[i].tau_est()); + printf("\ntemperature: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%d,%d;", ms[i].temperature()[0], ms[i].temperature()[1]); + printf("\nvol: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%.2f,", ms[i].vol()); + printf("\nsensor: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%u,%u;", ms[i].sensor()[0], ms[i].sensor()[1]); + printf("\nmotorstate: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%u,", ms[i].motorstate()); + printf("\nreserve: "); + for (int i = 0; i < H2_NUM_MOTOR; ++i) + printf("%u,%u,%u,%u;", ms[i].reserve()[0], ms[i].reserve()[1], + ms[i].reserve()[2], ms[i].reserve()[3]); + printf("\n"); + } + } + + void LowCommandWriter() { + LowCmd_ dds_low_command; + dds_low_command.mode_pr() = static_cast(mode_pr_); + dds_low_command.mode_machine() = mode_machine_; + + const std::shared_ptr mc = + motor_command_buffer_.GetData(); + if (mc) { + for (size_t i = 0; i < H2_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(i).tau() = mc->tau_ff.at(i); + dds_low_command.motor_cmd().at(i).q() = mc->q_target.at(i); + dds_low_command.motor_cmd().at(i).dq() = mc->dq_target.at(i); + dds_low_command.motor_cmd().at(i).kp() = mc->kp.at(i); + dds_low_command.motor_cmd().at(i).kd() = mc->kd.at(i); + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, + (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void Control() { + MotorCommand motor_command_tmp; + const std::shared_ptr ms = motor_state_buffer_.GetData(); + + for (int i = 0; i < H2_NUM_MOTOR; ++i) { + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = Kp[i]; + motor_command_tmp.kd.at(i) = Kd[i]; + } + + if (ms) { + time_ += control_dt_; + if (time_ < duration_) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < H2_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i); + } + } else if (time_ < duration_ * 2) { + // [Stage 2]: swing ankle using PR mode + mode_pr_ = Mode::PR; + double max_P = M_PI * 30.0 / 180.0; + double max_R = M_PI * 10.0 / 180.0; + double t = time_ - duration_; + double L_P_des = max_P * std::sin(2.0 * M_PI * t); + double L_R_des = max_R * std::sin(2.0 * M_PI * t); + double R_P_des = max_P * std::sin(2.0 * M_PI * t); + double R_R_des = -max_R * std::sin(2.0 * M_PI * t); + + motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des; + motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des; + motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des; + motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des; + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: h2_ankle_swing_example network_interface" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + H2Example custom(networkInterface); + while (true) + sleep(10); + return 0; +} + diff --git a/deps/unitree_sdk2/example/helloworld/CMakeLists.txt b/deps/unitree_sdk2/example/helloworld/CMakeLists.txt new file mode 100644 index 0000000..95d5e83 --- /dev/null +++ b/deps/unitree_sdk2/example/helloworld/CMakeLists.txt @@ -0,0 +1,11 @@ +add_executable(test_publisher + publisher.cpp + HelloWorldData.cpp +) +target_link_libraries(test_publisher unitree_sdk2) + +add_executable(test_subscriber + subscriber.cpp + HelloWorldData.cpp +) +target_link_libraries(test_subscriber unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/helloworld/HelloWorldData.cpp b/deps/unitree_sdk2/example/helloworld/HelloWorldData.cpp new file mode 100644 index 0000000..01e8b09 --- /dev/null +++ b/deps/unitree_sdk2/example/helloworld/HelloWorldData.cpp @@ -0,0 +1,54 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: HelloWorldData.idl + Source: HelloWorldData.cpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#include "HelloWorldData.hpp" + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::HelloWorldData::Msg>() { + static thread_local std::mutex mtx; + static thread_local propvec props; + static thread_local entity_properties_t *props_end = nullptr; + static thread_local std::atomic_bool initialized {false}; + key_endpoint keylist; + if (initialized.load(std::memory_order_relaxed)) { + auto ptr = props.data(); + while (ptr < props_end) + (ptr++)->is_present = false; + return props; + } + std::lock_guard lock(mtx); + if (initialized.load(std::memory_order_relaxed)) { + auto ptr = props.data(); + while (ptr < props_end) + (ptr++)->is_present = false; + return props; + } + props.clear(); + + props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root + props.push_back(entity_properties_t(1, 0, false, get_bit_bound(), extensibility::ext_final, false)); //::userID + props.push_back(entity_properties_t(1, 1, false, bb_unset, extensibility::ext_final, false)); //::message + + entity_properties_t::finish(props, keylist); + props_end = props.data() + props.size(); + initialized.store(true, std::memory_order_release); + return props; +} + +} //namespace cdr +} //namespace core +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + diff --git a/deps/unitree_sdk2/example/helloworld/HelloWorldData.hpp b/deps/unitree_sdk2/example/helloworld/HelloWorldData.hpp new file mode 100644 index 0000000..14c46d6 --- /dev/null +++ b/deps/unitree_sdk2/example/helloworld/HelloWorldData.hpp @@ -0,0 +1,300 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: HelloWorldData.idl + Source: HelloWorldData.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_HELLOWORLDDATA_HPP +#define DDSCXX_HELLOWORLDDATA_HPP + +#include +#include + +namespace HelloWorldData +{ +class Msg +{ +private: + int64_t userID_ = 0; + std::string message_; + +public: + Msg() = default; + + explicit Msg( + int64_t userID, + const std::string& message) : + userID_(userID), + message_(message) { } + + int64_t userID() const { return this->userID_; } + int64_t& userID() { return this->userID_; } + void userID(int64_t _val_) { this->userID_ = _val_; } + const std::string& message() const { return this->message_; } + std::string& message() { return this->message_; } + void message(const std::string& _val_) { this->message_ = _val_; } + void message(std::string&& _val_) { this->message_ = _val_; } + + bool operator==(const Msg& _other) const + { + (void) _other; + return userID_ == _other.userID_ && + message_ == _other.message_; + } + + bool operator!=(const Msg& _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<::HelloWorldData::Msg>::getTypeName() +{ + return "HelloWorldData::Msg"; +} + +template <> constexpr bool TopicTraits<::HelloWorldData::Msg>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::HelloWorldData::Msg>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::HelloWorldData::Msg>::type_map_blob_sz() { return 246; } +template<> constexpr unsigned int TopicTraits<::HelloWorldData::Msg>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::HelloWorldData::Msg>::type_map_blob() { + static const uint8_t blob[] = { + 0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xc6, 0x4e, 0xc8, 0x69, 0x45, 0x24, 0x37, + 0x97, 0x71, 0x0e, 0x16, 0xea, 0x09, 0x7f, 0x00, 0x34, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x58, 0x5c, 0x95, 0x70, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x78, 0xe7, 0x31, 0x02, + 0x7a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x70, 0xc8, 0x44, 0xb4, 0xff, 0x08, 0x3b, + 0x24, 0x1e, 0x92, 0xa7, 0x08, 0x93, 0x7e, 0x00, 0x62, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x48, 0x65, 0x6c, 0x6c, + 0x6f, 0x57, 0x6f, 0x72, 0x6c, 0x64, 0x44, 0x61, 0x74, 0x61, 0x3a, 0x3a, 0x4d, 0x73, 0x67, 0x00, + 0x3a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x75, 0x73, 0x65, 0x72, 0x49, 0x44, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x6d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x70, 0xc8, 0x44, 0xb4, 0xff, 0x08, 0x3b, + 0x24, 0x1e, 0x92, 0xa7, 0x08, 0x93, 0x7e, 0xf1, 0xc6, 0x4e, 0xc8, 0x69, 0x45, 0x24, 0x37, 0x97, + 0x71, 0x0e, 0x16, 0xea, 0x09, 0x7f, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::HelloWorldData::Msg>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc6, 0x4e, 0xc8, 0x69, 0x45, 0x24, 0x37, 0x97, 0x71, 0x0e, 0x16, + 0xea, 0x09, 0x7f, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x70, 0xc8, 0x44, 0xb4, 0xff, 0x08, 0x3b, 0x24, 0x1e, 0x92, 0xa7, + 0x08, 0x93, 0x7e, 0x00, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::HelloWorldData::Msg> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::HelloWorldData::Msg>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::HelloWorldData::Msg) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::HelloWorldData::Msg>(); + +template::value, bool> = true > +bool write(T& streamer, const ::HelloWorldData::Msg& 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.userID())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.message(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::HelloWorldData::Msg& instance, bool as_key) { + auto &props = get_type_props<::HelloWorldData::Msg>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::HelloWorldData::Msg& 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.userID())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.message(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::HelloWorldData::Msg& instance, bool as_key) { + auto &props = get_type_props<::HelloWorldData::Msg>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::HelloWorldData::Msg& 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.userID())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.message(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::HelloWorldData::Msg& instance, bool as_key) { + auto &props = get_type_props<::HelloWorldData::Msg>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::HelloWorldData::Msg& 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.userID())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.message(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::HelloWorldData::Msg& instance, bool as_key) { + auto &props = get_type_props<::HelloWorldData::Msg>(); + 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_HELLOWORLDDATA_HPP diff --git a/deps/unitree_sdk2/example/helloworld/publisher.cpp b/deps/unitree_sdk2/example/helloworld/publisher.cpp new file mode 100644 index 0000000..184f65f --- /dev/null +++ b/deps/unitree_sdk2/example/helloworld/publisher.cpp @@ -0,0 +1,25 @@ +#include +#include +#include "HelloWorldData.hpp" + +#define TOPIC "TopicHelloWorld" + +using namespace unitree::robot; +using namespace unitree::common; + +int main() +{ + ChannelFactory::Instance()->Init(0); + ChannelPublisher publisher(TOPIC); + + publisher.InitChannel(); + + while (true) + { + HelloWorldData::Msg msg(unitree::common::GetCurrentTimeMillisecond(), "HelloWorld."); + publisher.Write(msg); + sleep(1); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/helloworld/subscriber.cpp b/deps/unitree_sdk2/example/helloworld/subscriber.cpp new file mode 100644 index 0000000..75b6e3e --- /dev/null +++ b/deps/unitree_sdk2/example/helloworld/subscriber.cpp @@ -0,0 +1,45 @@ +#include +#include +#include "HelloWorldData.hpp" + +#define TOPIC "TopicHelloWorld" + +using namespace unitree::robot; +using namespace unitree::common; + +void Handler(const void* msg) +{ + const HelloWorldData::Msg* pm = (const HelloWorldData::Msg*)msg; + + std::cout << "userID:" << pm->userID() << ", message:" << pm->message() << std::endl; +} + +int main() +{ + ChannelFactory::Instance()->Init(0); + ChannelSubscriber subscriber(TOPIC); + subscriber.InitChannel(Handler); + + sleep(5); + subscriber.CloseChannel(); + + std::cout << "reseted. sleep 3" << std::endl; + + sleep(3); + subscriber.InitChannel(); + + sleep(5); + subscriber.CloseChannel(); + + std::cout << "reseted. sleep 3" << std::endl; + + sleep(3); + subscriber.InitChannel(); + + while (true) + { + sleep(10); + } + + return 0; +} diff --git a/deps/unitree_sdk2/example/jsonize/CMakeLists.txt b/deps/unitree_sdk2/example/jsonize/CMakeLists.txt new file mode 100644 index 0000000..d12f978 --- /dev/null +++ b/deps/unitree_sdk2/example/jsonize/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable(test_jsonize test_jsonize.cpp) +target_link_libraries(test_jsonize unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/jsonize/test_jsonize.cpp b/deps/unitree_sdk2/example/jsonize/test_jsonize.cpp new file mode 100644 index 0000000..20ef16f --- /dev/null +++ b/deps/unitree_sdk2/example/jsonize/test_jsonize.cpp @@ -0,0 +1,86 @@ +#include + +namespace unitree +{ +namespace common +{ +class Test : public Jsonize +{ +public: + Test() : x(0), y(0), z(0) + {} + + void fromJson(JsonMap& json) + { + FromJson(json["x"], x); + FromJson(json["y"], y); + FromJson(json["z"], z); + } + + void toJson(JsonMap& json) const + { + ToJson(x, json["x"]); + ToJson(y, json["y"]); + ToJson(z, json["z"]); + } + +public: + int x; + int y; + int z; +}; +} +} + +using namespace unitree::common; + +int main() +{ + std::vector vec; + + Test t1; + t1.x = 1; + t1.y = 2; + t1.z = 3; + + vec.push_back(t1); + + Test t2; + t2.x = 10; + t2.y = 20; + t2.z = 30; + + vec.push_back(t2); + + Test t3; + t3.x = 100; + t3.y = 200; + t3.z = 300; + + vec.push_back(t3); + + std::string s = ToJsonString(vec); + + std::cout << "s=" << s << std::endl; + + std::vector vec2; + FromJsonString(s, vec2); + + size_t i, size = vec2.size(); + for (i=0; i +#include +#include +#include +#include +#include +#include + +#include "wav.hpp" + +#define AUDIO_FILE_PATH "../example/r1/audio/test.wav" +#define AUDIO_SUBSCRIBE_TOPIC "rt/audio_msg" +#define GROUP_IP "239.168.123.161" +#define PORT 5555 + +#define WAV_SECOND 5 // record seconds +#define WAV_LEN (16000 * 2 * WAV_SECOND) +#define WAV_LEN_ONCE (16000 * 2 * 160 / 1000) +#define CHUNK_SIZE 96000 // 3 seconds +int sock; + +void asr_handler(const void *msg) { + std_msgs::msg::dds_::String_ *resMsg = (std_msgs::msg::dds_::String_ *)msg; + std::cout << "Topic:\"rt/audio_msg\" recv: " << resMsg->data() << std::endl; +} + +std::string get_local_ip_for_multicast() { + struct ifaddrs *ifaddr, *ifa; + char host[NI_MAXHOST]; + std::string result = ""; + + getifaddrs(&ifaddr); + for (ifa = ifaddr; ifa != nullptr; ifa = ifa->ifa_next) { + if (!ifa->ifa_addr || ifa->ifa_addr->sa_family != AF_INET) continue; + getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, + NULL, 0, NI_NUMERICHOST); + std::string ip(host); + if (ip.find("192.168.123.") == 0) { + result = ip; + break; + } + } + freeifaddrs(ifaddr); + return result; +} + +void thread_mic(void) { + sock = socket(AF_INET, SOCK_DGRAM, 0); + sockaddr_in local_addr{}; + local_addr.sin_family = AF_INET; + local_addr.sin_port = htons(PORT); + local_addr.sin_addr.s_addr = INADDR_ANY; + bind(sock, (sockaddr *)&local_addr, sizeof(local_addr)); + + ip_mreq mreq{}; + inet_pton(AF_INET, GROUP_IP, &mreq.imr_multiaddr); + std::string local_ip = get_local_ip_for_multicast(); + std::cout << "local ip: " << local_ip << std::endl; + mreq.imr_interface.s_addr = inet_addr(local_ip.c_str()); + setsockopt(sock, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq)); + + int total_bytes = 0; + std::vector pcm_data; + pcm_data.reserve(WAV_LEN / 2); + std::cout << "start record!" << std::endl; + while (total_bytes < WAV_LEN) { + char buffer[WAV_LEN_ONCE]; + ssize_t len = recvfrom(sock, buffer, sizeof(buffer), 0, nullptr, nullptr); + if (len > 0) { + size_t sample_count = len / 2; + const int16_t *samples = reinterpret_cast(buffer); + pcm_data.insert(pcm_data.end(), samples, samples + sample_count); + total_bytes += len; + } + } + + WriteWave("record.wav", 16000, pcm_data.data(), pcm_data.size(), 1); + std::cout << "record finish! save to record.wav " << std::endl; +} + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: audio_client_example [NetWorkInterface(eth0)]" + << std::endl; + exit(0); + } + int32_t ret; + /* + * Initilaize ChannelFactory + */ + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + unitree::robot::r1::AudioClient client; + client.Init(); + client.SetTimeout(10.0f); + + /*ASR message Example*/ + unitree::robot::ChannelSubscriber subscriber( + AUDIO_SUBSCRIBE_TOPIC); + subscriber.InitChannel(asr_handler); + + /*Volume Example*/ + uint8_t volume; + ret = client.GetVolume(volume); + std::cout << "GetVolume API ret:" << ret + << " volume = " << std::to_string(volume) << std::endl; + ret = client.SetVolume(100); + std::cout << "SetVolume to 100% , API ret:" << ret << std::endl; + + /*TTS Example*/ + ret = client.TtsMaker("你好。我是宇树科技的机器人。例程启动成功", + 0); // Auto play + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(5); + + ret = client.TtsMaker( + "Hello. I'm a robot from Unitree Robotics. The example has started " + "successfully. ", + 1); // Engilsh TTS + std::cout << "TtsMaker API ret:" << ret << std::endl; + unitree::common::Sleep(8); + + /*Audio Play Example*/ + int32_t sample_rate = -1; + int8_t num_channels = 0; + bool filestate = false; + std::vector pcm = + ReadWave(AUDIO_FILE_PATH, &sample_rate, &num_channels, &filestate); + + std::cout << "wav file sample_rate = " << sample_rate + << " num_channels = " << std::to_string(num_channels) + << " filestate =" << filestate << "filesize = " << pcm.size() + << std::endl; + + if (filestate && sample_rate == 16000 && num_channels == 1) { + size_t total_size = pcm.size(); + size_t offset = 0; + int chunk_index = 0; + std::string stream_id = + std::to_string(unitree::common::GetCurrentTimeMillisecond()); + + while (offset < total_size) { + size_t remaining = total_size - offset; + size_t current_chunk_size = + std::min(static_cast(CHUNK_SIZE), remaining); + std::vector chunk(pcm.begin() + offset, + pcm.begin() + offset + current_chunk_size); + client.PlayStream("example", stream_id, chunk); + unitree::common::Sleep(1); + std::cout << "Playing size: " << offset << std::endl; + offset += current_chunk_size; + } + + ret = client.PlayStop(stream_id); // stop playback after transmission ends + + } else { + std::cout << "audio file format error, please check!" << std::endl; + } + + /*LED Control Example*/ + client.LedControl(0, 255, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 0); + unitree::common::Sleep(1); + client.LedControl(0, 0, 255); + + std::cout << "AudioClient api test finish , asr start..." << std::endl; + + std::thread mic_t(thread_mic); + + while (1) { + sleep(1); // wait for asr message + } + mic_t.join(); + return 0; +} diff --git a/deps/unitree_sdk2/example/r1/audio/test.wav b/deps/unitree_sdk2/example/r1/audio/test.wav new file mode 100644 index 0000000000000000000000000000000000000000..d0bd0bbca59d5cf6abe4b4aad75bda31b5e381fc GIT binary patch literal 132246 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z$^Y0_6786WU?ZCJ5Vp;dF$~05mhQF;4M9`y6dTl9Y>tvUTAy@@o~YlL1C7dMk(j&{ zZAzNi8Vsj;y7^g}xACKmt#@%m%Dl=L`zB3{280)TrMt9ZQLCO3%Wd(SFl+G8n(caB zX>kU#apLP@Ibb|uydmg_FE#&I{+OgPdNU3aq(nb96H$n)i8v~6pPNNuez;a_kWVZQEiMhtw<|1xvI5^e~qU# z8`BsD3!`Xdk(5^1@xrzJ(=$X7mUkenYxE%4n%uDU>1y3$u#H|^LP{b;Vj zqn@ByiqkX~lN>QlOrDs`F!^qV!Z literal 0 HcmV?d00001 diff --git a/deps/unitree_sdk2/example/r1/audio/wav.hpp b/deps/unitree_sdk2/example/r1/audio/wav.hpp new file mode 100644 index 0000000..cadedb9 --- /dev/null +++ b/deps/unitree_sdk2/example/r1/audio/wav.hpp @@ -0,0 +1,232 @@ +#ifndef __UT_ROBOT_WAV_READER_HPP__ +#define __UT_ROBOT_WAV_READER_HPP__ + +struct WaveHeader { + void SeekToDataChunk(std::istream &is) { + while (is && subchunk2_id != 0x61746164) { + is.seekg(subchunk2_size, std::istream::cur); + is.read(reinterpret_cast(&subchunk2_id), sizeof(int32_t)); + is.read(reinterpret_cast(&subchunk2_size), sizeof(int32_t)); + } + } + + int32_t chunk_id; + int32_t chunk_size; + int32_t format; + int32_t subchunk1_id; + int32_t subchunk1_size; + int16_t audio_format; + int16_t num_channels; + int32_t sample_rate; + int32_t byte_rate; + int16_t block_align; + int16_t bits_per_sample; + int32_t subchunk2_id; // a tag of this chunk + int32_t subchunk2_size; // size of subchunk2 +}; + +static_assert(sizeof(WaveHeader) == 44); + +std::vector ReadWaveImpl(std::istream &is, int32_t *sampling_rate, + int8_t *channelCount, bool *is_ok) { + WaveHeader header{}; + is.read(reinterpret_cast(&header.chunk_id), sizeof(header.chunk_id)); + + // F F I R + if (header.chunk_id != 0x46464952) { + printf("Expected chunk_id RIFF. Given: 0x%08x\n", header.chunk_id); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.chunk_size), + sizeof(header.chunk_size)); + + is.read(reinterpret_cast(&header.format), sizeof(header.format)); + + // E V A W + if (header.format != 0x45564157) { + printf("Expected format WAVE. Given: 0x%08x\n", header.format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + + if (header.subchunk1_id == 0x4b4e554a) { + // skip junk padding + is.seekg(header.subchunk1_size, std::istream::cur); + + is.read(reinterpret_cast(&header.subchunk1_id), + sizeof(header.subchunk1_id)); + + is.read(reinterpret_cast(&header.subchunk1_size), + sizeof(header.subchunk1_size)); + } + + if (header.subchunk1_id != 0x20746d66) { + printf("Expected subchunk1_id 0x20746d66. Given: 0x%08x\n", + header.subchunk1_id); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size != 16 && + header.subchunk1_size != 18) { // 16 for PCM + printf("Expected subchunk1_size 16. Given: %d\n", header.subchunk1_size); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.audio_format), + sizeof(header.audio_format)); + + if (header.audio_format != 1) { // 1 for PCM + printf("Expected audio_format 1. Given: %d\n", header.audio_format); + *is_ok = false; + return {}; + } + + is.read(reinterpret_cast(&header.num_channels), + sizeof(header.num_channels)); + + *channelCount = (int8_t)header.num_channels; + + is.read(reinterpret_cast(&header.sample_rate), + sizeof(header.sample_rate)); + + is.read(reinterpret_cast(&header.byte_rate), + sizeof(header.byte_rate)); + + is.read(reinterpret_cast(&header.block_align), + sizeof(header.block_align)); + + is.read(reinterpret_cast(&header.bits_per_sample), + sizeof(header.bits_per_sample)); + + if (header.byte_rate != + (header.sample_rate * header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect byte rate: %d. Expected: %d", header.byte_rate, + (header.sample_rate * header.num_channels * header.bits_per_sample / + 8)); + *is_ok = false; + return {}; + } + + if (header.block_align != + (header.num_channels * header.bits_per_sample / 8)) { + printf("Incorrect block align: %d. Expected: %d\n", header.block_align, + (header.num_channels * header.bits_per_sample / 8)); + *is_ok = false; + return {}; + } + + if (header.bits_per_sample != 16) { // we support only 16 bits per sample + printf("Expected bits_per_sample 16. Given: %d\n", header.bits_per_sample); + *is_ok = false; + return {}; + } + + if (header.subchunk1_size == 18) { + int16_t extra_size = -1; + is.read(reinterpret_cast(&extra_size), sizeof(int16_t)); + if (extra_size != 0) { + printf( + "Extra size should be 0 for wave from NAudio. Current extra size " + "%d\n", + extra_size); + *is_ok = false; + return {}; + } + } + + is.read(reinterpret_cast(&header.subchunk2_id), + sizeof(header.subchunk2_id)); + + is.read(reinterpret_cast(&header.subchunk2_size), + sizeof(header.subchunk2_size)); + + header.SeekToDataChunk(is); + if (!is) { + *is_ok = false; + return {}; + } + + *sampling_rate = header.sample_rate; + + // header.subchunk2_size contains the number of bytes in the data. + // As we assume each sample contains two bytes, so it is divided by 2 here + std::vector samples(header.subchunk2_size / 2); + + is.read(reinterpret_cast(samples.data()), header.subchunk2_size); + if (!is) { + *is_ok = false; + return {}; + } + + std::vector ans(samples.size() * 2); + for (int32_t i = 0; i != static_cast(samples.size()); ++i) { + ans[i * 2] = samples[i] & 0xFF; + ans[i * 2 + 1] = (samples[i] >> 8) & 0xFF; + } + + *is_ok = true; + return ans; +} + +std::vector ReadWave(const std::string &filename, + int32_t *sampling_rate, int8_t *channelCount, + bool *is_ok) { + std::ifstream is(filename, std::ifstream::binary); + auto samples = ReadWaveImpl(is, sampling_rate, channelCount, is_ok); + return samples; +} + +bool WriteWave(const std::string &filename, int32_t sampling_rate, + const int16_t *samples, int32_t n, uint8_t num_channels) { + WaveHeader header{}; + header.chunk_id = 0x46464952; // FFIR + header.format = 0x45564157; // EVAW + header.subchunk1_id = 0x20746d66; // "fmt " + header.subchunk1_size = 16; // 16 for PCM + header.audio_format = 1; // PCM =1 + + int32_t bits_per_sample = 16; // int16_t + header.num_channels = num_channels; + header.sample_rate = sampling_rate; + header.byte_rate = sampling_rate * num_channels * bits_per_sample / 8; + header.block_align = num_channels * bits_per_sample / 8; + header.bits_per_sample = bits_per_sample; + header.subchunk2_id = 0x61746164; // atad + header.subchunk2_size = n * num_channels * bits_per_sample / 8; + + header.chunk_size = 36 + header.subchunk2_size; + + std::vector samples_int16(n * num_channels); + for (int32_t i = 0; i != n * num_channels; ++i) { + samples_int16[i] = samples[i]; + } + + std::ofstream os(filename, std::ios::binary); + if (!os) { + printf("Failed to create %s", filename.c_str()); + return false; + } + + os.write(reinterpret_cast(&header), sizeof(header)); + os.write(reinterpret_cast(samples_int16.data()), + samples_int16.size() * sizeof(int16_t)); + + if (!os) { + printf("Write %s failed", filename.c_str()); + return false; + } + + return true; +} + +#endif diff --git a/deps/unitree_sdk2/example/r1/high_level/r1_loco_client_example.cpp b/deps/unitree_sdk2/example/r1/high_level/r1_loco_client_example.cpp new file mode 100644 index 0000000..06fc6ad --- /dev/null +++ b/deps/unitree_sdk2/example/r1/high_level/r1_loco_client_example.cpp @@ -0,0 +1,169 @@ +#include +#include +#include + +#include "unitree/robot/r1/loco/r1_loco_api.hpp" +#include "unitree/robot/r1/loco/r1_loco_client.hpp" + +std::vector stringToFloatVector(const std::string &str) { + std::vector result; + std::stringstream ss(str); + float num; + while (ss >> num) { + result.push_back(num); + // ignore any trailing whitespace + ss.ignore(); + } + return result; +} + +int main(int argc, char const *argv[]) { + std::map args = {{"network_interface", "lo"}}; + + std::map values; + for (int i = 1; i < argc; ++i) { + std::string arg = argv[i]; + if (arg.substr(0, 2) == "--") { + size_t pos = arg.find("="); + std::string key, value; + if (pos != std::string::npos) { + key = arg.substr(2, pos - 2); + value = arg.substr(pos + 1); + + if (value.front() == '"' && value.back() == '"') { + value = value.substr(1, value.length() - 2); + } + } else { + key = arg.substr(2); + value = ""; + } + if (args.find(key) != args.end()) { + args[key] = value; + } else { + args.insert({{key, value}}); + } + } + } + std::string network_interface = args["network_interface"]; + unitree::robot::ChannelFactory::Instance()->Init(0, network_interface); + + unitree::robot::r1::LocoClient client; + + client.Init(); + client.SetTimeout(10.f); + + for (const auto &arg_pair : args) { + std::cout << "Processing command: [" << arg_pair.first << "] with param: [" << arg_pair.second << "] ..." + << std::endl; + if (arg_pair.first == "network_interface") { + continue; + } + + if (arg_pair.first == "get_fsm_id") { + int fsm_id; + client.GetFsmId(fsm_id); + std::cout << "current fsm_id: " << fsm_id << std::endl; + } + + if (arg_pair.first == "get_fsm_mode") { + int fsm_mode; + client.GetFsmMode(fsm_mode); + std::cout << "current fsm_mode: " << fsm_mode << std::endl; + } + + if (arg_pair.first == "set_fsm_id") { + int fsm_id = std::stoi(arg_pair.second); + client.SetFsmId(fsm_id); + std::cout << "set fsm_id to " << fsm_id << std::endl; + } + + if (arg_pair.first == "set_velocity") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega, duration; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = 1.f; + } else if (param_size == 4) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + duration = param.at(3); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + + client.SetVelocity(vx, vy, omega, duration); + std::cout << "set velocity to " << arg_pair.second << std::endl; + } + + if (arg_pair.first == "damp") { + client.Damp(); + } + + if (arg_pair.first == "start") { + client.Start(); + } + + // if (arg_pair.first == "squat") { + // client.Squat(); + // } + + // if (arg_pair.first == "sit") { + // client.Sit(); + // } + + if (arg_pair.first == "stand_up") { + client.StandUp(); + } + + if (arg_pair.first == "zero_torque") { + client.ZeroTorque(); + } + + if (arg_pair.first == "stop_move") { + client.StopMove(); + } + + if (arg_pair.first == "switch_move_mode") { + bool flag; + if (arg_pair.second == "true") { + flag = true; + } else if (arg_pair.second == "false") { + flag = false; + } else { + std::cerr << "invalid argument: " << arg_pair.second << std::endl; + return 1; + } + client.SwitchMoveMode(flag); + } + + if (arg_pair.first == "move") { + std::vector param = stringToFloatVector(arg_pair.second); + auto param_size = param.size(); + float vx, vy, omega; + if (param_size == 3) { + vx = param.at(0); + vy = param.at(1); + omega = param.at(2); + } else { + std::cerr << "Invalid param size for method SetVelocity: " << param_size << std::endl; + return 1; + } + client.Move(vx, vy, omega); + } + + if (arg_pair.first == "set_speed_mode") { + int param = std::stoi(arg_pair.second); + client.SetSpeedMode(param); + std::cout << "set speed mode to " << arg_pair.second << std::endl; + } + + std::cout << "Done!" << std::endl; + } + + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/r1/low_level/gamepad.hpp b/deps/unitree_sdk2/example/r1/low_level/gamepad.hpp new file mode 100644 index 0000000..41910b7 --- /dev/null +++ b/deps/unitree_sdk2/example/r1/low_level/gamepad.hpp @@ -0,0 +1,128 @@ +#pragma once + +#include + +namespace unitree::common +{ + + // bytecode mapping for raw joystick data + // 16b + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // 40 Byte (now used 24B) + typedef struct + { + uint8_t head[2]; + xKeySwitchUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; + + uint8_t idle[16]; + } xRockerBtnDataStruct; + + typedef union + { + xRockerBtnDataStruct RF_RX; + uint8_t buff[40]; + } REMOTE_DATA_RX; + + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + class Gamepad + { + public: + Gamepad() {} + + void update(xRockerBtnDataStruct &key_data) + { + lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth; + l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth; + + R1.update(key_data.btn.components.R1); + L1.update(key_data.btn.components.L1); + start.update(key_data.btn.components.start); + select.update(key_data.btn.components.select); + R2.update(key_data.btn.components.R2); + L2.update(key_data.btn.components.L2); + F1.update(key_data.btn.components.F1); + F2.update(key_data.btn.components.F2); + A.update(key_data.btn.components.A); + B.update(key_data.btn.components.B); + X.update(key_data.btn.components.X); + Y.update(key_data.btn.components.Y); + up.update(key_data.btn.components.up); + right.update(key_data.btn.components.right); + down.update(key_data.btn.components.down); + left.update(key_data.btn.components.left); + } + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float l2 = 0.; + float ly = 0.; + + float smooth = 0.03; + float dead_zone = 0.01; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/r1/low_level/r1_ankle_swing_example.cpp b/deps/unitree_sdk2/example/r1/low_level/r1_ankle_swing_example.cpp new file mode 100644 index 0000000..8430987 --- /dev/null +++ b/deps/unitree_sdk2/example/r1/low_level/r1_ankle_swing_example.cpp @@ -0,0 +1,378 @@ +#include +#include +#include +#include + +#include "gamepad.hpp" + +// DDS +#include +#include + +// IDL +#include +#include +#include +#include + +static const std::string HG_CMD_TOPIC = "rt/lowcmd"; +static const std::string HG_IMU_TORSO = "rt/secondary_imu"; +static const std::string HG_STATE_TOPIC = "rt/lowstate"; + +using namespace unitree::common; +using namespace unitree::robot; +using namespace unitree_hg::msg::dds_; + +template +class DataBuffer { + public: + void SetData(const T &newData) { + std::unique_lock lock(mutex); + data = std::make_shared(newData); + } + + std::shared_ptr GetData() { + std::shared_lock lock(mutex); + return data ? data : nullptr; + } + + void Clear() { + std::unique_lock lock(mutex); + data = nullptr; + } + + private: + std::shared_ptr data; + std::shared_mutex mutex; +}; + +const int R1_NUM_MOTOR = 26; +struct ImuState { + std::array rpy = {}; + std::array omega = {}; +}; +struct MotorCommand { + std::array q_target = {}; + std::array dq_target = {}; + std::array kp = {}; + std::array kd = {}; + std::array tau_ff = {}; +}; +struct MotorState { + std::array q = {}; + std::array dq = {}; +}; + +// Stiffness for all R1 Joints +std::array Kp{ + 200, 200, 200, 200, 200, 200, // legs + 200, 200, 200, 200, 200, 200, // legs + 300, 300, // waist + 100, 100, 100, 100, 50, // arms + 100, 100, 100, 100, 50, // arms + 50, 10 // head +}; + +// Damping for all R1 Joints +std::array Kd{ + 3, 3, 3, 3, 3, 3, // legs + 3, 3, 3, 3, 3, 3, // legs + 5, 5, // waist + 2, 2, 2, 2, 2, // arms + 2, 2, 2, 2, 2, // arms + 2, 0.1 // head +}; + +std::array joint_idx_in_idl{ + 0, 1, 2, 3, 4, 5, + 6, 7, 8, 9, 10, 11, + 12, 13, + 15, 16, 17, 18, 19, + 22, 23, 24, 25, 26, + 29, 30 +}; + +enum class Mode { + PR = 0, // Series Control for Ptich/Roll Joints + AB = 1 // Parallel Control for A/B Joints +}; + +enum R1JointIndex { + LeftHipPitch = 0, + LeftHipRoll = 1, + LeftHipYaw = 2, + LeftKnee = 3, + LeftAnklePitch = 4, + LeftAnkleB = 4, + LeftAnkleRoll = 5, + LeftAnkleA = 5, + RightHipPitch = 6, + RightHipRoll = 7, + RightHipYaw = 8, + RightKnee = 9, + RightAnklePitch = 10, + RightAnkleB = 10, + RightAnkleRoll = 11, + RightAnkleA = 11, + WaistRoll = 12, + WaistYaw = 13, + LeftShoulderPitch = 14, + LeftShoulderRoll = 15, + LeftShoulderYaw = 16, + LeftElbow = 17, + LeftWristRoll = 18, + RightShoulderPitch = 19, + RightShoulderRoll = 20, + RightShoulderYaw = 21, + RightElbow = 22, + RightWristRoll = 23, + HEAD_PITCH = 24, + HEAD_YAW = 25, +}; + + +inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) { + if (CRC32 & 0x80000000) { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } else + CRC32 <<= 1; + if (data & xbit) CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +}; + +class R1Example { + private: + double time_; + double control_dt_; // [2ms] + double duration_; // [3 s] + int counter_; + Mode mode_pr_; + uint8_t mode_machine_; + + Gamepad gamepad_; + REMOTE_DATA_RX rx_; + + DataBuffer motor_state_buffer_; + DataBuffer motor_command_buffer_; + DataBuffer imu_state_buffer_; + + ChannelPublisherPtr lowcmd_publisher_; + ChannelSubscriberPtr lowstate_subscriber_; + ChannelSubscriberPtr imutorso_subscriber_; + ThreadPtr command_writer_ptr_, control_thread_ptr_; + + std::shared_ptr msc_; + + public: + R1Example(std::string networkInterface) + : time_(0.0), + control_dt_(0.002), + duration_(3.0), + counter_(0), + mode_pr_(Mode::PR), + mode_machine_(0) { + ChannelFactory::Instance()->Init(0, networkInterface); + + // try to shutdown motion control-related service + msc_ = std::make_shared(); + msc_->SetTimeout(5.0f); + msc_->Init(); + std::string form, name; + while (msc_->CheckMode(form, name), !name.empty()) { + if (msc_->ReleaseMode()) + std::cout << "Failed to switch to Release Mode\n"; + sleep(5); + } + + // create publisher + lowcmd_publisher_.reset(new ChannelPublisher(HG_CMD_TOPIC)); + lowcmd_publisher_->InitChannel(); + // create subscriber + lowstate_subscriber_.reset(new ChannelSubscriber(HG_STATE_TOPIC)); + lowstate_subscriber_->InitChannel(std::bind(&R1Example::LowStateHandler, this, std::placeholders::_1), 1); + imutorso_subscriber_.reset(new ChannelSubscriber(HG_IMU_TORSO)); + imutorso_subscriber_->InitChannel(std::bind(&R1Example::imuTorsoHandler, this, std::placeholders::_1), 1); + // create threads + command_writer_ptr_ = CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &R1Example::LowCommandWriter, this); + control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &R1Example::Control, this); + } + + void imuTorsoHandler(const void *message) { + IMUState_ imu_torso = *(const IMUState_ *)message; + auto &rpy = imu_torso.rpy(); + if (counter_ % 500 == 0) + printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + } + + void LowStateHandler(const void *message) { + LowState_ low_state = *(const LowState_ *)message; + if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) { + std::cout << "[ERROR] CRC Error" << std::endl; + return; + } + + // get motor state + MotorState ms_tmp; + for (int i = 0; i < R1_NUM_MOTOR; ++i) { + ms_tmp.q.at(i) = low_state.motor_state()[joint_idx_in_idl[i]].q(); + ms_tmp.dq.at(i) = low_state.motor_state()[joint_idx_in_idl[i]].dq(); + if (low_state.motor_state()[joint_idx_in_idl[i]].motorstate() && joint_idx_in_idl[i] <= RightAnkleRoll) + std::cout << "[ERROR] motor " << joint_idx_in_idl[i] << " with code " << low_state.motor_state()[joint_idx_in_idl[i]].motorstate() << "\n"; + } + motor_state_buffer_.SetData(ms_tmp); + + // get imu state + ImuState imu_tmp; + imu_tmp.omega = low_state.imu_state().gyroscope(); + imu_tmp.rpy = low_state.imu_state().rpy(); + imu_state_buffer_.SetData(imu_tmp); + + // update gamepad + memcpy(rx_.buff, &low_state.wireless_remote()[0], 40); + gamepad_.update(rx_.RF_RX); + + // update mode machine + if (mode_machine_ != low_state.mode_machine()) { + if (mode_machine_ == 0) std::cout << "R1 type: " << unsigned(low_state.mode_machine()) << std::endl; + mode_machine_ = low_state.mode_machine(); + } + + // report robot status every second + if (++counter_ % 500 == 0) { + counter_ = 0; + // IMU + auto &rpy = low_state.imu_state().rpy(); + printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]); + + // RC + printf("gamepad_.A.pressed: %d\n", static_cast(gamepad_.A.pressed)); + printf("gamepad_.B.pressed: %d\n", static_cast(gamepad_.B.pressed)); + printf("gamepad_.X.pressed: %d\n", static_cast(gamepad_.X.pressed)); + printf("gamepad_.Y.pressed: %d\n", static_cast(gamepad_.Y.pressed)); + + // Motor + auto &ms = low_state.motor_state(); + printf("All %d Motors:", R1_NUM_MOTOR); + printf("\nmode: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].mode()); + printf("\npos: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].q()); + printf("\nvel: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].dq()); + printf("\ntau_est: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].tau_est()); + printf("\ntemperature: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%d,%d;", ms[joint_idx_in_idl[i]].temperature()[0], ms[joint_idx_in_idl[i]].temperature()[1]); + printf("\nvol: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%.2f,", ms[joint_idx_in_idl[i]].vol()); + printf("\nsensor: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,%u;", ms[joint_idx_in_idl[i]].sensor()[0], ms[joint_idx_in_idl[i]].sensor()[1]); + printf("\nmotorstate: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,", ms[joint_idx_in_idl[i]].motorstate()); + printf("\nreserve: "); + for (int i = 0; i < R1_NUM_MOTOR; ++i) printf("%u,%u,%u,%u;", ms[joint_idx_in_idl[i]].reserve()[0], ms[joint_idx_in_idl[i]].reserve()[1], ms[joint_idx_in_idl[i]].reserve()[2], ms[joint_idx_in_idl[i]].reserve()[3]); + printf("\n"); + } + } + + void LowCommandWriter() { + LowCmd_ dds_low_command; + dds_low_command.mode_pr() = static_cast(mode_pr_); + dds_low_command.mode_machine() = mode_machine_; + + const std::shared_ptr mc = motor_command_buffer_.GetData(); + if (mc) { + for (size_t i = 0; i < R1_NUM_MOTOR; i++) { + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).mode() = 1; // 1:Enable, 0:Disable + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).tau() = mc->tau_ff.at(i); + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).q() = mc->q_target.at(i); + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).dq() = mc->dq_target.at(i); + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).kp() = mc->kp.at(i); + dds_low_command.motor_cmd().at(joint_idx_in_idl[i]).kd() = mc->kd.at(i); + } + + dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1); + lowcmd_publisher_->Write(dds_low_command); + } + } + + void Control() { + MotorCommand motor_command_tmp; + const std::shared_ptr ms = motor_state_buffer_.GetData(); + + for (int i = 0; i < R1_NUM_MOTOR; ++i) { + motor_command_tmp.tau_ff.at(i) = 0.0; + motor_command_tmp.q_target.at(i) = 0.0; + motor_command_tmp.dq_target.at(i) = 0.0; + motor_command_tmp.kp.at(i) = Kp[i]; + motor_command_tmp.kd.at(i) = Kd[i]; + } + + if (ms) { + time_ += control_dt_; + if (time_ < duration_) { + // [Stage 1]: set robot to zero posture + for (int i = 0; i < R1_NUM_MOTOR; ++i) { + double ratio = std::clamp(time_ / duration_, 0.0, 1.0); + motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i); + } + } else if (time_ < duration_ * 2) { + // [Stage 2]: swing ankle using PR mode + mode_pr_ = Mode::PR; + double max_P = M_PI * 30.0 / 180.0; + double max_R = M_PI * 30.0 / 180.0; + double t = time_ - duration_; + double L_P_des = max_P * std::sin(2.0 * M_PI * t); + double L_R_des = max_R * std::sin(2.0 * M_PI * t); + double R_P_des = max_P * std::sin(2.0 * M_PI * t); + double R_R_des = -max_R * std::sin(2.0 * M_PI * t); + + motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des; + motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des; + motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des; + motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des; + } else { + // [Stage 3]: swing ankle using AB mode + mode_pr_ = Mode::AB; + double max_A = M_PI * 30.0 / 180.0; + double max_B = M_PI * 10.0 / 180.0; + double t = time_ - duration_ * 2; + double L_A_des = +max_A * std::sin(M_PI * t); + double L_B_des = +max_B * std::sin(M_PI * t + M_PI); + double R_A_des = -max_A * std::sin(M_PI * t); + double R_B_des = -max_B * std::sin(M_PI * t + M_PI); + + motor_command_tmp.q_target.at(LeftAnkleA) = L_A_des; + motor_command_tmp.q_target.at(LeftAnkleB) = L_B_des; + motor_command_tmp.q_target.at(RightAnkleA) = R_A_des; + motor_command_tmp.q_target.at(RightAnkleB) = R_B_des; + } + + motor_command_buffer_.SetData(motor_command_tmp); + } + } +}; + +int main(int argc, char const *argv[]) { + if (argc < 2) { + std::cout << "Usage: r1_ankle_swing_example network_interface" << std::endl; + exit(0); + } + std::string networkInterface = argv[1]; + R1Example custom(networkInterface); + while (true) sleep(10); + return 0; +} diff --git a/deps/unitree_sdk2/example/state_machine/CMakeLists.txt b/deps/unitree_sdk2/example/state_machine/CMakeLists.txt new file mode 100644 index 0000000..5d75c6d --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable(state_machine_example main.cpp) +target_link_libraries(state_machine_example unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/cfg.hpp b/deps/unitree_sdk2/example/state_machine/cfg.hpp new file mode 100644 index 0000000..d66520f --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/cfg.hpp @@ -0,0 +1,36 @@ +#include "unitree/common/json/jsonize.hpp" +#include +#include + +namespace unitree::common +{ + class ExampleCfg : public Jsonize + { + public: + ExampleCfg() : kp(0), kd(0), dt(0) + { + } + + void fromJson(JsonMap &json) + { + FromJson(json["kp"], kp); + FromJson(json["kd"], kd); + FromJson(json["dt"], dt); + FromAny(json["init_pos"], init_pos); + } + + void toJson(JsonMap &json) const + { + ToJson(kp, json["kp"]); + ToJson(kd, json["kd"]); + ToJson(dt, json["dt"]); + ToAny(init_pos, json["init_pos"]); + } + + float kp; + float kd; + float dt; + + std::vector init_pos; + }; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/comm.h b/deps/unitree_sdk2/example/state_machine/comm.h new file mode 100644 index 0000000..20fc287 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/comm.h @@ -0,0 +1,233 @@ +/***************************************************************** + Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved. +******************************************************************/ + +#ifndef _UNITREE_LEGGED_COMM_H_ +#define _UNITREE_LEGGED_COMM_H_ + +#include +#include + +namespace UNITREE_LEGGED_SDK +{ + + constexpr int HIGHLEVEL = 0xee; + constexpr int LOWLEVEL = 0xff; + constexpr int TRIGERLEVEL = 0xf0; + constexpr double PosStopF = (2.146E+9f); + constexpr double VelStopF = (16000.0f); + extern const int HIGH_CMD_LENGTH; // sizeof(HighCmd) + extern const int HIGH_STATE_LENGTH; // sizeof(HighState) + extern const int LOW_CMD_LENGTH; // shorter than sizeof(LowCmd), bytes compressed LowCmd length + extern const int LOW_STATE_LENGTH; // shorter than sizeof(LowState), bytes compressed LowState length + +#pragma pack(1) + + typedef struct + { + uint8_t off; // off 0xA5 + std::array reserve; + } BmsCmd; + + typedef struct + { + uint8_t version_h; + uint8_t version_l; + uint8_t bms_status; + uint8_t SOC; // SOC 0-100% + int32_t current; // mA + uint16_t cycle; + std::array BQ_NTC; // x1 degrees centigrade + std::array MCU_NTC; // x1 degrees centigrade + std::array cell_vol; // cell voltage mV + // std::array BQ_NTC; // x1 degrees centigrade + // std::array MCU_NTC; // x1 degrees centigrade + // std::array cell_vol; // cell voltage mV + } BmsState; + + typedef struct + { + float x; + float y; + float z; + } Cartesian; + + typedef struct + { + std::array quaternion; // quaternion, normalized, (w,x,y,z) + std::array gyroscope; // angular velocity （unit: rad/s) (raw data) + std::array accelerometer; // m/(s2) (raw data) + std::array rpy; // euler angle（unit: rad) + int8_t temperature; + } IMU; // when under accelerated motion, the attitude of the robot calculated by IMU will drift. + + typedef struct + { + uint8_t r; + uint8_t g; + uint8_t b; + } LED; // foot led brightness: 0~255 + + typedef struct + { + uint8_t mode; // motor working mode + float q; // current angle (unit: radian) + float dq; // current velocity (unit: radian/second) + float ddq; // current acc (unit: radian/second*second) + float tauEst; // current estimated output torque (unit: N.m) + float q_raw; // current angle (unit: radian) + float dq_raw; // current velocity (unit: radian/second) + float ddq_raw; + int8_t temperature; // current temperature (temperature conduction is slow that leads to lag) + uint32_t lost; + std::array reserve; + } MotorState; // motor feedback + + typedef struct + { + uint8_t mode; // desired working mode + float q; // desired angle (unit: radian) + float dq; // desired velocity (unit: radian/second) + float tau; // desired output torque (unit: N.m) + float Kp; // desired position stiffness (unit: N.m/rad ) + float Kd; // desired velocity stiffness (unit: N.m/(rad/s) ) + std::array reserve; + } MotorCmd; // motor control + + typedef struct + { + std::array head; + uint8_t levelFlag; + uint8_t frameReserve; + + std::array SN; + std::array version; + uint16_t bandWidth; + IMU imu; + std::array motorState; + BmsState bms; + std::array footForce; // force sensors + std::array footForceEst; // force sensors + uint32_t tick; // reference real-time from motion controller (unit: us) + std::array wirelessRemote; // wireless commands + uint8_t bitFlag; + float adcReel; // add for Go2 + int8_t temperatureNTC1; // add for Go2 + int8_t temperatureNTC2; // add for Go2 + float powerV; + float powerA; + std::array fanFrequency; // add for Go2 + uint32_t reserve; + + uint32_t crc; + } LowState; // low level feedback + + typedef struct + { + std::array head; + uint8_t levelFlag; + uint8_t frameReserve; + + std::array SN; + std::array version; + uint16_t bandWidth; + std::array motorCmd; + BmsCmd bms; + std::array wirelessRemote; + std::array led; + std::array fan; + uint8_t gpio; + uint32_t reserve; + + uint32_t crc; + } LowCmd; // low level control + + + typedef struct + { + std::array head; + uint8_t levelFlag; + uint8_t frameReserve; + + std::array SN; + std::array version; + uint16_t bandWidth; + IMU imu; + std::array motorState; + BmsState bms; + std::array footForce; + std::array footForceEst; + uint8_t mode; + float progress; + uint8_t gaitType; // 0.idle 1.trot 2.trot running 3.climb stair 4.trot obstacle + float footRaiseHeight; // (unit: m, default: 0.08m), foot up height while walking + std::array position; // (unit: m), from own odometry in inertial frame, usually drift + float bodyHeight; // (unit: m, default: 0.28m), + std::array velocity; // (unit: m/s), forwardSpeed, sideSpeed, rotateSpeed in body frame + float yawSpeed; // (unit: rad/s), rotateSpeed in body frame + std::array rangeObstacle; + std::array footPosition2Body; // foot position relative to body + std::array footSpeed2Body; // foot speed relative to body + std::array wirelessRemote; + uint32_t reserve; + + uint32_t crc; + } HighState; // high level feedback + + typedef struct + { + std::array head; + uint8_t levelFlag; + uint8_t frameReserve; + + std::array SN; + std::array version; + uint16_t bandWidth; + uint8_t mode; // 0. idle, default stand 1. force stand (controlled by dBodyHeight + ypr) + // 2. target velocity walking (controlled by velocity + yawSpeed) + // 3. target position walking (controlled by position + ypr[0]) + // 4. path mode walking (reserve for future release) + // 5. position stand down. + // 6. position stand up + // 7. damping mode + // 8. recovery stand + // 9. backflip + // 10. jumpYaw + // 11. straightHand + // 12. dance1 + // 13. dance2 + + uint8_t gaitType; // 0.idle 1.trot 2.trot running 3.climb stair 4.trot obstacle + uint8_t speedLevel; // 0. default low speed. 1. medium speed 2. high speed. during walking, only respond MODE 3 + float footRaiseHeight; // (unit: m, default: 0.08m), foot up height while walking, delta value + float bodyHeight; // (unit: m, default: 0.28m), delta value + std::array position; // (unit: m), desired position in inertial frame + std::array euler; // (unit: rad), roll pitch yaw in stand mode + std::array velocity; // (unit: m/s), forwardSpeed, sideSpeed in body frame + float yawSpeed; // (unit: rad/s), rotateSpeed in body frame + std::array dComXy; + std::array dstandFootXy; + BmsCmd bms; + std::array led; + std::array wirelessRemote; + uint32_t reserve; + + uint32_t crc; + } HighCmd; // high level control + +#pragma pack() + + typedef struct + { + unsigned long long TotalCount; // total loop count + unsigned long long SendCount; // total send count + unsigned long long RecvCount; // total receive count + unsigned long long SendError; // total send error + unsigned long long FlagError; // total flag error + unsigned long long RecvCRCError; // total reveive CRC error + unsigned long long RecvLoseError; // total lose package count + } UDPState; // UDP communication state + +} + +#endif diff --git a/deps/unitree_sdk2/example/state_machine/conversion.hpp b/deps/unitree_sdk2/example/state_machine/conversion.hpp new file mode 100644 index 0000000..29ba842 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/conversion.hpp @@ -0,0 +1,89 @@ +#pragma once + +#include + +#include "comm.h" +#include "unitree/idl/go2/LowCmd_.hpp" + +namespace unitree::common +{ + + void motorCmd2Dds(UNITREE_LEGGED_SDK::MotorCmd *raw, std::array &dds) + { + for (int i = 0; i < 20; i++) + { + dds[i].mode(raw[i].mode); + dds[i].q(raw[i].q); + dds[i].dq(raw[i].dq); + dds[i].tau(raw[i].tau); + dds[i].kp(raw[i].Kp); + dds[i].kd(raw[i].Kd); + + memcpy(&dds[i].reserve()[0], &raw[i].reserve[0], 12); + } + }; + + void bmsCmd2Dds(UNITREE_LEGGED_SDK::BmsCmd &raw, unitree_go::msg::dds_::BmsCmd_ &dds) + { + dds.off(raw.off); + + memcpy(&dds.reserve()[0], &raw.reserve[0], 3); + }; + + uint32_t crc32_core(uint32_t *ptr, uint32_t len) + { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + CRC32 <<= 1; + if (data & xbit) + CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; + }; + + void lowCmd2Dds(UNITREE_LEGGED_SDK::LowCmd &raw, unitree_go::msg::dds_::LowCmd_ &dds) + { + // with crc + memcpy(&dds.head()[0], &raw.head[0], 2); + + dds.level_flag(raw.levelFlag); + dds.frame_reserve(raw.frameReserve); + + memcpy(&dds.sn()[0], &raw.SN[0], 8); + memcpy(&dds.version()[0], &raw.version[0], 8); + + dds.bandwidth(raw.bandWidth); + + motorCmd2Dds(&raw.motorCmd[0], dds.motor_cmd()); + bmsCmd2Dds(raw.bms, dds.bms_cmd()); + + memcpy(&dds.wireless_remote()[0], &raw.wirelessRemote[0], 40); + + memcpy(&dds.led()[0], &raw.led[0], 12); // go2 + memcpy(&dds.fan()[0], &raw.fan[0], 2); + dds.gpio(raw.gpio); // go2 + + dds.reserve(raw.reserve); + + raw.crc = crc32_core((uint32_t *)&raw, (sizeof(raw) >> 2) - 1); + + dds.crc(raw.crc); + }; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/gamepad.hpp b/deps/unitree_sdk2/example/state_machine/gamepad.hpp new file mode 100644 index 0000000..41910b7 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/gamepad.hpp @@ -0,0 +1,128 @@ +#pragma once + +#include + +namespace unitree::common +{ + + // bytecode mapping for raw joystick data + // 16b + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // 40 Byte (now used 24B) + typedef struct + { + uint8_t head[2]; + xKeySwitchUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; + + uint8_t idle[16]; + } xRockerBtnDataStruct; + + typedef union + { + xRockerBtnDataStruct RF_RX; + uint8_t buff[40]; + } REMOTE_DATA_RX; + + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + class Gamepad + { + public: + Gamepad() {} + + void update(xRockerBtnDataStruct &key_data) + { + lx = lx * (1 - smooth) + (std::fabs(key_data.lx) < dead_zone ? 0.0 : key_data.lx) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_data.rx) < dead_zone ? 0.0 : key_data.rx) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_data.ry) < dead_zone ? 0.0 : key_data.ry) * smooth; + l2 = l2 * (1 - smooth) + (std::fabs(key_data.L2) < dead_zone ? 0.0 : key_data.L2) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_data.ly) < dead_zone ? 0.0 : key_data.ly) * smooth; + + R1.update(key_data.btn.components.R1); + L1.update(key_data.btn.components.L1); + start.update(key_data.btn.components.start); + select.update(key_data.btn.components.select); + R2.update(key_data.btn.components.R2); + L2.update(key_data.btn.components.L2); + F1.update(key_data.btn.components.F1); + F2.update(key_data.btn.components.F2); + A.update(key_data.btn.components.A); + B.update(key_data.btn.components.B); + X.update(key_data.btn.components.X); + Y.update(key_data.btn.components.Y); + up.update(key_data.btn.components.up); + right.update(key_data.btn.components.right); + down.update(key_data.btn.components.down); + left.update(key_data.btn.components.left); + } + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float l2 = 0.; + float ly = 0.; + + float smooth = 0.03; + float dead_zone = 0.01; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/main.cpp b/deps/unitree_sdk2/example/state_machine/main.cpp new file mode 100644 index 0000000..1d1a823 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/main.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "robot_controller.hpp" +#include "user_controller.hpp" +#include "robot_interface.hpp" + +using namespace unitree::common; +using namespace unitree::robot; + +namespace fs = std::filesystem; + +int main(int argc, char const *argv[]) +{ + std::string param_folder; + + // parse command line params + for (int i = 1; i < argc; ++i) + { + std::string arg = argv[i]; + + if (arg == "--param" && i + 1 < argc) + { + param_folder = argv[i + 1]; + } + } + fs::path param = fs::current_path() / param_folder; + + // log + auto now = std::chrono::system_clock::now(); + auto time = std::chrono::system_clock::to_time_t(now); + std::stringstream ss; + ss << std::put_time(std::localtime(&time), "%Y_%m_%d_%H_%M_%S"); + + fs::path log_folder = fs::current_path() / "logs" / ss.str(); + fs::create_directories(log_folder); + + std::ofstream cfg_file(log_folder / "cfg.txt"); + cfg_file << "param_folder: " << param << std::endl; + cfg_file.close(); + + fs::path log_file_name = log_folder / "log.txt"; + + RobotController robot_controller(log_file_name); + robot_controller.LoadParam(param); + + robot_controller.InitDdsModel(); + + robot_controller.StartControl(); + + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/params/params.json b/deps/unitree_sdk2/example/state_machine/params/params.json new file mode 100644 index 0000000..5afb30f --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/params/params.json @@ -0,0 +1,19 @@ +{ + "dt": 0.01, + "kp": 40.0, + "kd": 1.0, + "init_pos": [ + 0.0, + 0.9, + -1.8, + 0.0, + 0.9, + -1.8, + 0.0, + 0.9, + -1.8, + 0.0, + 0.9, + -1.8 + ] +} \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/robot_controller.hpp b/deps/unitree_sdk2/example/state_machine/robot_controller.hpp new file mode 100644 index 0000000..47983b1 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/robot_controller.hpp @@ -0,0 +1,318 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "unitree/idl/go2/LowState_.hpp" +#include "unitree/idl/go2/LowCmd_.hpp" +#include "unitree/common/thread/thread.hpp" + +#include "unitree/robot/channel/channel_publisher.hpp" +#include "unitree/robot/channel/channel_subscriber.hpp" +#include "unitree/common/time/time_tool.hpp" + +#include "state_machine.hpp" +#include "gamepad.hpp" +#include "robot_interface.hpp" + +using namespace unitree::common; +using namespace unitree::robot; +namespace fs = std::filesystem; + +#define TOPIC_LOWCMD "rt/lowcmd" +#define TOPIC_LOWSTATE "rt/lowstate" + +template +class RobotController +{ +public: + RobotController() {} + + RobotController(fs::path &log_file_name) + { + // set log file + log_file = std::ofstream(log_file_name, std::ios::binary); + } + + void LoadParam(fs::path ¶m_folder) + { + ctrl.LoadParam(param_folder); + } + + void InitDdsModel(const std::string &networkInterface = "") + { + // init dds + ChannelFactory::Instance()->Init(0, networkInterface); + lowcmd_publisher.reset(new ChannelPublisher(TOPIC_LOWCMD)); + lowstate_subscriber.reset(new ChannelSubscriber(TOPIC_LOWSTATE)); + + lowcmd_publisher->InitChannel(); + lowstate_subscriber->InitChannel(std::bind(&RobotController::LowStateMessageHandler, this, std::placeholders::_1), 1); + } + + void StartControl() + { + // waiting for gamepad command to start the control thread + std::chrono::milliseconds duration(100); + // listen to gamepad command + while (true) + { + std::cout << "Press R2 to start!" << std::endl; + std::this_thread::sleep_for(duration); + + InteprateGamePad(); + if (gamepad.R2.on_press) + { + break; + } + } + + // prepare for start + std::cout << "Start!" << std::endl; + Damping(); + ctrl_dt_micro_sec = static_cast(ctrl.dt * 1000000); + + // Start the control thread + control_thread_ptr = CreateRecurrentThreadEx("ctrl", UT_CPU_ID_NONE, ctrl_dt_micro_sec, &RobotController::ControlStep, this); + + // Start the lowlevel command thread + std::this_thread::sleep_for(duration); + StartSendCmd(); + + // keep the main thread alive + while (true) + { + std::this_thread::sleep_for(duration); + } + } + +protected: + ChannelPublisherPtr lowcmd_publisher; + ChannelSubscriberPtr lowstate_subscriber; + ThreadPtr low_cmd_write_thread_ptr, control_thread_ptr; + unitree_go::msg::dds_::LowCmd_ cmd; + unitree_go::msg::dds_::LowState_ state; + + Gamepad gamepad; + REMOTE_DATA_RX rx; + + SimpleStateMachine state_machine; + USER_CTRL ctrl; + RobotInterface robot_interface; + + std::mutex state_mutex, cmd_mutex; + + std::ofstream log_file; + + uint64_t ctrl_dt_micro_sec = 2000; + + std::vector compute_time; + +private: + + void LowStateMessageHandler(const void *message) + { + state = *(unitree_go::msg::dds_::LowState_ *)message; + { + std::lock_guard lock(state_mutex); + robot_interface.GetState(state); + } + } + + void InteprateGamePad() + { + // update gamepad + memcpy(rx.buff, &state.wireless_remote()[0], 40); + gamepad.update(rx.RF_RX); + } + + void LowCmdwriteHandler() + { + // write low-level command + { + std::lock_guard lock(cmd_mutex); + lowcmd_publisher->Write(cmd); + } + } + + void StartSendCmd() + { + low_cmd_write_thread_ptr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &RobotController::LowCmdwriteHandler, this); + } + + void UpdateStateMachine() + { + // R2 -> Stand + // A -> Ctrl + // L2 + B -> Stop + if (gamepad.R2.on_press) + { + if (state_machine.Stand()) + { + StandCallback(); + } + } + if (gamepad.A.on_press) + { + if (state_machine.Ctrl()) + { + CtrlCallback(); + } + } + if (gamepad.L2.pressed && gamepad.B.pressed) + { + state_machine.Stop(); + } + } + + void ControlStep() + { + // main loop + + // update state + InteprateGamePad(); + UpdateStateMachine(); + + // select control modes according to the state machine + auto start = std::chrono::high_resolution_clock::now(); + if (state_machine.state == STATES::STAND) + { + Standing(); + } + if (state_machine.state == STATES::DAMPING) + { + Damping(); + } + if (state_machine.state == STATES::CTRL) + { + UserControlStep(true); + if (CheckTermination()) + { + state_machine.Stop(); + } + } + + // update low-level command + { + std::lock_guard lock(cmd_mutex); + robot_interface.SetCommand(cmd); + } + + auto stop = std::chrono::high_resolution_clock::now(); + auto duration = std::chrono::duration_cast(stop - start); + compute_time.push_back(duration.count() / 1000.); + + // write log + WriteLog(); + + if (compute_time.size() == 100) + { + float sum = 0; + for (auto &t : compute_time) + { + sum += t; + } + std::cout << "Performance: mean: " << sum / 100 + << " ms; max: " << *std::max_element(compute_time.begin(), compute_time.end()) + << " ms; min: " << *std::min_element(compute_time.begin(), compute_time.end()) + << "ms." << std::endl; + + compute_time.clear(); + + std::cout << "Current State: " << static_cast(state_machine.state) << std::endl; + } + } + + void WriteLog() + { + if (log_file.is_open()) + { + auto log = ctrl.GetLog(); + for (const auto &v : log) + { + log_file << v << " "; + } + log_file << std::endl; + } + } + + void StandCallback() + { + robot_interface.jpos_des = ctrl.init_pos; + robot_interface.jvel_des.fill(0.); + robot_interface.kp.fill(ctrl.kp * state_machine.pd_ratio); + robot_interface.kd.fill(ctrl.kd * state_machine.pd_ratio); + robot_interface.tau_ff.fill(0.); + } + + void CtrlCallback() + { + ctrl.Reset(robot_interface, gamepad); + + robot_interface.jpos_des = ctrl.init_pos; + robot_interface.jvel_des.fill(0.); + robot_interface.kp.fill(ctrl.kp); + robot_interface.kd.fill(ctrl.kd); + robot_interface.tau_ff.fill(0.); + } + + void Damping(float kd = 2.0) + { + robot_interface.jpos_des = ctrl.init_pos; + robot_interface.jvel_des.fill(0.); + robot_interface.kp.fill(0.); + robot_interface.kd.fill(kd); + robot_interface.tau_ff.fill(0.); + } + + void Standing(float kp = 40.0, float kd = 1.0) + { + if (gamepad.R2.pressed) + { + state_machine.Standing(true); + } + if (gamepad.R1.pressed) + { + state_machine.Standing(false); + } + + UserControlStep(false); + + robot_interface.kp.fill(kp * state_machine.pd_ratio); + robot_interface.kd.fill(kd * state_machine.pd_ratio); + } + + void UserControlStep(bool send = true) + { + { + std::lock_guard lock(state_mutex); + ctrl.GetInput(robot_interface, gamepad); + } + ctrl.Calculate(); + + if (send) + { + robot_interface.jpos_des = ctrl.jpos_des; + } + } + + bool CheckTermination() + { + if (robot_interface.projected_gravity.at(2) > 0) + { + return true; + } + return false; + } +}; diff --git a/deps/unitree_sdk2/example/state_machine/robot_interface.hpp b/deps/unitree_sdk2/example/state_machine/robot_interface.hpp new file mode 100644 index 0000000..b19ff62 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/robot_interface.hpp @@ -0,0 +1,130 @@ +#pragma once + +#include +#include + +#include "comm.h" +#include "unitree/idl/go2/LowState_.hpp" +#include "unitree/idl/go2/LowCmd_.hpp" +#include "conversion.hpp" + +namespace unitree::common +{ + + constexpr double PosStopF = (2.146E+9f); + constexpr double VelStopF = (16000.0f); + + class BasicRobotInterface + { + public: + BasicRobotInterface() + { + jpos_des.fill(0.); + jvel_des.fill(0.); + kp.fill(0.); + kd.fill(0.); + tau_ff.fill(0.); + projected_gravity.fill(0.); + projected_gravity.at(2) = -1.0; + } + + void GetState(unitree_go::msg::dds_::LowState_ &state) + { + // imu + const unitree_go::msg::dds_::IMUState_ &imu = state.imu_state(); + quat = imu.quaternion(); + rpy = imu.rpy(); + gyro = imu.gyroscope(); + UpdateProjectedGravity(); + + // motor + const std::array &motor = state.motor_state(); + for (size_t i = 0; i < 12; ++i) + { + const unitree_go::msg::dds_::MotorState_ &m = motor.at(i); + jpos.at(i) = m.q(); + jvel.at(i) = m.dq(); + tau.at(i) = m.tau_est(); + } + } + + virtual void SetCommand(unitree_go::msg::dds_::LowCmd_ &cmd) = 0; + + std::array jpos, jvel, tau; + std::array quat; + std::array rpy, gyro, projected_gravity; + std::array jpos_des, jvel_des, kp, kd, tau_ff; + + private: + inline void UpdateProjectedGravity() + { + // inverse quat + float w = quat.at(0); + float x = -quat.at(1); + float y = -quat.at(2); + float z = -quat.at(3); + + float x2 = x * x; + float y2 = y * y; + float z2 = z * z; + float w2 = w * w; + float xy = x * y; + float xz = x * z; + float yz = y * z; + float wx = w * x; + float wy = w * y; + float wz = w * z; + + projected_gravity.at(0) = -2 * (xz + wy); + projected_gravity.at(1) = -2 * (yz - wx); + projected_gravity.at(2) = -(w2 - x2 - y2 + z2); + } + }; + + class RobotInterface : public BasicRobotInterface + { + public: + RobotInterface() : BasicRobotInterface() + { + InitLowCmd(); + } + + void SetCommand(unitree_go::msg::dds_::LowCmd_ &cmd) + { + + for (int i = 0; i < 12; ++i) + { + low_cmd.motor_cmd()[i].q() = jpos_des.at(i); + low_cmd.motor_cmd()[i].dq() = jvel_des.at(i); + low_cmd.motor_cmd()[i].kp() = kp.at(i); + low_cmd.motor_cmd()[i].kd() = kd.at(i); + low_cmd.motor_cmd()[i].tau() = tau_ff.at(i); + } + + low_cmd.crc() = crc32_core((uint32_t *)&low_cmd, (sizeof(unitree_go::msg::dds_::LowCmd_)>>2)-1); + // lowCmd2Dds(low_cmd_raw, cmd); + cmd = low_cmd; + } + + private: + void InitLowCmd() + { + low_cmd.head()[0] = 0xFE; + low_cmd.head()[1] = 0xEF; + low_cmd.level_flag() = 0xFF; + low_cmd.gpio() = 0; + + for(int i=0; i<20; i++) + { + low_cmd.motor_cmd()[i].mode() = (0x01); // motor switch to servo (PMSM) mode + low_cmd.motor_cmd()[i].q() = (PosStopF); + low_cmd.motor_cmd()[i].kp() = (0); + low_cmd.motor_cmd()[i].dq() = (VelStopF); + low_cmd.motor_cmd()[i].kd() = (0); + low_cmd.motor_cmd()[i].tau() = (0); + } + } + + unitree_go::msg::dds_::LowCmd_ low_cmd; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/state_machine/state_machine.hpp b/deps/unitree_sdk2/example/state_machine/state_machine.hpp new file mode 100644 index 0000000..e716c30 --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/state_machine.hpp @@ -0,0 +1,72 @@ +#pragma once + +#include + +namespace unitree::common +{ + enum class STATES + { + DAMPING = 0, + STAND = 1, + CTRL = 2 + }; + + class SimpleStateMachine + { + public: + SimpleStateMachine(double pd_ratio_init = 0.1, double delta_pd = 0.005) : state(STATES::STAND), pd_ratio(pd_ratio_init), delta_pd(delta_pd) {} + + bool Stop() + { + state = STATES::DAMPING; + pd_ratio = 0.0; + return true; + } + + bool Stand() + { + if (state == STATES::DAMPING || state == STATES::CTRL) + { + state = STATES::STAND; + return true; + } + else + { + return false; + } + } + + bool Ctrl() + { + if (state == STATES::STAND && pd_ratio > 0.95) + { + state = STATES::CTRL; + return true; + } + else + { + return false; + } + } + + void Standing(bool up = true) + { + if (state == STATES::STAND) + { + if (up) + { + pd_ratio += delta_pd; + } + else + { + pd_ratio -= delta_pd; + } + pd_ratio = std::max(0.0, std::min(1.0, pd_ratio)); + } + } + + STATES state; + double pd_ratio; + double delta_pd; + }; +} // namespace unitree diff --git a/deps/unitree_sdk2/example/state_machine/user_controller.hpp b/deps/unitree_sdk2/example/state_machine/user_controller.hpp new file mode 100644 index 0000000..eaf420b --- /dev/null +++ b/deps/unitree_sdk2/example/state_machine/user_controller.hpp @@ -0,0 +1,122 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "robot_interface.hpp" +#include "gamepad.hpp" +#include "cfg.hpp" + +namespace fs = std::filesystem; + +namespace unitree::common +{ + class BasicUserController + { + public: + BasicUserController() {} + + virtual void LoadParam(fs::path ¶m_folder) = 0; + + virtual void Reset(RobotInterface &robot_interface, Gamepad &gamepad) = 0; + + virtual void GetInput(RobotInterface &robot_interface, Gamepad &gamepad) = 0; + + virtual void Calculate() = 0; + + virtual std::vector GetLog() = 0; + + float dt, kp, kd; + std::array init_pos; + std::array jpos_des; + }; + + class ExampleUserController : public BasicUserController + { + public: + ExampleUserController() {} + + void LoadParam(fs::path ¶m_folder) + { + // load param file + std::ifstream cfg_file(param_folder / "params.json"); + std::cout << "Read params from: " << param_folder / "params.json" << std::endl; + std::stringstream ss; + ss << cfg_file.rdbuf(); + FromJsonString(ss.str(), cfg); + + // get data from json + dt = cfg.dt; + kp = cfg.kp; + kd = cfg.kd; + for (int i = 0; i < 12; ++i) + { + init_pos.at(i) = cfg.init_pos.at(i); + } + } + + void GetInput(RobotInterface &robot_interface, Gamepad &gamepad) + { + // save necessary data from input + + // record command + cmd.at(0) = gamepad.ly; + cmd.at(1) = -gamepad.lx; + cmd.at(2) = -gamepad.rx; + + // record robot state + for (int i = 0; i < 12; ++i) + { + jpos_processed.at(i) = robot_interface.jpos.at(i) - init_pos.at(i); + jvel_processed.at(i) = robot_interface.jvel.at(i) / 2.0; + } + } + + void Reset(RobotInterface &robot_interface, Gamepad &gamepad) + { + GetInput(robot_interface, gamepad); + Calculate(); + } + + void Calculate() + { + // calculate jpos_des + jpos_des = init_pos; + } + + std::vector GetLog() + { + // record input, output and other info into a vector + std::vector log; + for (int i = 0; i < 3; ++i) + { + log.push_back(cmd.at(i)); + } + for (int i = 0; i < 12; ++i) + { + log.push_back(jpos_processed.at(i)); + } + for (int i = 0; i < 12; ++i) + { + log.push_back(jvel_processed.at(i)); + } + for (int i = 0; i < 12; ++i) + { + log.push_back(jpos_des.at(i)); + } + + return log; + } + + // cfg + ExampleCfg cfg; + + // state + std::array cmd; + std::array jpos_processed; + std::array jvel_processed; + }; +} // namespace unitree::common diff --git a/deps/unitree_sdk2/example/wireless_controller/CMakeLists.txt b/deps/unitree_sdk2/example/wireless_controller/CMakeLists.txt new file mode 100644 index 0000000..2ff15c9 --- /dev/null +++ b/deps/unitree_sdk2/example/wireless_controller/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable(advanced_gamepad main.cpp) +target_link_libraries(advanced_gamepad unitree_sdk2) \ No newline at end of file diff --git a/deps/unitree_sdk2/example/wireless_controller/advanced_gamepad.hpp b/deps/unitree_sdk2/example/wireless_controller/advanced_gamepad.hpp new file mode 100644 index 0000000..1757f93 --- /dev/null +++ b/deps/unitree_sdk2/example/wireless_controller/advanced_gamepad.hpp @@ -0,0 +1,116 @@ +#pragma once + +#include +#include +#include "unitree/idl/go2/WirelessController_.hpp" +// #include + +namespace unitree::common +{ + // union for keys + typedef union + { + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t start : 1; + uint8_t select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t F1 : 1; + uint8_t F2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + uint16_t value; + } xKeySwitchUnion; + + // single button class + class Button + { + public: + Button() {} + + void update(bool state) + { + on_press = state ? state != pressed : false; + on_release = state ? false : state != pressed; + pressed = state; + } + + bool pressed = false; + bool on_press = false; + bool on_release = false; + }; + + // full gamepad + class Gamepad + { + public: + Gamepad() {} + + void Update(unitree_go::msg::dds_::WirelessController_ &key_msg) + { + // update stick values with smooth and deadzone + lx = lx * (1 - smooth) + (std::fabs(key_msg.lx()) < dead_zone ? 0.0 : key_msg.lx()) * smooth; + rx = rx * (1 - smooth) + (std::fabs(key_msg.rx()) < dead_zone ? 0.0 : key_msg.rx()) * smooth; + ry = ry * (1 - smooth) + (std::fabs(key_msg.ry()) < dead_zone ? 0.0 : key_msg.ry()) * smooth; + ly = ly * (1 - smooth) + (std::fabs(key_msg.ly()) < dead_zone ? 0.0 : key_msg.ly()) * smooth; + + // update button states + key.value = key_msg.keys(); + + R1.update(key.components.R1); + L1.update(key.components.L1); + start.update(key.components.start); + select.update(key.components.select); + R2.update(key.components.R2); + L2.update(key.components.L2); + F1.update(key.components.F1); + F2.update(key.components.F2); + A.update(key.components.A); + B.update(key.components.B); + X.update(key.components.X); + Y.update(key.components.Y); + up.update(key.components.up); + right.update(key.components.right); + down.update(key.components.down); + left.update(key.components.left); + } + + float smooth = 0.03; + float dead_zone = 0.01; + + float lx = 0.; + float rx = 0.; + float ry = 0.; + float ly = 0.; + + Button R1; + Button L1; + Button start; + Button select; + Button R2; + Button L2; + Button F1; + Button F2; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button right; + Button down; + Button left; + + private: + xKeySwitchUnion key; + }; +} // namespace unitree::common \ No newline at end of file diff --git a/deps/unitree_sdk2/example/wireless_controller/main.cpp b/deps/unitree_sdk2/example/wireless_controller/main.cpp new file mode 100644 index 0000000..0302a13 --- /dev/null +++ b/deps/unitree_sdk2/example/wireless_controller/main.cpp @@ -0,0 +1,108 @@ +#include + +// #include +#include "unitree/idl/go2/WirelessController_.hpp" +#include "unitree/common/thread/thread.hpp" +#include "unitree/robot/channel/channel_subscriber.hpp" + +#include "advanced_gamepad.hpp" + +#define TOPIC_JOYSTICK "rt/wirelesscontroller" + +using namespace unitree::common; +using namespace unitree::robot; + +class GamepadExample +{ +public: + GamepadExample() {} + + // setup dds model + void InitDdsModel(const std::string &networkInterface = "") + { + ChannelFactory::Instance()->Init(0, networkInterface); + joystick_subscriber.reset(new ChannelSubscriber(TOPIC_JOYSTICK)); + + joystick_subscriber->InitChannel(std::bind(&GamepadExample::MessageHandler, this, std::placeholders::_1), 1); + } + + // set gamepad dead_zone parameter + void SetGamepadDeadZone(float deadzone) + { + gamepad.dead_zone = deadzone; + } + + // set gamepad smooth parameter + void setGamepadSmooth(float smooth) + { + gamepad.smooth = smooth; + } + + // callback function to save joystick message + void MessageHandler(const void *message) + { + std::lock_guard lock(joystick_mutex); + joystick_msg = *(unitree_go::msg::dds_::WirelessController_ *)message; + } + + // work thread + void Step() + { + { + std::lock_guard lock(joystick_mutex); + gamepad.Update(joystick_msg); + } + + // some operations + if (gamepad.A.on_press) + { + press_count += 1; + } + + // print gamepad state + std::cout << "lx: " << gamepad.lx << std::endl + << "A: pressed: " << gamepad.A.pressed + << "; on_press: " << gamepad.A.on_press + << "; on_release: " << gamepad.A.on_release + << std::endl << "press count: " << press_count + << std::endl << "===========================" << std::endl; + } + + // start the work thread + void Start() + { + control_thread_ptr = CreateRecurrentThreadEx("nn_ctrl", UT_CPU_ID_NONE, 40000, &GamepadExample::Step, this); + } + +protected: + ChannelSubscriberPtr joystick_subscriber; + unitree_go::msg::dds_::WirelessController_ joystick_msg; + + Gamepad gamepad; + + ThreadPtr control_thread_ptr; + + std::mutex joystick_mutex; + + int press_count = 0; +}; + +int main() +{ + // create example object + GamepadExample example; + + // set gamepad params + example.setGamepadSmooth(0.2); + example.SetGamepadDeadZone(0.5); + + // start program + example.InitDdsModel(); + example.Start(); + + while (1) + { + usleep(20000); + } + return 0; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/common/any.hpp b/deps/unitree_sdk2/include/unitree/common/any.hpp new file mode 100644 index 0000000..3877252 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/any.hpp @@ -0,0 +1,390 @@ +#ifndef __UT_ANY_HPP__ +#define __UT_ANY_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class Any +{ +public: + Any() + : mContent(0) + {} + + template + Any(const ValueType& value) + : mContent(new Holder(value)) + {} + + Any(const char* s) + : Any(std::string(s)) + {} + + Any(const char* s, size_t len) + : Any(std::string(s, len)) + {} + + Any(const Any& other) + : mContent(other.mContent ? other.mContent->Clone() : 0) + {} + + ~Any() + { + delete mContent; + mContent = 0; + } + + Any& Swap(Any& other) + { + std::swap(mContent, other.mContent); + return *this; + } + + bool Empty() const + { + return mContent == 0; + } + + const std::type_info& GetTypeInfo() const + { + return mContent ? mContent->GetTypeInfo() : typeid(void); + } + + template + Any& operator=(const ValueType& other) + { + Any(other).Swap(*this); + return *this; + } + + Any& operator=(Any other) + { + other.Swap(*this); + return *this; + } + +public: + class PlaceHolder + { + public: + virtual ~PlaceHolder() + {} + + public: + virtual const std::type_info& GetTypeInfo() const = 0; + virtual PlaceHolder* Clone() const = 0; + }; + + template + class Holder : public PlaceHolder + { + public: + explicit Holder(const ValueType& value) + : mValue(value) + {} + + virtual const std::type_info& GetTypeInfo() const + { + return typeid(ValueType); + } + + virtual PlaceHolder* Clone() const + { + return new Holder(mValue); + } + + public: + ValueType mValue; + }; + +public: + PlaceHolder* mContent; +}; + +/* + * static const Any + */ +static const Any UT_EMPTY_ANY = Any(); + +static inline bool IsBool(const Any& any) +{ + return any.GetTypeInfo() == typeid(bool); +} + +static inline bool IsString(const Any& any) +{ + return any.GetTypeInfo() == typeid(std::string); +} + +static inline bool IsInt8(const Any& any) +{ + return any.GetTypeInfo() == typeid(int8_t); +} + +static inline bool IsUint8(const Any& any) +{ + return any.GetTypeInfo() == typeid(uint8_t); +} + +static inline bool IsInt16(const Any& any) +{ + return any.GetTypeInfo() == typeid(int16_t); +} + +static inline bool IsUint16(const Any& any) +{ + return any.GetTypeInfo() == typeid(uint16_t); +} + +static inline bool IsInt(const Any& any) +{ + return any.GetTypeInfo() == typeid(int32_t); +} + +static inline bool IsUint(const Any& any) +{ + return any.GetTypeInfo() == typeid(uint32_t); +} + +static inline bool IsInt64(const Any& any) +{ + return any.GetTypeInfo() == typeid(int64_t); +} + +static inline bool IsUint64(const Any& any) +{ + return any.GetTypeInfo() == typeid(uint64_t); +} + +static inline bool IsFloat(const Any& any) +{ + return any.GetTypeInfo() == typeid(float); +} + +static inline bool IsDouble(const Any& any) +{ + return any.GetTypeInfo() == typeid(double); +} + +static inline bool IsLongDouble(const Any& any) +{ + return any.GetTypeInfo() == typeid(long double); +} + +static inline bool IsInteger(const Any& any) +{ + return IsInt(any) || IsUint(any) || IsInt64(any) || IsUint64(any) + || IsInt16(any) || IsUint16(any) || IsInt8(any) || IsUint8(any); +} + +static inline bool IsNumber(const Any& any) +{ + return IsBool(any) || IsInteger(any) || IsFloat(any) || IsDouble(any) + || IsLongDouble(any); +} + +static inline bool IsBoolType(const std::type_info& t) +{ + return t == typeid(bool); +} + +static inline bool IsInt8Type(const std::type_info& t) +{ + return t == typeid(int8_t); +} + +static inline bool IsUint8Type(const std::type_info& t) +{ + return t == typeid(uint8_t); +} + +static inline bool IsInt16Type(const std::type_info& t) +{ + return t == typeid(int16_t); +} + +static inline bool IsUint16Type(const std::type_info& t) +{ + return t == typeid(uint16_t); +} + +static inline bool IsIntType(const std::type_info& t) +{ + return t == typeid(int32_t); +} + +static inline bool IsUintType(const std::type_info& t) +{ + return t == typeid(uint32_t); +} + +static inline bool IsInt64Type(const std::type_info& t) +{ + return t == typeid(int64_t); +} + +static inline bool IsUint64Type(const std::type_info& t) +{ + return t == typeid(uint64_t); +} + +static inline bool IsIntegerType(const std::type_info& t) +{ + return IsIntType(t) || IsUintType(t) || IsInt64Type(t) || IsUint64Type(t) || + IsInt8Type(t) || IsUint8Type(t) || IsInt16Type(t) || IsUint16Type(t); +} + +static inline bool IsFloatType(const std::type_info& t) +{ + return t == typeid(float); +} + +static inline bool IsDoubleType(const std::type_info& t) +{ + return t == typeid(double); +} + +static inline bool IsLongDoubleType(const std::type_info& t) +{ + return t == typeid(long double); +} + +static inline bool IsNumberType(const std::type_info& t) +{ + return IsBoolType(t) || IsIntegerType(t) || IsFloatType(t) + || IsDoubleType(t) || IsLongDoubleType(t); +} + +static inline bool IsTypeEqual(const std::type_info& t1, const std::type_info& t2) +{ + return t1 == t2; +} + +template +const ValueType& AnyCast(const Any* operand) +{ + const std::type_info& t1 = typeid(ValueType); + const std::type_info& t2 = operand->GetTypeInfo(); + + if (IsTypeEqual(t1, t2)) + { + return ((Any::Holder*)(operand->mContent))->mValue; + } + + UT_THROW(BadCastException, std::string("AnyCast error. target type is ") + + t1.name() + ", but source type is " + t2.name()); +} + +template +const ValueType& AnyCast(const Any& operand) +{ + return AnyCast(&operand); +} + +template +ValueType AnyNumberCast(const Any* operand) +{ + const std::type_info& t1 = typeid(ValueType); + const std::type_info& t2 = operand->GetTypeInfo(); + + if (IsNumberType(t1) && IsNumberType(t2)) + { + if (IsTypeEqual(t1, t2)) + { + return ((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsFloatType(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsDoubleType(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsLongDoubleType(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsInt8Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsUint8Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsInt16Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsUint16Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsIntType(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsUintType(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsInt64Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else if (IsUint64Type(t2)) + { + return (ValueType)((Any::Holder*)(operand->mContent))->mValue; + } + else + { + UT_THROW(BadCastException, std::string("AnyNumberCast error. unknown number type:", t2.name())); + } + } + + UT_THROW(BadCastException, std::string("AnyNumberCast error. not number type")); +} + +template +ValueType AnyNumberCast(const Any& operand) +{ + return AnyNumberCast(&operand); +} + +static inline const std::string& ToString(const Any& operand) +{ + if (operand.Empty()) + { + return UT_EMPTY_STR; + } + + return AnyCast(operand); +} + +static inline void StringTo(const std::string& s, Any& value) +{ + value = s; +} + +static inline void StringTo(const char* s, Any& value) +{ + value = std::string(s); +} + +static inline void StringTo(const char* s, size_t len, Any& value) +{ + value = std::string(s, len); +} + +static inline void StringTo(const char* s, size_t pos, size_t len, Any& value) +{ + value = std::string(s, pos, len); +} + +} +} +#endif//__UT_ANY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/assert.hpp b/deps/unitree_sdk2/include/unitree/common/assert.hpp new file mode 100644 index 0000000..4c0b8f8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/assert.hpp @@ -0,0 +1,149 @@ +#ifndef __UT_ASSERT_HPP__ +#define __UT_ASSERT_HPP__ + +#include + +/* + * Declare assert output + */ +#define UT_ASSERT_OUT(debug, file, func, line, r) \ + if (debug) \ + { \ + std::cout << "[" << ::time(NULL) \ + << "] [" << ::syscall(SYS_gettid) \ + << "] UT_ASSERT DEBUG at __FILE__:" << file \ + << ", __FUNCTION__:" << func \ + << ", __LINE__:" << line \ + << ", r:" << r \ + << ", errno:" << errno \ + << std::endl; \ + } \ + else \ + { \ + std::cout << "[" << ::time(NULL) \ + << "] [" << ::syscall(SYS_gettid) \ + << "] UT_ASSERT ABORT at __FILE__:" << file \ + << ", __FUNCTION__:" << func \ + << ", __LINE__:" << line \ + << ", r:" << r \ + << ", errno:" << errno \ + << std::endl; \ + } + +#define UT_ASSERT_ABORT(debug, file, func, line, r) \ + if (debug) \ + { \ + UT_ASSERT_OUT(1, file, func, line, r); \ + } \ + else \ + { \ + UT_ASSERT_OUT(0, file, func, line, r); \ + abort(); \ + } + +/* + * Declare assert return value + */ +#define UT_ASSERT_EQ(x, r) \ + unitree::common::AssertEqual(x, r, 0, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_EQ_DEBUG(x, r) \ + unitree::common::AssertEqual(x, r, 1, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_NOT_EQ(x, r) \ + unitree::common::AssertNotEqual(x, r, 0, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_NOT_EQ_DEBUG(x, r) \ + unitree::common::AssertNotEqual(x, r, 1, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +/* + * Declare assert return value and errno + */ +#define UT_ASSERT_ENO_EQ(x, r, eno) \ + unitree::common::AssertEqual(x, r, eno, 0, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_ENO_EQ_DEBUG(x, r, eno) \ + unitree::common::AssertEqual(x, r, eno, 1, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_ENO_EQ_EX(x, r, eno) \ + unitree::common::AssertEqualEx(x, r, eno, 0, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +#define UT_ASSERT_ENO_EQ_EX_DEBUG(x, r, eno) \ + unitree::common::AssertEqualEx(x, r, eno, 1, __FILE__, \ + __PRETTY_FUNCTION__, __LINE__) + +/* + * Declare assert wrapper + */ +#define UT_ASSERT_0(x) \ + UT_ASSERT_EQ(x, 0) + +#define UT_ASSERT_DEBUG_0(x) \ + UT_ASSERT_EQ_DEBUG(x, 0) + +#define UT_ASSERT_ENO_0(x, eno) \ + UT_ASSERT_ENO_EQ(x, 0, eno) + +#define UT_ASSERT_ENO_DEBUG_0(x, eno) \ + UT_ASSERT_ENO_EQ_DEBUG(x, 0, eno) + + +//Declare assert function +namespace unitree +{ +namespace common +{ +inline int AssertEqual(int r, int expectRet, bool debug, + const char* file, const char* func, int line) +{ + if (UT_UNLIKELY(r != expectRet)) + { + UT_ASSERT_ABORT(debug, file, func, line, r); + } + + return r; +} + +inline int AssertNotEqual(int r, int expectRet, bool debug, + const char* file, const char* func, int line) +{ + if (UT_UNLIKELY(r == expectRet)) + { + UT_ASSERT_ABORT(debug, file, func, line, r); + } + + return r; +} + +inline int AssertEqual(int r, int expectRet, int expectErrno, bool debug, + const char* file, const char* func, int line) +{ + if (UT_UNLIKELY(r != expectRet) && UT_UNLIKELY(errno != expectErrno)) + { + UT_ASSERT_ABORT(debug, file, func, line, r); + } + + return r; +} + +inline int AssertEqualEx(int r, int expectRet, int expectErrno, bool debug, + const char* file, const char* func, int line) +{ + if (UT_UNLIKELY(r != 0) && UT_UNLIKELY(r != expectRet) && + UT_UNLIKELY(errno != expectErrno)) + { + UT_ASSERT_ABORT(debug, file, func, line, r); + } + + return r; +} +} +} +#endif//__UT_ASSERT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/block_queue.hpp b/deps/unitree_sdk2/include/unitree/common/block_queue.hpp new file mode 100644 index 0000000..2effd62 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/block_queue.hpp @@ -0,0 +1,137 @@ +#ifndef __UT_BLOCK_QUEUE_HPP__ +#define __UT_BLOCK_QUEUE_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +template +class BlockQueue +{ +public: + BlockQueue(uint64_t maxSize = UT_QUEUE_MAX_LEN) : + mMaxSize(maxSize), mCurSize(0) + { + if (mMaxSize == 0) + { + mMaxSize = UT_QUEUE_MAX_LEN; + } + } + + bool Put(const T& t, bool replace = false, bool putfront = false) + { + /* + * if queue is full or full-replaced occured return false + */ + bool noneReplaced = true; + + LockGuard guard(mMutexCond); + if (mCurSize >= mMaxSize) + { + if (!replace) + { + return false; + } + + noneReplaced = false; + + mQueue.pop_front(); + mCurSize --; + } + + if (putfront) + { + mQueue.emplace_front(t); + } + else + { + mQueue.emplace_back(t); + } + + mCurSize ++; + mMutexCond.Notify(); + + return noneReplaced; + } + + bool Get(T& t, uint64_t microsec = 0) + { + LockGuard guard(mMutexCond); + return GetTimeout(t, microsec); + } + + T Get(uint64_t microsec = 0) + { + LockGuard guard(mMutexCond); + T t; + if (GetTimeout(t, microsec)) + { + return std::move(t); + } + + UT_THROW(TimeoutException, "block queue get timeout or interrupted"); + } + + bool Empty() + { + return mCurSize == 0; + } + + uint64_t Size() + { + return mCurSize; + } + + void Interrupt(bool all = false) + { + LockGuard guard(mMutexCond); + if (all) + { + mMutexCond.NotifyAll(); + } + else + { + mMutexCond.Notify(); + } + } + +private: + bool GetTimeout(T& t, uint64_t microsec = 0) + { + if (mQueue.empty()) + { + if (!mMutexCond.Wait(microsec)) + { + return false; + } + + if (mQueue.empty()) + { + return false; + } + } + + t = mQueue.front(); + mQueue.pop_front(); + + mCurSize--; + + return true; + } + +private: + uint64_t mMaxSize; + uint64_t mCurSize; + std::list mQueue; + MutexCond mMutexCond; +}; + +template +using BlockQueuePtr = std::shared_ptr>; + +} +} +#endif//__UT_BLOCK_QUEUE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_callback.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_callback.hpp new file mode 100644 index 0000000..9baa103 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_callback.hpp @@ -0,0 +1,35 @@ +#ifndef __UT_DDS_CALLBACK_HPP__ +#define __UT_DDS_CALLBACK_HPP__ + +#include + +using DdsMessageHandler = std::function; + +namespace unitree +{ +namespace common +{ +class DdsReaderCallback +{ +public: + DdsReaderCallback(); + DdsReaderCallback(const DdsMessageHandler& handler); + DdsReaderCallback(const DdsReaderCallback& cb); + DdsReaderCallback& operator=(const DdsReaderCallback& cb); + + ~DdsReaderCallback(); + +public: + bool HasMessageHandler() const; + void OnDataAvailable(const void* message); + +private: + DdsMessageHandler mMessageHandler; +}; + +using DdsReaderCallbackPtr = std::shared_ptr; + +} +} + +#endif//__UT_DDS_CALLBACK_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_easy_model.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_easy_model.hpp new file mode 100644 index 0000000..bbc8acd --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_easy_model.hpp @@ -0,0 +1,148 @@ +#ifndef __DDS_EASY_MODEL_HPP__ +#define __DDS_EASY_MODEL_HPP__ + +#include +#include +#include +#include + +#define UT_DDS_PARAMETER_CONFIG_FILENAME "dds_parameter.json" + +namespace unitree +{ +namespace common +{ +class DdsEasyModel +{ +public: + explicit DdsEasyModel(); + ~DdsEasyModel(); + + void Init(uint32_t domainId); + void Init(const std::string& ddsParameterFileName = ""); + void Init(const JsonMap& param); + + template + void SetTopic(const std::string& topic) + { + DdsTopicChannelPtr channel = GetChannel(topic); + if (!channel) + { + channel = DdsTopicChannelPtr(new DdsTopicChannel()); + mChannelMap[topic] = std::static_pointer_cast(channel); + + DdsTopicQos topicQos; + GetTopicQos(topic, topicQos); + channel->SetTopic(mParticipant, topic, topicQos); + } + + DdsWriterPtr writer = channel->GetWriter(); + if (!writer) + { + DdsWriterQos writerQos; + GetWriterQos(topic, writerQos); + channel->SetWriter(GetPublisher(topic), writerQos); + } + else + { + UT_THROW(CommonException, std::string("topic reader is already exist. topic:") + topic); + } + } + + template + void SetTopic(const std::string& topic, const DdsMessageHandler& handler, int32_t queuelen = 0) + { + DdsReaderCallback cb(handler); + SetTopic(topic, cb, queuelen); + } + + template + void SetTopic(const std::string& topic, const DdsReaderCallback& rcb, int32_t queuelen = 0) + { + DdsTopicChannelPtr channel = GetChannel(topic); + if (!channel) + { + channel = DdsTopicChannelPtr(new DdsTopicChannel()); + mChannelMap[topic] = std::static_pointer_cast(channel); + + DdsTopicQos topicQos; + GetTopicQos(topic, topicQos); + channel->SetTopic(mParticipant, topic, topicQos); + } + + DdsReaderPtr reader = channel->GetReader(); + if (!reader) + { + DdsReaderQos readerQos; + GetReaderQos(topic, readerQos); + channel->SetReader(GetSubscriber(topic), readerQos, rcb, queuelen); + } + else + { + UT_THROW(CommonException, std::string("topic reader is already exist. topic:") + topic); + } + } + + template + bool WriteMessage(const std::string topic, const MSG& message, int64_t waitMicrosec = 0) + { + DdsTopicChannelPtr channel = GetChannel(topic); + if (channel == NULL) + { + return false; + } + + return channel->Write(message, waitMicrosec); + } + + bool WriteMessage(const std::string topic, const void* message, int64_t waitMicrosec = 0); + + int64_t GetLastDataAvailableTime(const std::string topic); + +private: + void GetTopicQos(const std::string& topic, DdsTopicQos& qos); + void GetWriterQos(const std::string& topic, DdsWriterQos& qos); + void GetReaderQos(const std::string& topic, DdsReaderQos& qos); + + DdsTopicChannelAbstractPtr GetChannel(const std::string& topic); + + template + DdsTopicChannelPtr GetChannel(const std::string& topic) + { + DdsTopicChannelPtr channel; + + DdsTopicChannelAbstractPtr channelAbstract = GetChannel(topic); + if (channelAbstract) + { + channel = std::static_pointer_cast>(channelAbstract); + } + + return channel; + } + + DdsSubscriberPtr GetSubscriber(const std::string& topic); + DdsSubscriberPtr GetSubscriberDefault(); + + DdsPublisherPtr GetPublisher(const std::string& topic); + DdsPublisherPtr GetPublisherDefault(); + +private: + DdsParameter mDdsParameter; + + DdsParticipantPtr mParticipant; + std::vector mPublisherList; + std::vector mSubscriberList; + DdsPublisherPtr mPublisherDefault; + DdsSubscriberPtr mSubscriberDefault; + + std::map mChannelMap; + + Logger *mLogger; +}; + +using DdsEasyModelPtr = std::shared_ptr; + +} +} + +#endif//__DDS_EASY_MODEL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp new file mode 100644 index 0000000..609edb5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp @@ -0,0 +1,411 @@ +#ifndef __UT_DDS_ENTITY_HPP__ +#define __UT_DDS_ENTITY_HPP__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define __UT_DDS_NULL__ ::dds::core::null + +/* + * dds wait sub/pub matched default time slice. + * default 10000 us + */ +#define __UT_DDS_WAIT_MATCHED_TIME_SLICE 10000 +#define __UT_DDS_WAIT_MATCHED_TIME_MAX 1000000 + +using namespace org::eclipse::cyclonedds; + +namespace unitree +{ +namespace common +{ +class DdsLogger +{ +public: + DdsLogger(); + virtual ~DdsLogger(); + +protected: + Logger* mLogger; +}; + +/* + * @brief: DdsParticipant + */ +class DdsParticipant : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::domain::DomainParticipant; + + explicit DdsParticipant(uint32_t domainId, const DdsParticipantQos& qos, const std::string& config = ""); + ~DdsParticipant(); + + const NATIVE_TYPE& GetNative() const; + +private: + NATIVE_TYPE mNative; +}; + +using DdsParticipantPtr = std::shared_ptr; + + +/* + * @brief: DdsPublisher + */ +class DdsPublisher : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::pub::Publisher; + + explicit DdsPublisher(const DdsParticipantPtr& participant, const DdsPublisherQos& qos); + ~DdsPublisher(); + + const NATIVE_TYPE& GetNative() const; + +private: + NATIVE_TYPE mNative; +}; + +using DdsPublisherPtr = std::shared_ptr; + + +/* + * @brief: DdsSubscriber + */ +class DdsSubscriber : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::sub::Subscriber; + + explicit DdsSubscriber(const DdsParticipantPtr& participant, const DdsSubscriberQos& qos); + ~DdsSubscriber(); + + const NATIVE_TYPE& GetNative() const; + +private: + NATIVE_TYPE mNative; +}; + +using DdsSubscriberPtr = std::shared_ptr; + + +/* + * @brief: DdsTopic + */ +template +class DdsTopic : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::topic::Topic; + + explicit DdsTopic(const DdsParticipantPtr& participant, const std::string& name, const DdsTopicQos& qos) : + mNative(__UT_DDS_NULL__) + { + UT_DDS_EXCEPTION_TRY + + auto topicQos = participant->GetNative().default_topic_qos(); + qos.CopyToNativeQos(topicQos); + + mNative = NATIVE_TYPE(participant->GetNative(), name, topicQos); + + UT_DDS_EXCEPTION_CATCH(mLogger, true) + } + + ~DdsTopic() + { + mNative = __UT_DDS_NULL__; + } + + const NATIVE_TYPE& GetNative() const + { + return mNative; + } + +private: + NATIVE_TYPE mNative; +}; + +template +using DdsTopicPtr = std::shared_ptr>; + + +/* + * @brief: DdsWriter + */ +template +class DdsWriter : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::pub::DataWriter; + + explicit DdsWriter(const DdsPublisherPtr publisher, const DdsTopicPtr& topic, const DdsWriterQos& qos) : + mNative(__UT_DDS_NULL__) + { + UT_DDS_EXCEPTION_TRY + + auto writerQos = publisher->GetNative().default_datawriter_qos(); + qos.CopyToNativeQos(writerQos); + + mNative = NATIVE_TYPE(publisher->GetNative(), topic->GetNative(), writerQos); + + UT_DDS_EXCEPTION_CATCH(mLogger, true) + } + + ~DdsWriter() + { + mNative = __UT_DDS_NULL__; + } + + const NATIVE_TYPE& GetNative() const + { + return mNative; + } + + bool Write(const MSG& message, int64_t waitMicrosec) + { + if (waitMicrosec > 0) + { + WaitReader(waitMicrosec); + } + + UT_DDS_EXCEPTION_TRY + { + mNative.write(message); + return true; + } + UT_DDS_EXCEPTION_CATCH(mLogger, false) + + return false; + } + +private: + void WaitReader(int64_t waitMicrosec) + { + if (waitMicrosec < __UT_DDS_WAIT_MATCHED_TIME_SLICE) + { + return; + } + + int64_t waitTime = (waitMicrosec / 2); + if (waitTime > __UT_DDS_WAIT_MATCHED_TIME_MAX) + { + waitTime = __UT_DDS_WAIT_MATCHED_TIME_MAX; + } + + while (waitTime > 0 && mNative.publication_matched_status().current_count() == 0) + { + MicroSleep(__UT_DDS_WAIT_MATCHED_TIME_SLICE); + waitTime -=__UT_DDS_WAIT_MATCHED_TIME_SLICE; + } + } + +private: + NATIVE_TYPE mNative; +}; + +template +using DdsWriterPtr = std::shared_ptr>; + + +/* + * @brief: DdsReaderListener + */ +template +class DdsReaderListener : public ::dds::sub::NoOpDataReaderListener, DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::sub::DataReaderListener; + using MSG_PTR = std::shared_ptr; + + explicit DdsReaderListener() : + mHasQueue(false), mQuit(false), mMask(::dds::core::status::StatusMask::none()), mLastDataAvailableTime(0) + {} + + ~DdsReaderListener() + { + if (mHasQueue) + { + mQuit = true; + mDataQueuePtr->Interrupt(false); + mDataQueueThreadPtr->Wait(); + } + } + + void SetCallback(const DdsReaderCallback& cb) + { + if (cb.HasMessageHandler()) + { + mMask |= ::dds::core::status::StatusMask::data_available(); + } + + mCallbackPtr.reset(new DdsReaderCallback(cb)); + } + + void SetQueue(int32_t len) + { + if (len <= 0) + { + return; + } + + mHasQueue = true; + mDataQueuePtr.reset(new BlockQueue(len)); + + auto queueThreadFunc = [this]() { + while (true) + { + if (mCallbackPtr && mCallbackPtr->HasMessageHandler()) + { + break; + } + else + { + MicroSleep(__UT_DDS_WAIT_MATCHED_TIME_SLICE); + } + } + while (!mQuit) + { + MSG_PTR dataPtr; + if (mDataQueuePtr->Get(dataPtr)) + { + if (dataPtr) + { + mCallbackPtr->OnDataAvailable(dataPtr.get()); + } + } + } + return 0; + }; + + mDataQueueThreadPtr = CreateThreadEx("rlsnr", UT_CPU_ID_NONE, queueThreadFunc); + } + + int64_t GetLastDataAvailableTime() const + { + return mLastDataAvailableTime; + } + + NATIVE_TYPE* GetNative() const + { + return (NATIVE_TYPE*)this; + } + + const ::dds::core::status::StatusMask& GetStatusMask() const + { + return mMask; + } + +private: + void on_data_available(::dds::sub::DataReader& reader) + { + ::dds::sub::LoanedSamples samples; + samples = reader.take(); + + if (samples.length() <= 0) + { + return; + } + + typename ::dds::sub::LoanedSamples::const_iterator iter; + for (iter=samples.begin(); iterdata(); + if (iter->info().valid()) + { + mLastDataAvailableTime = GetCurrentMonotonicTimeNanosecond(); + + if (mHasQueue) + { + if (!mDataQueuePtr->Put(MSG_PTR(new MSG(m)), true)) + { + LOG_WARNING(mLogger, "earliest mesage was evicted. type:", DdsGetTypeName(MSG)); + } + } + else + { + mCallbackPtr->OnDataAvailable((const void*)&m); + } + } + } + } + +private: + bool mHasQueue; + volatile bool mQuit; + + ::dds::core::status::StatusMask mMask; + int64_t mLastDataAvailableTime; + + DdsReaderCallbackPtr mCallbackPtr; + BlockQueuePtr mDataQueuePtr; + ThreadPtr mDataQueueThreadPtr; +}; + +template +using DdsReaderListenerPtr = std::shared_ptr>; + + +/* + * @brief: DdsReader + */ +template +class DdsReader : public DdsLogger +{ +public: + using NATIVE_TYPE = ::dds::sub::DataReader; + + explicit DdsReader(const DdsSubscriberPtr& subscriber, const DdsTopicPtr& topic, const DdsReaderQos& qos) : + mNative(__UT_DDS_NULL__) + { + UT_DDS_EXCEPTION_TRY + + auto readerQos = subscriber->GetNative().default_datareader_qos(); + qos.CopyToNativeQos(readerQos); + + mNative = NATIVE_TYPE(subscriber->GetNative(), topic->GetNative(), readerQos); + + UT_DDS_EXCEPTION_CATCH(mLogger, true) + } + + ~DdsReader() + { + mNative = __UT_DDS_NULL__; + } + + const NATIVE_TYPE& GetNative() const + { + return mNative; + } + + void SetListener(const DdsReaderCallback& cb, int32_t qlen) + { + mListener.SetCallback(cb); + mListener.SetQueue(qlen); + mNative.listener(mListener.GetNative(), mListener.GetStatusMask()); + } + + int64_t GetLastDataAvailableTime() const + { + return mListener.GetLastDataAvailableTime(); + } + +private: + NATIVE_TYPE mNative; + DdsReaderListener mListener; +}; + +template +using DdsReaderPtr = std::shared_ptr>; + +} +} + +#endif//__UT_DDS_ENTITY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_error.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_error.hpp new file mode 100644 index 0000000..95fc42f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_DDS_ERROR_HPP__ +#define __UT_DDS_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +/* + * dds error. + */ +UT_DECL_ERR(UT_ERR_DDS, 2001, "dds error") + +} +} +#endif//__UT_DDS_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_exception.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_exception.hpp new file mode 100644 index 0000000..a4cb710 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_exception.hpp @@ -0,0 +1,58 @@ +#ifndef __UT_DDS_EXCEPTION_HPP__ +#define __UT_DDS_EXCEPTION_HPP__ + +#include +#include + +#define __UT_DDS_EXCEPTION_MESSAGE(e, d) \ + std::string("Catch dds::core exception. Class:") + __UT_STR(d) + ", Message:" + e.what(); + +#define __UT_DDS_EXCEPTION_CATCH(except, l, t) \ +catch (const except & e) \ +{ \ + if (l || t) \ + { \ + std::string __t9b78e5r = __UT_DDS_EXCEPTION_MESSAGE(e, except); \ + if (l) \ + { \ + LOG_ERROR(l, __t9b78e5r); \ + } \ + if (t) \ + { \ + UT_THROW(DdsException, __t9b78e5r); \ + } \ + } \ +} + +#define UT_DDS_EXCEPTION_TRY \ +try \ +{ + +#define UT_DDS_EXCEPTION_CATCH(l, t) \ +} \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::Error, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidArgumentError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::TimeoutError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::UnsupportedError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::AlreadyClosedError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::IllegalOperationError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::NotEnabledError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::PreconditionNotMetError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::ImmutablePolicyError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::InconsistentPolicyError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::OutOfResourcesError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidDowncastError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::NullReferenceError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::InvalidDataError, l, t) \ +__UT_DDS_EXCEPTION_CATCH(::dds::core::Exception, l, t) \ +__UT_DDS_EXCEPTION_CATCH(std::exception, l, t) + +namespace unitree +{ +namespace common +{ +UT_DECL_EXCEPTION(DdsException, UT_ERR_DDS, UT_DESC_ERR(UT_ERR_DDS)) +} +} + +#endif//__UT_DDS_EXCEPTION_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp new file mode 100644 index 0000000..1bb0718 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp @@ -0,0 +1,62 @@ +#ifndef __UT_DDS_FACTORY_MODEL_HPP__ +#define __UT_DDS_FACTORY_MODEL_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +class DdsFactoryModel +{ +public: + explicit DdsFactoryModel(); + ~DdsFactoryModel(); + + void Init(uint32_t domainId, const std::string& ddsConfig = ""); + void Init(const std::string& ddsParameterFileName = ""); + void Init(const JsonMap& param); + + template + DdsTopicChannelPtr CreateTopicChannel(const std::string& topic) + { + DdsTopicChannelPtr channel = DdsTopicChannelPtr(new DdsTopicChannel()); + channel->SetTopic(mParticipant, topic, mTopicQos); + return channel; + } + + template + void SetWriter(DdsTopicChannelPtr& channelPtr) + { + channelPtr->SetWriter(mPublisher, mWriterQos); + } + + template + void SetReader(DdsTopicChannelPtr& channelPtr, const std::function& handler, int32_t queuelen = 0) + { + DdsReaderCallback cb(handler); + channelPtr->SetReader(mSubscriber, mReaderQos, cb, queuelen); + } + +private: + DdsParticipantPtr mParticipant; + DdsPublisherPtr mPublisher; + DdsSubscriberPtr mSubscriber; + + DdsParticipantQos mParticipantQos; + DdsTopicQos mTopicQos; + DdsPublisherQos mPublisherQos; + DdsSubscriberQos mSubscriberQos; + DdsWriterQos mWriterQos; + DdsReaderQos mReaderQos; + + Logger *mLogger; +}; + +using DdsFactoryModelPtr = std::shared_ptr; + +} +} + +#endif//__UT_DDS_FACTORY_MODEL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_native.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_native.hpp new file mode 100644 index 0000000..59e3429 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_native.hpp @@ -0,0 +1,37 @@ +#ifndef __UT_DDS_NATIVE_HPP__ +#define __UT_DDS_NATIVE_HPP__ + +namespace unitree +{ +namespace common +{ +template +class DdsNative +{ +public: + using NativeType = NATIVE; + + explicit DdsNative() + {} + + virtual ~DdsNative() + {} + + void SetNative(const NATIVE& native) + { + mNative = native; + } + + const NATIVE& GetNative() const + { + return mNative; + } + +protected: + NATIVE mNative; +}; + +} +} + +#endif// diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp new file mode 100644 index 0000000..941f498 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp @@ -0,0 +1,214 @@ +#ifndef __UT_DDS_PARAMETER_HPP__ +#define __UT_DDS_PARAMETER_HPP__ + +#include +#include + +#define UT_DDS_PARAM_KEY_PARTICIPANT "Participant" +#define UT_DDS_PARAM_KEY_DOMAINID "DomainId" +#define UT_DDS_PARAM_KEY_CONFIG "Config" +#define UT_DDS_PARAM_KEY_NAME "Name" +#define UT_DDS_PARAM_KEY_TOPIC "Topic" +#define UT_DDS_PARAM_KEY_TOPICNAME "TopicName" +#define UT_DDS_PARAM_KEY_PUBLISHER "Publisher" +#define UT_DDS_PARAM_KEY_SUBSCRIBER "Subscriber" +#define UT_DDS_PARAM_KEY_WRITER "Writer" +#define UT_DDS_PARAM_KEY_READER "Reader" +#define UT_DDS_PARAM_KEY_QOS "Qos" + +namespace unitree +{ +namespace common +{ +class DdsQosParameterHolder +{ +public: + DdsQosParameterHolder(); + + virtual ~DdsQosParameterHolder(); + + void SetQos(const DdsQosParameter& qos); + const DdsQosParameter& GetQos() const; + +protected: + DdsQosParameter mQos; +}; + +class DdsParticipantParameter : public DdsQosParameterHolder +{ +public: + DdsParticipantParameter(); + DdsParticipantParameter(uint32_t domainId, const std::string& config = ""); + + ~DdsParticipantParameter(); + + void SetDomainId(int32_t domainId); + uint32_t GetDomainId() const; + + void SetConfig(const std::string& config); + const std::string& GetConfig() const; + +private: + uint32_t mDomainId; + std::string mConfig; +}; + +class DdsTopicParameter : public DdsQosParameterHolder +{ +public: + DdsTopicParameter(); + DdsTopicParameter(const std::string& name); + + ~DdsTopicParameter(); + + void SetName(const std::string& name); + const std::string& GetName() const; + +private: + std::string mName; +}; + +class DdsTopicParameterHolder +{ +public: + DdsTopicParameterHolder(); + DdsTopicParameterHolder(const std::string& topicName); + + virtual ~DdsTopicParameterHolder(); + + void SetTopicName(const std::string& topicName); + const std::string& GetTopicName() const; + +private: + std::string mTopicName; +}; + +class DdsWriterParameter : public DdsTopicParameterHolder, public DdsQosParameterHolder +{ +public: + DdsWriterParameter(); + DdsWriterParameter(const std::string& topicName); + + ~DdsWriterParameter(); +}; + +class DdsWriterParameterHolder +{ +public: + DdsWriterParameterHolder(); + + virtual ~DdsWriterParameterHolder(); + + void SetWriter(const DdsWriterParameter& writer); + const DdsWriterParameter& GetWriter() const; + +private: + DdsWriterParameter mWriter; +}; + +class DdsReaderParameter : public DdsTopicParameterHolder, public DdsQosParameterHolder +{ +public: + DdsReaderParameter(); + DdsReaderParameter(const std::string& topicName); + + virtual ~DdsReaderParameter(); +}; + +class DdsReaderParameterHolder +{ +public: + DdsReaderParameterHolder(); + + virtual ~DdsReaderParameterHolder(); + + void SetReader(const DdsReaderParameter& reader); + const DdsReaderParameter& GetReader() const; + +private: + DdsReaderParameter mReader; +}; + +class DdsPublisherParameter : public DdsQosParameterHolder +{ +public: + DdsPublisherParameter(); + + ~DdsPublisherParameter(); + + void AppendWriter(const DdsWriterParameter& writer); + void SetWriter(const std::vector& writer); + const std::vector& GetWriter() const; + +private: + std::vector mWriter; +}; + +class DdsSubscriberParameter : public DdsQosParameterHolder +{ +public: + DdsSubscriberParameter(); + ~DdsSubscriberParameter(); + + void AppendReader(const DdsReaderParameter& reader); + void SetReader(const std::vector& reader); + const std::vector& GetReader() const; + +private: + std::vector mReader; +}; + +class DdsParameter +{ +public: + DdsParameter(); + DdsParameter(const JsonMap& param); + + ~DdsParameter(); + + void Init(const JsonMap& param); + + uint32_t GetDomainId(); + const std::string& GetConfig() const; + + const DdsParticipantParameter& GetParticipant(); + + void AppendTopic(const DdsTopicParameter& topic); + const std::map& GetTopic() const; + + void AppendPublisher(const DdsPublisherParameter& publisher); + void SetPublisher(const std::vector& publisher); + const std::vector& GetPublisher() const; + + void AppendSubscriber(const DdsSubscriberParameter& subscriber); + void SetSubscriber(const std::vector& subscriber); + const std::vector& GetSubscriber() const; + + const DdsQosParameter& GetParticipantQos() const; + const DdsQosParameter& GetTopicQos() const; + const DdsQosParameter& GetPublisherQos() const; + const DdsQosParameter& GetSubscriberQos() const; + const DdsQosParameter& GetWriterQos() const; + const DdsQosParameter& GetReaderQos() const; + +private: + uint32_t mDomainId; + std::string mConfig; + + DdsQosParameter mParticipantQos; + DdsQosParameter mTopicQos; + DdsQosParameter mPublisherQos; + DdsQosParameter mSubscriberQos; + DdsQosParameter mWriterQos; + DdsQosParameter mReaderQos; + + DdsParticipantParameter mParticipant; + std::map mTopic; + std::vector mPublisher; + std::vector mSubscriber; + +}; + +} +} +#endif//__UT_DDS_PARAMETER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_qos.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos.hpp new file mode 100644 index 0000000..bd7e683 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos.hpp @@ -0,0 +1,71 @@ +#ifndef __UT_DDS_QOS_HPP__ +#define __UT_DDS_QOS_HPP__ + +#include + +using namespace org::eclipse::cyclonedds; + +namespace unitree +{ +namespace common +{ +#define UT_DECL_DDS_QOS(QosType, QosNative) \ +class QosType: public QosNative \ +{ \ +public: \ + using NativeQosType = QosNative::NativeType; \ + explicit QosType() \ + { \ + InitPolicyDefault(); \ + } \ + template \ + void SetPolicy(const POLICY& policy) \ + { \ + mNative.policy(policy.GetNative()); \ + mPolicyNameSet.insert(policy.GetName()); \ + } \ + bool HasPolicy(const std::string& name) const \ + { \ + return mPolicyNameSet.find(name) != mPolicyNameSet.end(); \ + } \ + void CopyToNativeQos(NativeQosType& qos) const; \ +private: \ + void InitPolicyDefault(); \ +private: \ + std::set mPolicyNameSet; \ +}; + +/* + * DdsParticipantQos + */ +UT_DECL_DDS_QOS(DdsParticipantQos, DdsNative<::dds::domain::qos::DomainParticipantQos>) + +/* + * DdsTopicQos + */ +UT_DECL_DDS_QOS(DdsTopicQos, DdsNative<::dds::topic::qos::TopicQos>) + +/* + * DdsPublisherQos + */ +UT_DECL_DDS_QOS(DdsPublisherQos, DdsNative<::dds::pub::qos::PublisherQos>) + +/* + * DdsSubscriberQos + */ +UT_DECL_DDS_QOS(DdsSubscriberQos, DdsNative<::dds::sub::qos::SubscriberQos>) + +/* + * DdsWriterQos + */ +UT_DECL_DDS_QOS(DdsWriterQos, DdsNative<::dds::pub::qos::DataWriterQos>) + +/* + * DdsReaderQos + */ +UT_DECL_DDS_QOS(DdsReaderQos, DdsNative<::dds::sub::qos::DataReaderQos>) + +} +} + +#endif//__UT_DDS_QOS_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp new file mode 100644 index 0000000..571aec9 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp @@ -0,0 +1,81 @@ +#ifndef __UT_DDS_QOS_PARAMETER_HPP__ +#define __UT_DDS_QOS_PARAMETER_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class DdsQosParameter +{ +public: + DdsQosParameter(); + ~DdsQosParameter(); + + void Init(const JsonMap& data); + +#define __GET_POLICY(POLICY) \ + const DdsQos##POLICY##PolicyParameter& Get##POLICY() const \ + { \ + return m##POLICY; \ + } + + __GET_POLICY(Deadline) + __GET_POLICY(DestinationOrder) + __GET_POLICY(Durability) + __GET_POLICY(DurabilityService) + __GET_POLICY(EntityFactory) + __GET_POLICY(GroupData) + __GET_POLICY(History) + __GET_POLICY(LatencyBudget) + __GET_POLICY(Lifespan) + __GET_POLICY(Liveliness) + __GET_POLICY(Ownership) + __GET_POLICY(OwnershipStrength) + __GET_POLICY(Partition) + __GET_POLICY(Presentation) + __GET_POLICY(ReaderDataLifecycle) + __GET_POLICY(Reliability) + __GET_POLICY(ResourceLimits) + __GET_POLICY(TimeBasedFilter) + __GET_POLICY(TopicData) + __GET_POLICY(TransportPriority) + __GET_POLICY(WriterDataLifecycle) + __GET_POLICY(UserData) + +#undef __GET_POLICY + + bool Default() const; + +private: + bool mDefault; + + DdsQosDeadlinePolicyParameter mDeadline; + DdsQosDestinationOrderPolicyParameter mDestinationOrder; + DdsQosDurabilityPolicyParameter mDurability; + DdsQosDurabilityServicePolicyParameter mDurabilityService; + DdsQosEntityFactoryPolicyParameter mEntityFactory; + DdsQosGroupDataPolicyParameter mGroupData; + DdsQosHistoryPolicyParameter mHistory; + DdsQosLatencyBudgetPolicyParameter mLatencyBudget; + DdsQosLifespanPolicyParameter mLifespan; + DdsQosLivelinessPolicyParameter mLiveliness; + DdsQosOwnershipPolicyParameter mOwnership; + DdsQosOwnershipStrengthPolicyParameter mOwnershipStrength; + DdsQosPartitionPolicyParameter mPartition; + DdsQosPresentationPolicyParameter mPresentation; + DdsQosReaderDataLifecyclePolicyParameter mReaderDataLifecycle; + DdsQosReliabilityPolicyParameter mReliability; + DdsQosResourceLimitsPolicyParameter mResourceLimits; + DdsQosTimeBasedFilterPolicyParameter mTimeBasedFilter; + DdsQosTopicDataPolicyParameter mTopicData; + DdsQosTransportPriorityPolicyParameter mTransportPriority; + DdsQosWriterDataLifecyclePolicyParameter mWriterDataLifecycle; + DdsQosUserDataPolicyParameter mUserData; +}; + +} +} + +#endif//__UT_DDS_QOS_PARAMETER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy.hpp new file mode 100644 index 0000000..efc6420 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy.hpp @@ -0,0 +1,195 @@ +#ifndef __UT_DDS_QOS_POLICY_HPP__ +#define __UT_DDS_QOS_POLICY_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +class DdsQosPolicyName +{ +public: + explicit DdsQosPolicyName(const std::string& name) : + mName(name) + {} + + virtual ~DdsQosPolicyName() + {} + + const std::string& GetName() const + { + return mName; + } + +protected: + std::string mName; +}; + +class DdsDuration : public DdsNative<::dds::core::Duration> +{ +public: + explicit DdsDuration(int64_t nanoSecond); + ~DdsDuration(); +}; + +class DdsQosDeadlinePolicy : public DdsNative<::dds::core::policy::Deadline>, public DdsQosPolicyName +{ +public: + explicit DdsQosDeadlinePolicy(int64_t period); + ~DdsQosDeadlinePolicy(); +}; + +class DdsQosDestinationOrderPolicy : public DdsNative<::dds::core::policy::DestinationOrder>, public DdsQosPolicyName +{ +public: + explicit DdsQosDestinationOrderPolicy(int32_t kind); + ~DdsQosDestinationOrderPolicy(); +}; + +class DdsQosDurabilityPolicy : public DdsNative<::dds::core::policy::Durability>, public DdsQosPolicyName +{ +public: + explicit DdsQosDurabilityPolicy(int32_t kind); + ~DdsQosDurabilityPolicy(); +}; + +class DdsQosDurabilityServicePolicy : public DdsNative<::dds::core::policy::DurabilityService>, public DdsQosPolicyName +{ +public: + explicit DdsQosDurabilityServicePolicy(int64_t cleanupDelay, int32_t historyKind, int32_t historyDepth, + int32_t maxSamples, int32_t maxInstances, int32_t maxSamplesPerInstance); + ~DdsQosDurabilityServicePolicy(); +}; + +class DdsQosEntityFactoryPolicy : public DdsNative<::dds::core::policy::EntityFactory>, public DdsQosPolicyName +{ +public: + explicit DdsQosEntityFactoryPolicy(bool autoEnable); + ~DdsQosEntityFactoryPolicy(); +}; + +class DdsQosGroupDataPolicy : public DdsNative<::dds::core::policy::GroupData>, public DdsQosPolicyName +{ +public: + explicit DdsQosGroupDataPolicy(const std::vector& value); + ~DdsQosGroupDataPolicy(); +}; + +class DdsQosHistoryPolicy : public DdsNative<::dds::core::policy::History>, public DdsQosPolicyName +{ +public: + explicit DdsQosHistoryPolicy(int32_t kind, int32_t depth); + ~DdsQosHistoryPolicy(); +}; + +class DdsQosLatencyBudgetPolicy : public DdsNative<::dds::core::policy::LatencyBudget>, public DdsQosPolicyName +{ +public: + explicit DdsQosLatencyBudgetPolicy(int64_t duration); + ~DdsQosLatencyBudgetPolicy(); +}; + +class DdsQosLifespanPolicy : public DdsNative<::dds::core::policy::Lifespan>, public DdsQosPolicyName +{ +public: + explicit DdsQosLifespanPolicy(int64_t duration); + ~DdsQosLifespanPolicy(); +}; + +class DdsQosLivelinessPolicy : public DdsNative<::dds::core::policy::Liveliness>, public DdsQosPolicyName +{ +public: + explicit DdsQosLivelinessPolicy(int32_t kind, int64_t leaseDuration); + ~DdsQosLivelinessPolicy(); +}; + +class DdsQosOwnershipPolicy : public DdsNative<::dds::core::policy::Ownership>, public DdsQosPolicyName +{ +public: + explicit DdsQosOwnershipPolicy(int32_t kind); + ~DdsQosOwnershipPolicy(); +}; + +class DdsQosOwnershipStrengthPolicy : public DdsNative<::dds::core::policy::OwnershipStrength>, public DdsQosPolicyName +{ +public: + explicit DdsQosOwnershipStrengthPolicy(int32_t strength); + ~DdsQosOwnershipStrengthPolicy(); +}; + +class DdsQosPartitionPolicy : public DdsNative<::dds::core::policy::Partition>, public DdsQosPolicyName +{ +public: + explicit DdsQosPartitionPolicy(const std::string& name); + ~DdsQosPartitionPolicy(); +}; + +class DdsQosPresentationPolicy : public DdsNative<::dds::core::policy::Presentation>, public DdsQosPolicyName +{ +public: + explicit DdsQosPresentationPolicy(int32_t accessScopeKind, bool coherentAccess, bool orderedAccess); + ~DdsQosPresentationPolicy(); +}; + +class DdsQosReaderDataLifecyclePolicy : public DdsNative<::dds::core::policy::ReaderDataLifecycle>, public DdsQosPolicyName +{ +public: + explicit DdsQosReaderDataLifecyclePolicy(int64_t autopurgeNowriterSamplesDelay, int64_t autopurgeDisposedSamplesDelay); + ~DdsQosReaderDataLifecyclePolicy(); +}; + +class DdsQosReliabilityPolicy : public DdsNative<::dds::core::policy::Reliability>, public DdsQosPolicyName +{ +public: + explicit DdsQosReliabilityPolicy(int32_t kind, int64_t maxBlockingTime); + ~DdsQosReliabilityPolicy(); +}; + +class DdsQosResourceLimitsPolicy : public DdsNative<::dds::core::policy::ResourceLimits>, public DdsQosPolicyName +{ +public: + explicit DdsQosResourceLimitsPolicy(int32_t maxSamples, int32_t maxInstances, int32_t maxSamplesPerInstance); + ~DdsQosResourceLimitsPolicy(); +}; + +class DdsQosTimeBasedFilterPolicy : public DdsNative<::dds::core::policy::TimeBasedFilter>, public DdsQosPolicyName +{ +public: + explicit DdsQosTimeBasedFilterPolicy(int64_t minSep); + ~DdsQosTimeBasedFilterPolicy(); +}; + +class DdsQosTopicDataPolicy : public DdsNative<::dds::core::policy::TopicData>, public DdsQosPolicyName +{ +public: + explicit DdsQosTopicDataPolicy(const std::vector& value); + ~DdsQosTopicDataPolicy(); +}; + +class DdsQosTransportPriorityPolicy : public DdsNative<::dds::core::policy::TransportPriority>, public DdsQosPolicyName +{ +public: + explicit DdsQosTransportPriorityPolicy(int32_t value); + ~DdsQosTransportPriorityPolicy(); +}; + +class DdsQosWriterDataLifecyclePolicy : public DdsNative<::dds::core::policy::WriterDataLifecycle>, public DdsQosPolicyName +{ +public: + explicit DdsQosWriterDataLifecyclePolicy(bool autodisposeUnregisteredInstances); + ~DdsQosWriterDataLifecyclePolicy(); +}; + +class DdsQosUserDataPolicy : public DdsNative<::dds::core::policy::UserData>, public DdsQosPolicyName +{ +public: + explicit DdsQosUserDataPolicy(const std::vector& value); + ~DdsQosUserDataPolicy(); +}; + +} +} + +#endif//__UT_DDS_QOS_POLICY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp new file mode 100644 index 0000000..414a864 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp @@ -0,0 +1,607 @@ +#ifndef __UT_DDS_QOS_POLICY_PARAMETER_HPP__ +#define __UT_DDS_QOS_POLICY_PARAMETER_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +/* + *---------------------------- + * Supported Qos policy: + * 1. Deadline + * IDL: + * struct DeadlineQosPolicy { + * Duration_t period; + * }; + * + * 2. DestinationOrder + * IDL: + * enum DestinationOrderQosPolicyKind { + * BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS, + * BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS + * }; + * struct DestinationOrderQosPolicy { + * DestinationOrderQosPolicyKind kind; + * }; + * + * 3. Durability + * IDL: + * enum DurabilityQosPolicyKind { + * VOLATILE_DURABILITY_QOS, // Least Durability + * TRANSIENT_LOCAL_DURABILITY_QOS, + * TRANSIENT_DURABILITY_QOS, + * PERSISTENT_DURABILITY_QOS // Greatest Durability + * }; + * struct DurabilityQosPolicy { + * DurabilityQosPolicyKind kind; + * }; + * + * 4. DurabilityService + * IDL: + * struct DurabilityServiceQosPolicy { + * Duration_t service_cleanup_delay; + * HistoryQosPolicyKind history_kind; + * long history_depth; + * long max_samples; + * long max_instances; + * long max_samples_per_instance; + * }; + * + * 5. EntityFactory + * IDL: + * struct EntityFactoryQosPolicy { + * boolean autoenable_created_entities; + * }; + * + * 6. GroupData + * IDL: + * struct GroupDataQosPolicy { + * sequence value; + * }; + * + * 7. History + * IDL: + * enum HistoryQosPolicyKind { + * KEEP_LAST_HISTORY_QOS, + * KEEP_ALL_HISTORY_QOS + * }; + * struct HistoryQosPolicy { + * HistoryQosPolicyKind kind; + * long depth; + * }; + * 8. LatencyBudget + * IDL: + * struct LatencyBudgetQosPolicy { + * Duration_t duration; + * }; + * + * 9. Lifespan + * IDL: + * struct LifespanQosPolicy { + * Duration_t duration; + * } + * + * 10.Liveliness + * IDL: + * enum LivelinessQosPolicyKind { + * AUTOMATIC_LIVELINESS_QOS, + * MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, + * MANUAL_BY_TOPIC_LIVELINESS_QOS + * }; + * struct LivelinessQosPolicy { + * LivelinessQosPolicyKind kind; + * Duration_t lease_duration; + * }; + * + * 11.Ownership + * IDL: + * enum OwnershipQosPolicyKind { + * SHARED_OWNERSHIP_QOS, + * EXCLUSIVE_OWNERSHIP_QOS + * }; + * struct OwnershipQosPolicy { + * OwnershipQosPolicyKind kind; + * }; + * + * 12.OwnershipStrength + * IDL: + * struct OwnershipStrengthQosPolicy { + * long value; + * }; + * + * 13.Partition + * IDL: + * struct PartitionQosPolicy { + * StringSeq name; + * }; + * + * 14.Presentation + * IDL: + * enum PresentationQosPolicyAccessScopeKind { + * INSTANCE_PRESENTATION_QOS, + * TOPIC_PRESENTATION_QOS, + * GROUP_PRESENTATION_QOS + * }; + * struct PresentationQosPolicy { + * PresentationQosPolicyAccessScopeKind access_scope; + * boolean coherent_access; + * boolean ordered_access; + * }; + * + * 15.ReaderDataLifecycle + * IDL: + * struct ReaderDataLifecycleQosPolicy { + * Duration_t autopurge_nowriter_samples_delay; + * Duration_t autopurge_disposed_samples_delay; + * }; + * + * 16.Reliability + * IDL: + * enum ReliabilityQosPolicyKind { + * BEST_EFFORT_RELIABILITY_QOS, + * RELIABLE_RELIABILITY_QOS + * }; + * struct ReliabilityQosPolicy { + * ReliabilityQosPolicyKind kind; + * Duration_t max_blocking_time; + * }; + * 17.ResourceLimits + * IDL: + * struct ResourceLimitsQosPolicy { + * long max_samples; + * long max_instances; + * long max_samples_per_instance; + * }; + * + * 18.TimeBasedFilter + * IDL: + * struct TimeBasedFilterQosPolicy { + * Duration_t minimum_separation; + * }; + * + * 19.TopicData + * IDL: + * struct TopicDataQosPolicy { + * sequence value; + * }; + * + * 20.TransportPriority + * IDL: + * struct TransportPriorityQosPolicy { + * long value; + * }; + * + * 21.UserData + * IDL: + * struct UserDataQosPolicy { + * sequence value; + * }; + * + * 22.WriterDataLifecycle + * IDL: + * struct WriterDataLifecycleQosPolicy { + * boolean autodispose_unregistered_instances; + * }; + * + *------------------------------------------------------------------------------------------------- + * QoS policis corresponding to entity: + * DomainParticipant: [2] { EntityFactory, UserData } + * Topic: [13] { Deadline, DestinationOrder, Durability, DurabilityService, History, + * LatencyBudget, Lifespan, Liveliness, Ownership, Reliability, + * ResourceLimits, TopicData, TransportPriority } + * Publisher: [4] { EntityFactory, GroupData, Partition, Presentation } + * Subscriber: [4] { EntityFactory, GroupData, Partition, Presentation } + * DataWriter: [14] { Deadline, DestinationOrder, Durability, History, LatencyBudget, + * Lifespan, Liveliness, Ownership, OwnershipStrength, Reliability, + * ResourceLimits, TransportPriority, UserData, WriterDataLifecycle } + * DataReader: [12] { Deadline, DestinationOrder, Durability, History, LatencyBudget + * Liveliness, Ownership, Reliability, ReaderDataLifecycle, ResourceLimits, + * TimeBasedFilter, UserData } + *------------------------------------------------------------------------------------------------- + */ + +/* + * Qos policy name + */ +#define UT_DDS_QOS_POLICY_NAME_DEADLINE "Deadline" +#define UT_DDS_QOS_POLICY_NAME_DESTINATION_ORDER "DestinationOrder" +#define UT_DDS_QOS_POLICY_NAME_DURABILITY "Durability" +#define UT_DDS_QOS_POLICY_NAME_DURABILITY_SERVICE "DurabilityService" +#define UT_DDS_QOS_POLICY_NAME_ENTITY_FACTORY "EntityFactory" +#define UT_DDS_QOS_POLICY_NAME_GROUP_DATA "GroupData" +#define UT_DDS_QOS_POLICY_NAME_HISTORY "History" +#define UT_DDS_QOS_POLICY_NAME_LATENCY_BUDGET "LatencyBudget" +#define UT_DDS_QOS_POLICY_NAME_LIFESPAN "Lifespan" +#define UT_DDS_QOS_POLICY_NAME_LIVELINESS "Liveliness" +#define UT_DDS_QOS_POLICY_NAME_OWNERSHIP "Ownership" +#define UT_DDS_QOS_POLICY_NAME_OWNERSHIP_STRENGTH "OwnershipStrength" +#define UT_DDS_QOS_POLICY_NAME_PARTITION "Partition" +#define UT_DDS_QOS_POLICY_NAME_PRESENTATION "Presentation" +#define UT_DDS_QOS_POLICY_NAME_READER_DATA_LIFECYCLE "ReaderDataLifecycle" +#define UT_DDS_QOS_POLICY_NAME_RELIABILITY "Reliability" +#define UT_DDS_QOS_POLICY_NAME_RESOURCE_LIMITS "ResourceLimits" +#define UT_DDS_QOS_POLICY_NAME_TIME_BASED_FILTER "TimeBasedFilter" +#define UT_DDS_QOS_POLICY_NAME_TOPIC_DATA "TopicData" +#define UT_DDS_QOS_POLICY_NAME_TRANSPORT_PRIORITY "TransportPriority" +#define UT_DDS_QOS_POLICY_NAME_WRITER_DATA_LIFECYCLE "WriterDataLifecycle" +#define UT_DDS_QOS_POLICY_NAME_USER_DATA "UserData" + +/* + * Qos Policy Member Name + */ +#define UT_DDS_QOS_POLICY_MEMBER_NAME_KIND "kind" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_PEROID "peroid" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_CLEANUP_DELAY "service_cleanup_delay" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_HISTORY_KIND "history_kind" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_HISTORY_DEPTH "history_depth" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_MAX_SAMPLES "max_samples" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_MAX_INSTANCES "max_instances" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_MAX_SAMPLES_PER_INSTANCE "max_samples_per_instance" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_AUTO_ENABLE "autoenable_created_entities" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_VALUE "value" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_DEPTH "depth" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_DURATION "duration" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_LEASE_DURATION "lease_duration" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_NAME "name" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_ACCESS_SCOPE "access_scope" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_COHERENT_ACCESS "coherent_access" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_ORDERED_ACCESS "ordered_access" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_MAX_BLOCKING_TIME "max_blocking_time" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_AUTODISPOSE_UNREGISETED_INSTANCES "autodispose_unregistered_instances" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_AUTOPURGE_NOWRITER_SAMPLES_DELAY "autopurge_nowriter_samples_delay" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_AUTOPURGE_DISPOSED_SAMPLES_DELAY "autopurge_disposed_samples_delay" +#define UT_DDS_QOS_POLICY_MEMBER_NAME_MIN_SEP "minimum_separation" + +class DdsQosPolicyParameter +{ +public: + DdsQosPolicyParameter(); + virtual ~DdsQosPolicyParameter(); + + virtual void Init(const JsonMap& data) = 0; + + void Update(); + bool Default() const; + +protected: + bool mDefault; +}; + +class DdsQosDeadlinePolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosDeadlinePolicyParameter(); + ~DdsQosDeadlinePolicyParameter(); + + void Init(const JsonMap& data); + int64_t GetPeriod() const; + +private: + int64_t mPeriod; +}; + +class DdsQosDestinationOrderPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosDestinationOrderPolicyParameter(); + ~DdsQosDestinationOrderPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + +private: + int32_t mKind; +}; + +class DdsQosDurabilityPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosDurabilityPolicyParameter(); + ~DdsQosDurabilityPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + +private: + int32_t mKind; +}; + +class DdsQosDurabilityServicePolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosDurabilityServicePolicyParameter(); + ~DdsQosDurabilityServicePolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetCleanupDelay() const; + int32_t GetHistoryKind() const; + int32_t GetHistoryDepth() const; + int32_t GetMaxSamples() const; + int32_t GetMaxInstances() const; + int32_t GetMaxSamplesPerInstance() const; + +private: + int64_t mCleanupDelay; + int32_t mHistoryKind; + int32_t mHistoryDepth; + int32_t mMaxSamples; + int32_t mMaxInstances; + int32_t mMaxSamplesPerInstance; +}; + +class DdsQosEntityFactoryPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosEntityFactoryPolicyParameter(); + ~DdsQosEntityFactoryPolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetAutoEnable() const; + +private: + bool mAutoEnable; +}; + +class DdsQosGroupDataPolicyParameter: public DdsQosPolicyParameter +{ +public: + DdsQosGroupDataPolicyParameter(); + ~DdsQosGroupDataPolicyParameter(); + + void Init(const JsonMap& data); + const std::vector& GetValue() const; + +private: + std::vector mValue; +}; + +class DdsQosHistoryPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosHistoryPolicyParameter(); + ~DdsQosHistoryPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + int32_t GetDepth() const; + +private: + int32_t mKind; + int32_t mDepth; +}; + +class DdsQosLatencyBudgetPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosLatencyBudgetPolicyParameter(); + ~DdsQosLatencyBudgetPolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetDuration() const; + +private: + int64_t mDuration; +}; + +class DdsQosLifespanPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosLifespanPolicyParameter(); + ~DdsQosLifespanPolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetDuration() const; + +private: + int64_t mDuration; +}; + +class DdsQosLivelinessPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosLivelinessPolicyParameter(); + ~DdsQosLivelinessPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + int64_t GetLeaseDuration() const; + +private: + int32_t mKind; + int64_t mLeaseDuration; +}; + +class DdsQosOwnershipPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosOwnershipPolicyParameter(); + ~DdsQosOwnershipPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + +private: + int32_t mKind; +}; + +class DdsQosOwnershipStrengthPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosOwnershipStrengthPolicyParameter(); + ~DdsQosOwnershipStrengthPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetValue() const; + +private: + int32_t mValue; +}; + +class DdsQosPartitionPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosPartitionPolicyParameter(); + ~DdsQosPartitionPolicyParameter(); + + void Init(const JsonMap& data); + + const std::string& GetName() const; + +private: + std::string mName; +}; + +class DdsQosPresentationPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosPresentationPolicyParameter(); + ~DdsQosPresentationPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetAccessScopeKind() const; + bool GetCoherentAccess() const; + bool GetOrderedAccess() const; + +private: + int32_t mAccessScopeKind; + bool mCoherentAccess; + bool mOrderedAccess; +}; + +class DdsQosReaderDataLifecyclePolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosReaderDataLifecyclePolicyParameter(); + ~DdsQosReaderDataLifecyclePolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetAutopurgeNowriterSamplesDelay() const; + int64_t GetAutopurgeDisposedSamplesDelay() const; + +private: + int64_t mAutopurgeNowriterSamplesDelay; + int64_t mAutopurgeDisposedSamplesDelay; +}; + +class DdsQosReliabilityPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosReliabilityPolicyParameter(); + ~DdsQosReliabilityPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetKind() const; + int64_t GetMaxBlockingTime() const; + +private: + int32_t mKind; + int64_t mMaxBlockingTime; +}; + +class DdsQosResourceLimitsPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosResourceLimitsPolicyParameter(); + ~DdsQosResourceLimitsPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetMaxSamples() const; + int32_t GetMaxInstances() const; + int32_t GetMaxSamplesPerInstance() const; + +private: + int32_t mMaxSamples; + int32_t mMaxInstances; + int32_t mMaxSamplesPerInstance; +}; + +class DdsQosTimeBasedFilterPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosTimeBasedFilterPolicyParameter(); + ~DdsQosTimeBasedFilterPolicyParameter(); + + void Init(const JsonMap& data); + + int64_t GetMinSep() const; + +private: + int64_t mMinSep; +}; + +class DdsQosTopicDataPolicyParameter: public DdsQosPolicyParameter +{ +public: + DdsQosTopicDataPolicyParameter(); + ~DdsQosTopicDataPolicyParameter(); + + void Init(const JsonMap& data); + + const std::vector& GetValue() const; + +private: + std::vector mValue; +}; + +class DdsQosTransportPriorityPolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosTransportPriorityPolicyParameter(); + ~DdsQosTransportPriorityPolicyParameter(); + + void Init(const JsonMap& data); + + int32_t GetValue() const; + +private: + int32_t mValue; +}; + +class DdsQosWriterDataLifecyclePolicyParameter : public DdsQosPolicyParameter +{ +public: + DdsQosWriterDataLifecyclePolicyParameter(); + ~DdsQosWriterDataLifecyclePolicyParameter(); + + void Init(const JsonMap& data); + + bool GetAutodisposeUnregisteredInstances() const; + +private: + bool mAutodisposeUnregisteredInstances; +}; + +class DdsQosUserDataPolicyParameter: public DdsQosPolicyParameter +{ +public: + DdsQosUserDataPolicyParameter(); + ~DdsQosUserDataPolicyParameter(); + + void Init(const JsonMap& data); + + const std::vector& GetValue() const; + +private: + std::vector mValue; +}; + +} +} + +#endif//__UT_DDS_QOS_POLICY_PARAMETER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_realize.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_realize.hpp new file mode 100644 index 0000000..1ef2929 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_qos_realize.hpp @@ -0,0 +1,26 @@ +#ifndef __UT_DDS_QOS_REALIZE_HPP__ +#define __UT_DDS_QOS_REALIZE_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +void Realize(const DdsQosParameter& parameter, DdsParticipantQos& qos); + +void Realize(const DdsQosParameter& parameter, DdsTopicQos& qos); + +void Realize(const DdsQosParameter& parameter, DdsPublisherQos& qos); + +void Realize(const DdsQosParameter& parameter, DdsSubscriberQos& qos); + +void Realize(const DdsQosParameter& parameter, DdsWriterQos& qos); + +void Realize(const DdsQosParameter& parameter, DdsReaderQos& qos); + +} +} + +#endif//__UT_DDS_QOS_REALIZE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp new file mode 100644 index 0000000..7aa03d0 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp @@ -0,0 +1,96 @@ +#ifndef __UT_DDS_TOPIC_CHANNEL_HPP__ +#define __UT_DDS_TOPIC_CHANNEL_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +/* + * @brief: DdsTopicChannelAbstract + */ +class DdsTopicChannelAbstract +{ +public: + virtual bool Write(const void* message, int64_t waitMicrosec) = 0; + virtual int64_t GetLastDataAvailableTime() const = 0; +}; + +using DdsTopicChannelAbstractPtr = std::shared_ptr; + +#define UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC 100000 + +/* + * @brief: DdsTopicChannel + */ +template +class DdsTopicChannel : public DdsTopicChannelAbstract +{ +public: + explicit DdsTopicChannel() + {} + + ~DdsTopicChannel() + {} + + void SetTopic(const DdsParticipantPtr& participant, const std::string& name, const DdsTopicQos& qos) + { + mTopic = DdsTopicPtr(new DdsTopic(participant, name, qos)); + } + + void SetWriter(const DdsPublisherPtr& publisher, const DdsWriterQos& qos) + { + mWriter = DdsWriterPtr(new DdsWriter(publisher, mTopic, qos)); + MicroSleep(UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC); + } + + void SetReader(const DdsSubscriberPtr& subscriber, const DdsReaderQos& qos, const DdsReaderCallback& cb, int32_t queuelen) + { + mReader = DdsReaderPtr(new DdsReader(subscriber, mTopic, qos)); + mReader->SetListener(cb, queuelen); + } + + DdsWriterPtr GetWriter() const + { + return mWriter; + } + + DdsReaderPtr GetReader() const + { + return mReader; + } + + bool Write(const void* message, int64_t waitMicrosec) + { + return Write(*(const MSG*)message, waitMicrosec); + } + + bool Write(const MSG& message, int64_t waitMicrosec) + { + return mWriter->Write(message, waitMicrosec); + } + + int64_t GetLastDataAvailableTime() const + { + if (mReader) + { + return mReader->GetLastDataAvailableTime(); + } + + return 0; + } + +private: + DdsTopicPtr mTopic; + DdsWriterPtr mWriter; + DdsReaderPtr mReader; +}; + +template +using DdsTopicChannelPtr = std::shared_ptr>; + +} +} + +#endif//__UT_DDS_TOPIC_CHANNEL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/dds/dds_traits.hpp b/deps/unitree_sdk2/include/unitree/common/dds/dds_traits.hpp new file mode 100644 index 0000000..418886a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/dds/dds_traits.hpp @@ -0,0 +1,18 @@ +#ifndef __UT_DDS_TRAINTS_HPP__ +#define __UT_DDS_TRAINTS_HPP__ + +namespace unitree +{ +namespace common +{ +#include + +#define DdsGetTypeName(TYPE) \ + org::eclipse::cyclonedds::topic::TopicTraits::getTypeName() + +#define DdsIsKeyless(TYPE) \ + org::eclipse::cyclonedds::topic::TopicTraits::isKeyless() + +} +} +#endif//__UT_DDS_TRAINTS_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/decl.hpp b/deps/unitree_sdk2/include/unitree/common/decl.hpp new file mode 100644 index 0000000..5b5aae7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/decl.hpp @@ -0,0 +1,92 @@ +#ifndef __UT_DECL_HPP__ +#define __UT_DECL_HPP__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef __GLIBC__ +#define UT_UNLIKELY(x) __builtin_expect(!!(x), 0) +#define UT_LIKELY(x) __builtin_expect(!!(x), 1) +#else +#define UT_UNLIKELY(x) (x) +#define UT_LIKELY(x) (x) +#endif//__GLIBC__ + +#define __UT_CAT(x, y) x##y +#define UT_CAT(x, y) __UT_CAT(x, y) + +#define __UT_STR(x) #x +#define UT_STR(x) __UT_STR(x) + +#define UT_QUEUE_MAX_LEN INT_MAX +#define UT_PATH_MAX_LEN 1024 +#define UT_THREAD_NAME_MAX_LEN 16 + +#define UT_DECL_ERR(name, code, desc) \ + const int32_t name = code; const std::string name##_DESC = desc; + +#define UT_DESC_ERR(name) name##_DESC + +#ifndef SYS_gettid +#define SYS_gettid __NR_gettid +#endif//SYS_gettid + +#define UT_SAFE_DEL(x) \ + if ((x) != NULL) { delete (x); (x) = NULL; } + +namespace unitree +{ +namespace common +{ +static const std::string UT_EMPTY_STR = ""; +} +} + +#endif//__UT_DECL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/error.hpp b/deps/unitree_sdk2/include/unitree/common/error.hpp new file mode 100644 index 0000000..ad95300 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/error.hpp @@ -0,0 +1,25 @@ +#ifndef __UT_ERROR_HPP__ +#define __UT_ERROR_HPP__ + +#include + +namespace unitree +{ +//Declare error +UT_DECL_ERR(UT_OK, 0, "Success") +UT_DECL_ERR(UT_ERR_COMMON, 1001, "common error") +UT_DECL_ERR(UT_ERR_BADCAST, 1002, "Bad cast error") +UT_DECL_ERR(UT_ERR_FUTURE, 1003, "Future error") +UT_DECL_ERR(UT_ERR_FUTURE_FAULT,1004, "Future fault error") +UT_DECL_ERR(UT_ERR_JSON, 1005, "Json data error") +UT_DECL_ERR(UT_ERR_SYSTEM, 1006, "System error") +UT_DECL_ERR(UT_ERR_FILE, 1007, "File operation error") +UT_DECL_ERR(UT_ERR_SOCKET, 1008, "Socket operaton error") +UT_DECL_ERR(UT_ERR_IO, 1009, "IO operaton error") +UT_DECL_ERR(UT_ERR_LOCK, 1010, "Lock operation error") +UT_DECL_ERR(UT_ERR_NETWORK, 1011, "Network error") +UT_DECL_ERR(UT_ERR_TIMEOUT, 1012, "Timeout error") +UT_DECL_ERR(UT_ERR_UNKNOWN, -1, "Unknown error") +} + +#endif//__UT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/exception.hpp b/deps/unitree_sdk2/include/unitree/common/exception.hpp new file mode 100644 index 0000000..72558eb --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/exception.hpp @@ -0,0 +1,203 @@ +#ifndef __UT_EXCEPTION_HPP__ +#define __UT_EXCEPTION_HPP__ + +#include + +#define UT_MAX_TRACE_ADDR_NUMBER 64 + +namespace unitree +{ +namespace common +{ +class Exception : public std::exception +{ +public: + Exception() throw() + : Exception(UT_ERR_UNKNOWN, UT_DESC_ERR(UT_ERR_UNKNOWN)) + {} + + Exception(int32_t code, const std::string& message) throw() + : mCode(code), mMessage(message), mLine(0) + {} + + virtual ~Exception() + {} + + int32_t GetCode() const + { + return mCode; + } + + const std::string& GetMessage() const + { + return mMessage; + } + + virtual const char* what() const noexcept + { + return mMessage.c_str(); + } + + virtual std::string GetClassName() const + { + return "Exception"; + } + + void Init(const char* file, const char* func, int32_t line) + { + mFile = file; + mFunc = func; + mLine = line; + } + + std::string ToString() const + { + std::ostringstream os; + AddDetail(os); + + return os.str(); + } + + std::string StackTrace() const + { + std::ostringstream os; + AddDetail(os); + AddBackTrace(os); + + return os.str(); + } + +protected: + void AddDetail(std::ostringstream& os) const + { + os << "Catch " << GetClassName() << " code:" << mCode + << ", message:" << mMessage << std::endl; + + if (!mFile.empty() && !mFunc.empty() && mLine > 0) + { + os << " at __FILE__:" << mFile << ", __LINE__:" + << mLine << ", __FUNCTION__:" << mFunc << std::endl; + } + } + + void AddBackTrace(std::ostringstream& os) const + { + os << "Stack:" << std::endl; + + void* addr[UT_MAX_TRACE_ADDR_NUMBER]; + int32_t number = backtrace(addr, UT_MAX_TRACE_ADDR_NUMBER); + + char **info = backtrace_symbols(addr, number); + if(info == NULL) + { + return; + } + + for(int32_t i=0; i + +namespace unitree +{ +namespace common +{ +typedef std::pair DIRENT_INFO; +typedef std::pair SYMLNK_INFO; + +class Directory +{ +public: + Directory(); + Directory(const std::string& dirName); + + ~Directory(); + + void Open(); + void Open(const std::string& dirName); + + bool IsOpen(); + + void ListFile(std::vector& fileNameList, const std::string& regExpress); + void ListFile(std::vector& fileNameList, bool recurse = true, bool absolute = true); + + void ListDir(std::vector& dirNameList, bool recurse = true, bool absolute = true); + + void List(std::list& fileNameList, std::list& dirNameList, + std::list& symlinkList); + + void Cleanup(); + bool CopyTo(const std::string& dirName, bool deeply = false); + + void Close(); + +private: + void CheckOpen(); + void OpenInner(); + +private: + DIR *mDIR; + std::string mDirName; +}; + +typedef std::shared_ptr DirectoryPtr; + +bool ExistDirectory(const std::string& dirName); + +void CreateDirectory(const std::string& dirName, bool recurse = true, + uint32_t mode = UT_OPEN_MODE_RWX); + +void ListDirectory(const std::string& dirName, std::vector& fileNameList, + const std::string& regExpress); + +void ListDirectory(const std::string& dirName, std::vector& fileNameList, bool recurse = true, bool absolute = true); + +void ListChildDirectory(const std::string& dirName, std::vector& dirNameList, bool recurse = true, bool absolute = true); + +void RemoveDirectory(const std::string& dirName, bool recurse = true); + +void CopyDirectory(const std::string& dirName, const std::string& destDirName, bool deeply); + +} +} +#endif//__UT_DIRECTORY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/filesystem/file.hpp b/deps/unitree_sdk2/include/unitree/common/filesystem/file.hpp new file mode 100644 index 0000000..b250dff --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/filesystem/file.hpp @@ -0,0 +1,127 @@ +#ifndef __UT_FILE_HPP__ +#define __UT_FILE_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class File +{ +public: + File(); + File(const std::string& fileName); + File(const std::string& fileName, int32_t flag); + File(const std::string& fileName, int32_t flag, uint32_t mode); + + virtual ~File(); + + int32_t GetFd() const; + bool IsOpen() const; + + void Open(); + void Open(int32_t flag, uint32_t mode = UT_OPEN_MODE_NONE); + void Open(const std::string& fileName, int32_t flag = UT_OPEN_FLAG_R, + uint32_t mode = UT_OPEN_MODE_NONE); + + void Append(const char* s, int64_t len); + int64_t Write(const char* s, int64_t len); + int64_t Write(const std::string& s); + + int64_t Read(char* s, int64_t len); + int64_t Read(std::string& s, int64_t len); + int64_t ReadAll(std::string& s); + + void SeekBegin(); + void SeekEnd(); + void Seek(int64_t offset, int64_t whence); + + void Sync(); + void Truncate(int64_t len); + + void Close(); + + int64_t Size() const; + +private: + void CheckOpen(); + void OpenInner(); + +private: + std::string mFileName; + int32_t mFd; + int32_t mFlag; + uint32_t mMode; +}; + +typedef std::shared_ptr FilePtr; + +class MMReadFile +{ +public: + MMReadFile(); + MMReadFile(const std::string& fileName); + + virtual ~MMReadFile(); + + int32_t GetFd() const; + bool IsOpen() const; + + void Open(); + void Open(const std::string& fileName); + + int64_t Size() const; + int64_t Read(char* s, int64_t len); + int64_t Read(std::string& s, int64_t len); + int64_t ReadAll(std::string& s); + + void Seek(int64_t offset); + + void Close(); + +public: + void* MMRead(int64_t len, int64_t& canreadlen); + void MMClose(void* ptr, int64_t len); + +private: + void Init(); + +private: + std::string mFileName; + int32_t mFd; + int64_t mOffset; + int64_t mSize; +}; + +typedef std::shared_ptr MMReadFilePtr; + +//Functions +bool ExistFile(const std::string& fileName); + +std::string LoadFile(const std::string& fileName); +std::string LoadFileEx(const std::string& fileName); + +void SaveFile(const std::string& fileName, const char* s, int64_t len, + uint32_t mode = UT_OPEN_MODE_RW); + +void SaveFile(const std::string& fileName, const std::string& s, + uint32_t mode = UT_OPEN_MODE_RW); + +void AppendFile(const std::string& fileName, const char* s, int64_t len, + uint32_t mode = UT_OPEN_MODE_RW); + +void AppendFile(const std::string& fileName, const std::string& s, + uint32_t mode = UT_OPEN_MODE_RW); + +int64_t GetFileSize(const std::string& fileName); + +void RemoveFile(const std::string& fileName); + +int64_t MMLoadFile(const std::string& fileName, std::string& s); + +bool CopyFile(const std::string& fileName, const std::string& destFileName, bool deeply = false); +} +} + +#endif//__UT_FILE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/filesystem/filesystem.hpp b/deps/unitree_sdk2/include/unitree/common/filesystem/filesystem.hpp new file mode 100644 index 0000000..3f1573f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/filesystem/filesystem.hpp @@ -0,0 +1,284 @@ +#ifndef __UT_FILE_SYSTEM_HPP__ +#define __UT_FILE_SYSTEM_HPP__ + +#include + +#define UT_FILE_READ_SIZE 65536 //64K +#define UT_FILE_READ_BIGGER_SIZE 262144 //256K + +#define UT_FD_INVALID -1 +#define UT_FD_STDIN STDIN_FILENO +#define UT_FD_STDOUT STDOUT_FILENO +#define UT_FD_STDERR STDERR_FILENO + +#define UT_PATH_DELIM_CHAR '/' +#define UT_PATH_DELIM_STR "/" +#define UT_PATH_TRIM_DELIM_STR " \t\r\n" + +#define NOT_FLAG(f, flag) \ + (((f) & (flag)) != (flag)) + +#define HAS_FLAG(f, flag) \ + (((f) & (flag)) == (flag)) + +#define SET_FLAG(f, flag) \ + (f) |= (flag) + +#define IS_RDONLY_FLAG(f) \ + ((f & O_ACCMODE) == O_RDONLY) + +namespace unitree +{ +namespace common +{ +enum +{ + UT_OPEN_FLAG_R = O_RDONLY, + UT_OPEN_FLAG_W = O_WRONLY, + UT_OPEN_FLAG_RW = O_RDWR, + UT_OPEN_FLAG_T = O_TRUNC, + UT_OPEN_FLAG_A = O_APPEND, + UT_OPEN_FLAG_S = O_SYNC, + UT_OPEN_FLAG_C = O_CREAT, + UT_OPEN_FLAG_CW = O_CREAT | O_WRONLY, + UT_OPEN_FLAG_CWT = O_CREAT | O_WRONLY | O_TRUNC, + UT_OPEN_FLAG_CA = O_CREAT | O_RDWR | O_APPEND, + UT_OPEN_FLAG_CS = O_CREAT | O_RDWR | O_SYNC, + UT_OPEN_FLAG_CAS = O_CREAT | O_RDWR | O_APPEND | O_SYNC, + UT_OPEN_FLAG_CTS = O_CREAT | O_RDWR | O_TRUNC | O_SYNC +}; + +enum +{ + UT_OPEN_MODE_NONE = 0, + UT_OPEN_MODE_RW = S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH, + UT_OPEN_MODE_RWX = S_IRWXU | S_IRGRP | S_IXGRP | S_IROTH | S_IXOTH +}; + +enum +{ + UT_OPEN_MASK_000 = 0, + UT_OPEN_MASK_022 = 0022 +}; + +typedef struct dirent DIRENT; + +/* + * FileSystemHelper + */ +class FileSystemHelper +{ +public: + static FileSystemHelper* Instance() + { + static FileSystemHelper inst; + return &inst; + } + + /* + * File Functions + */ + int32_t Open(const std::string& fileName, int32_t flag, uint32_t mode = 0); + + int64_t Write(int32_t fd, const char* s, int64_t len); + int64_t Write(int32_t fd, const std::string& s); + + int64_t Read(int32_t fd, char* s, int64_t len); + int64_t Read(int32_t fd, std::string& s, int64_t len); + int64_t ReadAll(int32_t fd, std::string& s); + + int64_t Seek(int32_t fd, int64_t offset, int64_t whence); + + bool Stat(int32_t fd, struct stat& statbuf); + void Truncate(int32_t fd, int64_t len); + void Sync(int32_t fd); + void Close(int32_t fd); + + /* + * Directory Functions + */ + DIR* Opendir(const std::string& dirName); + DIRENT* Readdir(DIR* dir); + void Closedir(DIR* dir); + + void Makedir(const std::string& dirName, uint32_t mode = UT_OPEN_MODE_RWX, + bool ignoreExist = true); + void MakedirRecurse(const std::string& dirName, uint32_t mode = UT_OPEN_MODE_RWX); + + /* + * stat Function + */ + bool Stat(const std::string& name, struct stat& statbuf); + bool StatL(const std::string& name, struct stat& statbuf); + bool IsFile(const struct stat& statbuf); + bool IsDirectory(const struct stat& statbuf); + bool IsSymlink(const struct stat& statbuf); + bool ExistFile(const std::string& name); + bool ExistDirectory(const std::string& name); + bool Exist(const std::string& name); + + int64_t GetFileSize(const std::string& fileName); + + /* + * Symlink Function + */ + std::string GetSymlink(const std::string& symlinkName); + bool Symlink(const std::string& targetFileName, const std::string& symlinkName); + + /* + * Remove and Rename Function + */ + void RemoveFile(const std::string& fileName, bool ignoreNoExist = true); + void RemoveDirectory(const std::string& dirName, bool ignoreNoExist = true); + + void Remove(const std::string& name, bool ignoreNoExist = true); + void Rename(const std::string& oldName, const std::string& newName); + + /* + * Path proccess Function + */ + std::string& NormalizePath(std::string& s, bool withEndDelim = true); + std::string GetFatherDirectory(const std::string& s, bool withEndDelim = true); + std::string GetFileName(const std::string& s); + std::string GetLastName(const std::string& s); + + /* + * Realpath + */ + std::string GetRealName(const std::string& name); + + bool IsSame(const std::string& name1, const std::string& name2); + + /* + * MMap Function + */ + void* MmapRead(int32_t fd, int64_t offset, int64_t len); + void Munmap(void *addr, int64_t len); + + /* + * Mode and Owner + */ + bool Chmod(const std::string& name, mode_t mode); + bool Chown(const std::string& name, uid_t uid, gid_t gid); + + bool ChmodL(const std::string& name, mode_t mode); + bool ChownL(const std::string& name, uid_t uid, gid_t gid); + + bool UTime(const std::string& name, struct utimbuf& times); + bool UTime(const std::string& name, struct timeval times[2]); + + bool Chattr(const std::string& name, const struct stat& statbuf); + + /* + * ParseModeString + * @param s: like "0755", "0666", "766" + * return mode + */ + uint32_t ParseModeString(const std::string& s); + +private: + FileSystemHelper(); + ~FileSystemHelper(); + +private: + int32_t mOldMask; +}; + +/* + * FDCloser + */ +class FDCloser +{ +public: + explicit FDCloser() : + mFd(UT_FD_INVALID) + {} + + explicit FDCloser(int32_t fd) : + mFd(fd) + {} + + ~FDCloser() + { + Close(); + } + + void SetFd(int32_t fd) + { + //close old fd + Close(); + //set new fd + mFd = fd; + } + +private: + void Close() + { + if (mFd > 0) + { + FileSystemHelper::Instance()->Close(mFd); + mFd = UT_FD_INVALID; + } + } + +private: + int32_t mFd; +}; + +/* + * DIRCloser + */ +class DIRCloser +{ +public: + explicit DIRCloser() : + mDIR(NULL) + {} + + explicit DIRCloser(DIR* dir) : + mDIR(dir) + {} + + ~DIRCloser() + { + Close(); + } + + void SetDir(DIR* dir) + { + //close old dir + Close(); + //set new dir + mDIR = dir; + } + +private: + void Close() + { + if (mDIR != NULL) + { + FileSystemHelper::Instance()->Closedir(mDIR); + mDIR = NULL; + } + } + +private: + DIR* mDIR; +}; + +//Function +void Remove(const std::string& name); +void Rename(const std::string& oldName, const std::string& newName); + +std::string NormalizePath(const std::string& s, bool withEndDelim = false); +std::string GetFatherDirectory(const std::string& s, bool withEndDelim = false); +std::string GetFileName(const std::string& s); +std::string GetLastName(const std::string& s); + +void Chattr(const std::string& name, const struct stat& statbuf); +void Copyattr(const std::string& name, const std::string& templateName); +} + +} + +#endif//__UT_FILE_SYSTEM_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/json/json.hpp b/deps/unitree_sdk2/include/unitree/common/json/json.hpp new file mode 100644 index 0000000..c3183f2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/json/json.hpp @@ -0,0 +1,39 @@ +#ifndef __UT_JSON_HPP__ +#define __UT_JSON_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +typedef std::map JsonMap; +typedef std::vector JsonArray; + +Any FromJsonString(const std::string& s); + +std::string ToJsonString(const Any& a, bool pretty = false); + +static inline bool IsNull(const Any& a) +{ + return a.Empty(); +} + +static inline bool IsJsonArray(const Any& a) +{ + return a.GetTypeInfo() == typeid(JsonArray); +} + +static inline bool IsJsonMap(const Any& a) +{ + return a.GetTypeInfo() == typeid(JsonMap); +} + +static inline bool IsJsonObject(const Any& a) +{ + return IsJsonMap(a); +} + +} +} +#endif//__UT_JSON_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/json/json_config.hpp b/deps/unitree_sdk2/include/unitree/common/json/json_config.hpp new file mode 100644 index 0000000..bb1a3a8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/json/json_config.hpp @@ -0,0 +1,194 @@ +#ifndef __UT_JSON_CONFIG_HPP__ +#define __UT_JSON_CONFIG_HPP__ + +#include + +#define UT_JSON_CONF_KEY_PARAMETER "Parameter" + +namespace unitree +{ +namespace common +{ +class JsonConfig +{ +public: + JsonConfig(); + virtual ~JsonConfig(); + + JsonConfig(const std::string& configFileName); + + virtual void Parse(const std::string& configFileName); + virtual void ParseContent(const std::string& content); + + //top-level field + bool Has(const std::string& name) const; + + //top-level field + const Any& Get(const std::string& name) const; + + //top-level field + template + const T& Get(const std::string& name) const + { + return AnyCast(Get(name)); + } + + //top-level field + template + T GetNumber(const std::string& name) const + { + return AnyNumberCast(Get(name)); + } + + //top-level field + template + T Get(const std::string& name, const T& defValue) const + { + const Any& a = Get(name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyCast(a); + } + } + + //top-level field + template + T GetNumber(const std::string& name, const T& defValue) const + { + const Any& a = Get(name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyNumberCast(a); + } + } + + //JsonMap field + bool Has(const JsonMap& jsonMap, const std::string& name) const; + + //JsonMap field + const Any& Get(const JsonMap& jsonMap, const std::string& name) const; + + //JsonMap field + template + const T& Get(const JsonMap& jsonMap, const std::string& name) const + { + return AnyCast(Get(jsonMap, name)); + } + + //JsonMap field + template + T GetNumber(const JsonMap& jsonMap, const std::string& name) const + { + return AnyNumberCast(Get(jsonMap, name)); + } + + //JsonMap field + template + T Get(const JsonMap& jsonMap, const std::string& name, const T& defValue) const + { + const Any& a = Get(jsonMap, name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyCast(a); + } + } + + //JsonMap field + template + T GetNumber(const JsonMap& jsonMap, const std::string& name, const T& defValue) const + { + const Any& a = Get(jsonMap, name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyNumberCast(a); + } + } + + //top-level field + const Any& GetGlobalParameter(const std::string& name) const; + + //top-level field: Parameter + bool HasParameter(const std::string& name) const; + + //top-level field: Parameter + const JsonMap& GetParameter() const; + + //get field/value from top-level field: Parameter + const Any& GetParameter(const std::string& name) const; + + //get field/value from top-level field: Parameter + template + const T& GetParameter(const std::string& name) const + { + return AnyCast(GetParameter(name)); + } + + //get field/value from top-level field: Parameter + template + T GetNumberParameter(const std::string& name) const + { + return AnyNumberCast(GetParameter(name)); + } + + //get field/value from top-level field: Parameter + template + T GetParameter(const std::string& name, const T& defValue) const + { + const Any& a = GetParameter(name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyCast(a); + } + } + + template + T GetNumberParameter(const std::string& name, const T& defValue) const + { + const Any& a = GetParameter(name); + + if (a.Empty()) + { + return defValue; + } + else + { + return AnyNumberCast(a); + } + } + +protected: + JsonMap mParameter; + Any mContent; +}; + +typedef std::shared_ptr JsonConfigPtr; + +} +} + +#endif//__UT_JSON_CONFIG_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/json/jsonize.hpp b/deps/unitree_sdk2/include/unitree/common/json/jsonize.hpp new file mode 100644 index 0000000..3cdec1e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/json/jsonize.hpp @@ -0,0 +1,275 @@ +#ifndef __UT_JSONIZE_HPP__ +#define __UT_JSONIZE_HPP__ + +#define JN_FROM_WEAK(m, name, value) \ + if (m.find(name) != m.end()){ JN_FROM(m, name, value); } + +#define JN_FROM(m, name, value) \ + unitree::common::FromJson(m[name], value) + +#define JN_TO(m, name, value) \ + unitree::common::ToJson(value, m[name]) + +#include + +namespace unitree +{ +namespace common +{ +template +void FromJson(const Any& a, T& t); + +template +void ToJson(const T& value, Any& a); + +template +void FromJsonString(const std::string& s, T& t) +{ + Any a = FromJsonString(s); + FromJson(a, t); +} + +template +std::string ToJsonString(const T& t, bool pretty = false) +{ + Any a; + ToJson(t, a); + return ToJsonString(a, pretty); +} + +class Jsonize +{ +public: + virtual void toJson(JsonMap& a) const = 0; + virtual void fromJson(JsonMap& a) = 0; +}; + +void FromAny(const Any& a, int8_t& value); + +void FromAny(const Any& a, uint8_t& value); + +void FromAny(const Any& a, int16_t& value); + +void FromAny(const Any& a, uint16_t& value); + +void FromAny(const Any& a, int32_t& value); + +void FromAny(const Any& a, uint32_t& value); + +void FromAny(const Any& a, int64_t& value); + +void FromAny(const Any& a, uint64_t& value); + +void FromAny(const Any& a, float& value); + +void FromAny(const Any& a, double& value); + +void FromAny(const Any& a, bool& value); + +void FromAny(const Any& a, std::string& value); + +void FromAny(const Any& a, JsonMap& value); + +void FromAny(const Any& a, JsonArray& value); + +void FromAny(const Any& a, Jsonize& value); + +template +void FromAny(const Any& a, std::vector& value) +{ + if (a.Empty()) + { + return; + } + + const JsonArray& arr = AnyCast(a); + size_t i, count = arr.size(); + + for (i=0; i(a_in, e); + value.push_back(std::move(e)); + } +} + +template +void FromAny(const Any& a, std::list& value) +{ + if (a.Empty()) + { + return; + } + + const JsonArray& arr = AnyCast(a); + size_t i, count = arr.size(); + + for (i=0; i(a_in, e); + value.push_back(std::move(e)); + } +} + +template +void FromAny(const Any& a, std::set& value) +{ + if (a.Empty()) + { + return; + } + + const JsonArray& arr = AnyCast(a); + size_t i, count = arr.size(); + + for (i=0; i(a_in, e); + value.insert(std::move(e)); + } +} + +template +void FromAny(const Any& a, std::map& value) +{ + if (a.Empty()) + { + return; + } + + const JsonMap& m = AnyCast(a); + JsonMap::const_iterator iter; + + for (iter = m.begin(); iter != m.end(); ++iter) + { + E e; + const std::string& name = iter->first; + const Any& a_in = iter->second; + FromJson(a_in, e); + value[name] = std::move(e); + } +} + +template +void FromJson(const Any& a, T& t) +{ + FromAny(a, t); +} + +void ToAny(const int8_t& value, Any& a); + +void ToAny(const uint8_t& value, Any& a); + +void ToAny(const int16_t& value, Any& a); + +void ToAny(const uint16_t& value, Any& a); + +void ToAny(const int32_t& value, Any& a); + +void ToAny(const uint32_t& value, Any& a); + +void ToAny(const int64_t& value, Any& a); + +void ToAny(const uint64_t& value, Any& a); + +void ToAny(const float& value, Any& a); + +void ToAny(const double& value, Any& a); + +void ToAny(const bool& value, Any& a); + +void ToAny(const std::string& value, Any& a); + +void ToAny(const JsonMap& value, Any& a); + +void ToAny(const JsonArray& value, Any& a); + +void ToAny(const Jsonize& value, Any& a); + +template +void ToAny(const std::vector& value, Any& a) +{ + JsonArray arr; + + size_t i, count = value.size(); + for (i=0; i(e, a_in); + arr.push_back(std::move(a_in)); + } + + a = Any(arr); +} + +template +void ToAny(const std::list& value, Any& a) +{ + JsonArray arr; + + typename std::list::const_iterator iter; + for (iter = value.begin(); iter != value.end(); ++iter) + { + Any a_in; + const E& e = *iter; + + ToJson(e, a_in); + arr.push_back(std::move(a_in)); + } + + a = Any(arr); +} + +template +void ToAny(const std::set& value, Any& a) +{ + JsonArray arr; + + typename std::set::const_iterator iter; + for (iter = value.begin(); iter != value.end(); ++iter) + { + Any a_in; + const E& e = *iter; + + ToJson(e, a_in); + arr.push_back(std::move(a_in)); + } + + a = Any(arr); +} + +template +void ToAny(const std::map& value, Any& a) +{ + JsonMap m; + typename std::map::const_iterator iter; + + for (iter = value.begin(); iter != value.end(); ++iter) + { + Any a_in; + const std::string& name = iter->first; + const E& e = iter->second; + + ToJson(e, a_in); + m[name] = a_in; + } + + a = Any(m); +} + +template +void ToJson(const T& value, Any& a) +{ + //std::cout << typeid(value).name() << std::endl; + ToAny(value, a); +} +} +} +#endif//__UT_JSONIZE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/lock/lock.hpp b/deps/unitree_sdk2/include/unitree/common/lock/lock.hpp new file mode 100644 index 0000000..2edbad8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/lock/lock.hpp @@ -0,0 +1,198 @@ +#ifndef __UT_LOCK_HPP__ +#define __UT_LOCK_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +enum +{ + UT_LOCK_MODE_READ = 0, + UT_LOCK_MODE_WRITE = 1, + UT_LOCK_MODE_UNLCK = 2 +}; + +enum +{ + UT_LOCK_ENO_INTR = EINTR, + UT_LOCK_ENO_BUSY = EBUSY, + UT_LOCK_ENO_TIMEDOUT = ETIMEDOUT +}; + +class Spinlock +{ +public: + explicit Spinlock(); + ~Spinlock(); + + void Lock(); + void Unlock(); + + bool Trylock(); + + pthread_spinlock_t & GetNative(); + +private: + pthread_spinlock_t mNative; +}; + +class CaspinLock +{ +public: + explicit CaspinLock(); + ~CaspinLock(); + + void Lock(); + void Unlock(); + + bool Trylock(); + +private: + volatile int32_t mData; +}; + +class Mutex +{ +public: + explicit Mutex(); + ~Mutex(); + + void Lock(); + void Unlock(); + + bool Trylock(); + + pthread_mutex_t & GetNative(); + +private: + pthread_mutex_t mNative; +}; + +class Cond +{ +public: + explicit Cond(); + ~Cond(); + + void Wait(Mutex& mutex); + bool Wait(Mutex& mutex, uint64_t microsec); + + void Notify(); + void NotifyAll(); + +private: + pthread_cond_t mNative; +}; + +class MutexCond +{ +public: + explicit MutexCond(); + ~MutexCond(); + + void Lock(); + void Unlock(); + + bool Wait(int64_t microsec = 0); + void Notify(); + void NotifyAll(); + +private: + Mutex mMutex; + Cond mCond; +}; + +class Rwlock +{ +public: + explicit Rwlock(); + ~Rwlock(); + + void Lock(int32_t mode); + void Unlock(); + + bool Trylock(int32_t mode); + + pthread_rwlock_t & GetNative(); + +private: + pthread_rwlock_t mNative; +}; + +class Filelock +{ +public: + explicit Filelock(const std::string& fileName); + explicit Filelock(int32_t fd); + ~Filelock(); + + void Lock(int32_t mode, int64_t start = 0, int64_t len = 0); + void Unlock(); + + bool Trylock(int32_t mode, int64_t start = 0, int64_t len = 0); + +private: + void SetLockMember(int32_t mode, int64_t start, int64_t len); + void SetLockMode(int32_t mode); + +private: + int32_t mFd; + bool mCloseFd; + struct flock mLock; +}; + +template +class LockGuard +{ +public: + explicit LockGuard(LOCK_TYPE& lockPtr) + { + mLockPtr = &lockPtr; + mLockPtr->Lock(); + } + + explicit LockGuard(LOCK_TYPE* lockPtr) + { + mLockPtr = lockPtr; + mLockPtr->Lock(); + } + + ~LockGuard() + { + mLockPtr->Unlock(); + } + +private: + LOCK_TYPE* mLockPtr; +}; + +template +class RwLockGuard +{ +public: + explicit RwLockGuard(LOCK_TYPE& lockPtr, int32_t mode) + { + mLockPtr = &lockPtr; + lockPtr.Lock(mode); + } + + explicit RwLockGuard(LOCK_TYPE* lockPtr, int32_t mode) + { + mLockPtr = lockPtr; + lockPtr->Lock(mode); + } + + ~RwLockGuard() + { + mLockPtr->Unlock(); + } + +private: + LOCK_TYPE* mLockPtr; +}; +} +} + +#endif//__UT_LOCK_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log.hpp b/deps/unitree_sdk2/include/unitree/common/log/log.hpp new file mode 100644 index 0000000..d950eb2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log.hpp @@ -0,0 +1,6 @@ +#ifndef __UT_LOG_HPP__ +#define __UT_LOG_HPP__ + +#include + +#endif//__UT_LOG_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_buffer.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_buffer.hpp new file mode 100644 index 0000000..95dfb55 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_buffer.hpp @@ -0,0 +1,44 @@ +#ifndef __UT_LOG_BUFFER_HPP__ +#define __UT_LOG_BUFFER_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class LogBuffer +{ +public: + explicit LogBuffer(); + virtual ~LogBuffer(); + + virtual bool Append(const std::string& s); + virtual bool Get(std::string& s); + virtual bool Empty(); + +protected: + std::string mData; +}; + +typedef std::shared_ptr LogBufferPtr; + +class LogBlockBuffer : public LogBuffer +{ +public: + explicit LogBlockBuffer(); + ~LogBlockBuffer(); + + bool Append(const std::string& s); + bool Get(std::string& s); + bool Empty(); + +private: + Mutex mLock; +}; + +typedef std::shared_ptr LogBlockBufferPtr; +} +} + +#endif//__UT_LOG_BUFFER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_decl.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_decl.hpp new file mode 100644 index 0000000..f3f44f3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_decl.hpp @@ -0,0 +1,261 @@ +#ifndef __UT_LOG_DECL_HPP__ +#define __UT_LOG_DECL_HPP__ + +#include +#include +#include +#include +#include +#include + +/* + * log buffer size + */ +#define UT_LOG_BUFFER_SIZE 65535 //64K-1 +#define UT_LOG_CRT_BUFFER_SIZE 64512 //63K +#define UT_LOG_MAX_BUFFER_SIZE 4194303 //4M-1 +/* + * log file size + */ +#define UT_LOG_FILE_SIZE 104857600 //100M +#define UT_LOG_MAX_FILE_SIZE 10737418240 //10G +#define UT_LOG_MIN_FILE_SIZE UT_LOG_MAX_BUFFER_SIZE + +/* + * log write interval(micro second) + */ +#define UT_LOG_WRITE_INTER 100000 //100ms +#define UT_LOG_MAX_WRITE_INTER 1000000 //1s +#define UT_LOG_MIN_WRITE_INTER 2000 //2ms + +/* + * log file number + */ +#define UT_LOG_FILE_NUMBER 2 +#define UT_LOG_MAX_FILE_NUMBER 100 +#define UT_LOG_MIN_FILE_NUMBER UT_LOG_FILE_NUMBER + +#define UT_LOG_FILE_EXT ".LOG" + +//write log macro wrapper +#define __UT_LOG(logger, level, ...)\ + do { \ + if (logger != NULL) \ + { \ + logger->Log(level, __VA_ARGS__); \ + } \ + } while (0) + +#define __UT_CRIT_LOG(logger, key, code, ...) \ + do { \ + if (logger != NULL) \ + { \ + logger->CritLog(UT_LOG_CRIT, key, code, __VA_ARGS__);\ + } \ + } while (0) + + +//debug +#define LOG_DEBUG(logger, ...) \ + __UT_LOG(logger, UT_LOG_DEBUG, __VA_ARGS__) + +//info +#define LOG_INFO(logger, ...) \ + __UT_LOG(logger, UT_LOG_INFO, __VA_ARGS__) + +//warning +#define LOG_WARNING(logger, ...) \ + __UT_LOG(logger, UT_LOG_WARNING, __VA_ARGS__) + +//error +#define LOG_ERROR(logger, ...) \ + __UT_LOG(logger, UT_LOG_ERROR, __VA_ARGS__) + +//fatal +#define LOG_FATAL(logger, ...) \ + __UT_LOG(logger, UT_LOG_FATAL, __VA_ARGS__) + +//critical log. the 1st args is CRITICAL KEY +#define CRIT_LOG(logger, ...) \ + __UT_CRIT_LOG(logger, __VA_ARGS__) + +#define CRIT_LOG(logger, ...) \ + __UT_CRIT_LOG(logger, __VA_ARGS__) + +//write log format macro wrapper +/* + * FMT_DEBUG(logger, ("key1", val1)("key2", val2)("keyn", "")); + */ +#define __UT_LOG_FMT(logger, level, keyvalues) \ + do { \ + if (logger != NULL) \ + { \ + logger->LogFormat(level, unitree::common::LogBuilder() keyvalues); \ + } \ + } while (0) + +#define __UT_CRIT_LOG_FMT(logger, key, code, keyvalues) \ + do { \ + if (logger != NULL) \ + { \ + logger->CritLogFormat(UT_LOG_CRIT, key, code, unitree::common::LogBuilder() keyvalues); \ + } \ + } while (0) + +//debug +#define FMT_DEBUG(logger, keyvalues) \ + __UT_LOG_FMT(logger, UT_LOG_DEBUG, keyvalues) + +//info +#define FMT_INFO(logger, keyvalues) \ + __UT_LOG_FMT(logger, UT_LOG_INFO, keyvalues) + +//warning +#define FMT_WARNING(logger, keyvalues) \ + __UT_LOG_FMT(logger, UT_LOG_WARNING, keyvalues) + +//error +#define FMT_ERROR(logger, keyvalues) \ + __UT_LOG_FMT(logger, UT_LOG_ERROR, keyvalues) + +//fatal +#define FMT_FATAL(logger, keyvalues) \ + __UT_LOG_FMT(logger, UT_LOG_FATAL, keyvalues) + +#define CRIT_FMT(logger, critkey, keyvalues) \ + __UT_CRIT_LOG_FMT(logger, critkey, keyvalues) + + +/* +//declare and define log level +#define UT_LOG_DECL_LEVEL(name, level, desc) \ + const int32_t name = level; \ + const std::string name##_DESC = desc; +#define UT_LOG_DESC_LEVEL(name) name##_DESC +*/ + +//declare and define log store type +#define UT_LOG_DECL_STORE_TYPE(name, type, desc)\ + const int32_t name = type; \ + const std::string name##_DESC = desc; +#define UT_LOG_DESC_STORE_TYPE(name) name##_DESC + +//define log level +#define UT_LOG_NONE 0 +#define UT_LOG_CRIT 1 +#define UT_LOG_FATAL 2 +#define UT_LOG_ERROR 3 +#define UT_LOG_WARNING 4 +#define UT_LOG_INFO 5 +#define UT_LOG_DEBUG 6 +#define UT_LOG_ALL 7 + +#define UT_LOG_DESC_NONE "NONE" +#define UT_LOG_DESC_CRIT "CRIT" +#define UT_LOG_DESC_FATAL "FATAL" +#define UT_LOG_DESC_ERROR "ERROR" +#define UT_LOG_DESC_WARNING "WARNING" +#define UT_LOG_DESC_INFO "INFO" +#define UT_LOG_DESC_DEBUG "DEBUG" +#define UT_LOG_DESC_ALL "ALL" + +//define log store type +#define UT_LOG_STORE_FILE_ASYNC 0 +#define UT_LOG_STORE_FILE 1 +#define UT_LOG_STORE_STDOUT 2 +#define UT_LOG_STORE_STDERR 3 + +#define UT_LOG_STORE_DESC_FILE_ASYNC "FILEASYNC" +#define UT_LOG_STORE_DESC_ASYNC_FILE "ASYNCFILE" +#define UT_LOG_STORE_DESC_ASYNC "ASYNC" +#define UT_LOG_STORE_DESC_FILE "FILE" +#define UT_LOG_STORE_DESC_STDOUT "STDOUT" +#define UT_LOG_STORE_DESC_STDERR "STDERR" + +namespace unitree +{ +namespace common +{ +static inline int32_t GetLogLevel(const std::string& desc) +{ + if (desc == UT_LOG_DESC_NONE) { + return UT_LOG_NONE; } + else if (desc == UT_LOG_DESC_CRIT) { + return UT_LOG_CRIT; } + else if (desc == UT_LOG_DESC_FATAL) { + return UT_LOG_FATAL; } + else if (desc == UT_LOG_DESC_ERROR) { + return UT_LOG_ERROR; } + else if (desc == UT_LOG_DESC_WARNING) { + return UT_LOG_WARNING; } + else if (desc == UT_LOG_DESC_INFO) { + return UT_LOG_INFO; } + else if (desc == UT_LOG_DESC_DEBUG) { + return UT_LOG_DEBUG; } + else if (desc == UT_LOG_DESC_ALL) { + return UT_LOG_ALL; } + + UT_THROW(CommonException, std::string("unknown log level desc:") + desc); +} + +static inline const char* GetLogLevelDesc(int32_t level) +{ + switch (level) + { + case UT_LOG_NONE: + return UT_LOG_DESC_NONE; + case UT_LOG_CRIT: + return UT_LOG_DESC_CRIT; + case UT_LOG_FATAL: + return UT_LOG_DESC_FATAL; + case UT_LOG_ERROR: + return UT_LOG_DESC_ERROR; + case UT_LOG_WARNING: + return UT_LOG_DESC_WARNING; + case UT_LOG_INFO: + return UT_LOG_DESC_INFO; + case UT_LOG_DEBUG: + return UT_LOG_DESC_DEBUG; + case UT_LOG_ALL: + return UT_LOG_DESC_ALL; + } + + UT_THROW(CommonException, "unknown log level"); +} + +static inline int32_t GetLogStoreType(const std::string& desc) +{ + if (desc == UT_LOG_STORE_DESC_FILE_ASYNC || + desc == UT_LOG_STORE_DESC_ASYNC_FILE || + desc == UT_LOG_STORE_DESC_ASYNC) { + return UT_LOG_STORE_FILE_ASYNC; } + else if (desc == UT_LOG_STORE_DESC_FILE) { + return UT_LOG_STORE_FILE; } + else if (desc == UT_LOG_STORE_DESC_STDOUT){ + return UT_LOG_STORE_STDOUT; } + else if (desc == UT_LOG_STORE_DESC_STDERR){ + return UT_LOG_STORE_STDERR; } + + UT_THROW(CommonException, std::string("unknown log store type desc:") + desc); +} + +static inline const char* GetLogStoreTypeDesc(int32_t type) +{ + switch (type) + { + case UT_LOG_STORE_FILE_ASYNC: + return UT_LOG_STORE_DESC_FILE_ASYNC; + case UT_LOG_STORE_FILE: + return UT_LOG_STORE_DESC_FILE; + case UT_LOG_STORE_STDOUT: + return UT_LOG_STORE_DESC_STDOUT; + case UT_LOG_STORE_STDERR: + return UT_LOG_STORE_DESC_STDERR; + } + + UT_THROW(CommonException, "unknown log store type"); +} +} +} + +#endif//__UT_LOG_DECL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_initor.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_initor.hpp new file mode 100644 index 0000000..b353692 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_initor.hpp @@ -0,0 +1,44 @@ +#ifndef __UT_LOG_INITOR_HPP__ +#define __UT_LOG_INITOR_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace common +{ +class LogInitor +{ +public: + explicit LogInitor(); + ~LogInitor(); + + void Init(const std::string& configFileName, bool stdoutDefault = false); + Logger* GetLogger(const std::string& tag); + + void Final(); + + void ParseConf(Any json); + void SetStdoutPolicy(); + void InitLogger(); + +private: + std::set mStoreNames; + std::vector mPolicis; + std::vector mStorePolicis; + std::map mLoggerMap; +}; + +using LogInitorPtr = std::shared_ptr; + +void LogInit(const std::string& configFileName = "", bool stdoutDefault = false); +void LogFinal(); + +Logger* GetLogger(const std::string& tag); + +} +} + +#endif//__UT_LOG_INITOR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_keeper.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_keeper.hpp new file mode 100644 index 0000000..d5f91ae --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_keeper.hpp @@ -0,0 +1,44 @@ +#ifndef __UT_LOG_FILE_KEEPER_H__ +#define __UT_LOG_FILE_KEEPER_H__ + +#include + +namespace unitree +{ +namespace common +{ +class LogKeeper +{ +public: + LogKeeper(LogStorePolicyPtr storePolicyPtr); + ~LogKeeper(); + + LogStorePolicyPtr GetStorePolicy() const; + + bool Append(const std::string& s, bool rotate); + +private: + void Rotate(); + + void AppendFile(const std::string& s); + void OpenFile(); + void CloseFile(); + + void CheckFileSize(); + + std::string MakeRegexExpress(); + +private: + volatile int64_t mFileSize; + std::string mFileName; + std::string mDirectory; + FilePtr mFilePtr; + LogStorePolicyPtr mStorePolicyPtr; +}; + +typedef std::shared_ptr LogKeeperPtr; + +} +} + +#endif//__UT_LOG_FILE_KEEPER_H__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_logger.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_logger.hpp new file mode 100644 index 0000000..4e9b9a2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_logger.hpp @@ -0,0 +1,139 @@ +#ifndef __UT_LOGGER_HPP__ +#define __UT_LOGGER_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class LogBuilder +{ +public: + LogBuilder() + {} + + template + LogBuilder& operator()(const std::string& key, const T& value) + { + mOs << "\t" << key << ":" << value; + return *this; + } + + std::ostringstream mOs; +}; + +class Logger +{ +public: + explicit Logger(int32_t level, LogStorePtr storePtr) : + mLevel(level), mStorePtr(storePtr) + {} + + template + void Log(int32_t level, Args&&... args) + { + if (level > mLevel || mStorePtr == NULL) + { + return; + } + + std::ostringstream os; + LogBegin(os, level); + LogPend(os, std::forward(args)...); + LogEnd(os); + + mStorePtr->Append(os.str()); + } + + void LogFormat(int32_t level, LogBuilder& builder) + { + if (level > mLevel || mStorePtr == NULL) + { + return; + } + + std::ostringstream os; + LogBegin(os, level); + LogPendBuilder(os, builder); + LogEnd(os); + + mStorePtr->Append(os.str()); + } + + template + void CritLog(int32_t level, const std::string& key, int32_t code, Args&&... args) + { + if (level > mLevel || mStorePtr == NULL) + { + return; + } + + std::ostringstream os; + LogBegin(os, level); + LogPendCrit(os, key, code); + LogPend(os, std::forward(args)...); + LogEnd(os); + + mStorePtr->Append(os.str()); + } + + void CritLogFormat(int32_t level, const std::string& key, int32_t code, LogBuilder& builder) + { + if (level > mLevel || mStorePtr == NULL) + { + return; + } + + std::ostringstream os; + LogBegin(os, level); + LogPendCrit(os, key, code); + LogPendBuilder(os, builder); + LogEnd(os); + + mStorePtr->Append(os.str()); + } + +private: + void LogPendCrit(std::ostringstream& os, const std::string& key, int32_t code) + { + os << " [__KEY__:" << key << "]"; + os << " [__CODE__:" << code << "]"; + } + + template + void LogPend(std::ostringstream& os, Args&&... args) + { + os << " "; + std::initializer_list{ (os << args, 0)... }; + } + + void LogPendBuilder(std::ostringstream& os, LogBuilder& builder) + { + os << builder.mOs.str(); + } + + void LogBegin(std::ostringstream& os, int32_t level) + { + os << "[" << GetTimeMillisecondString() << "] "; + os << "[" << GetLogLevelDesc(level) << "] "; + os << "[" << OsHelper::Instance()->GetProcessId() << "] "; + os << "[" << OsHelper::Instance()->GetTid() << "]"; + os << std::setprecision(6) << std::fixed; + } + + void LogEnd(std::ostringstream& os) + { + os << std::endl; + } + +private: + int32_t mLevel; + LogStorePtr mStorePtr; +}; + +typedef std::shared_ptr LoggerPtr; +} +} + +#endif//__UT_LOGGER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_policy.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_policy.hpp new file mode 100644 index 0000000..505b1c2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_policy.hpp @@ -0,0 +1,52 @@ +#ifndef __UT_LOG_POLICY_HPP__ +#define __UT_LOG_POLICY_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class LogPolicy +{ +public: + LogPolicy(); + LogPolicy(const std::string& tag, int32_t level, const std::string& store); + + void Dump(); + +public: + std::string mTag; + int32_t mLevel; + std::string mStore; +}; + +typedef std::shared_ptr LogPolicyPtr; + +class LogStorePolicy +{ +public: + LogStorePolicy(); + LogStorePolicy(const std::string& name, int32_t type, int32_t fileNumber, int64_t fileSize, + int64_t fileWriteInter = UT_LOG_WRITE_INTER, int32_t cpuId = UT_CPU_ID_NONE, + const std::string& fileName = "", const std::string& directory = ""); + + void Dump(); + +public: + std::string mName; + int32_t mType; + int32_t mFileNumber; + int64_t mFileSize; + int64_t mFileWriteInter; + int32_t mCpuId; + std::string mFileName; + std::string mDirectory; +}; + +typedef std::shared_ptr LogStorePolicyPtr; + +} +} + +#endif//__UT_LOG_POLICY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_store.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_store.hpp new file mode 100644 index 0000000..eba6a8e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_store.hpp @@ -0,0 +1,76 @@ +#ifndef __LOG_STORE_HPP__ +#define __LOG_STORE_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +class LogStore +{ +public: + explicit LogStore() + {} + virtual ~LogStore() + { + mWriterPtr.reset(); + } + + virtual void Append(const std::string& s) = 0; + +protected: + LogWriterPtr mWriterPtr; +}; + +typedef std::shared_ptr LogStorePtr; + +class LogStdoutStore : public LogStore +{ +public: + explicit LogStdoutStore(); + ~LogStdoutStore(); + + void Append(const std::string& s); +}; + +typedef std::shared_ptr LogStdoutStorePtr; + +class LogStderrStore : public LogStore +{ +public: + explicit LogStderrStore(); + ~LogStderrStore(); + + void Append(const std::string& s); +}; + +typedef std::shared_ptr LogStderrStorePtr; + +class LogFileStore : public LogStore +{ +public: + explicit LogFileStore(LogKeeperPtr keeperPtr); + ~LogFileStore(); + + void Append(const std::string& s); +}; + +typedef std::shared_ptr LogFileStorePtr; + +class LogFileAsyncStore : public LogStore +{ +public: + explicit LogFileAsyncStore(LogKeeperPtr keeperPtr); + ~LogFileAsyncStore(); + + void Append(const std::string& s); +}; + +typedef std::shared_ptr LogFileAsyncStorePtr; + +} +} + +#endif//__LOG_STORE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/log/log_writer.hpp b/deps/unitree_sdk2/include/unitree/common/log/log_writer.hpp new file mode 100644 index 0000000..8b7edd3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/log/log_writer.hpp @@ -0,0 +1,88 @@ +#ifndef __LOG_WRITER_HPP__ +#define __LOG_WRITER_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +class LogWriter +{ +public: + virtual void Write(const std::string& s) = 0; +}; + +typedef std::shared_ptr LogWriterPtr; + +class LogDirectWriter : public LogWriter +{ +public: + explicit LogDirectWriter(int32_t fd); + virtual ~LogDirectWriter(); + + void Write(const std::string& s); + +private: + Mutex mLock; + int32_t mFd; +}; + +class LogStdoutWriter : public LogDirectWriter +{ +public: + explicit LogStdoutWriter() : + LogDirectWriter(UT_FD_STDOUT) + {} + ~LogStdoutWriter() + {} +}; + +class LogStderrWriter : public LogDirectWriter +{ +public: + explicit LogStderrWriter() : + LogDirectWriter(UT_FD_STDERR) + {} + ~LogStderrWriter() + {} +}; + +class LogBufferWriter : public LogWriter +{ +public: + explicit LogBufferWriter(LogKeeperPtr keeperPtr); + ~LogBufferWriter(); + + void Write(const std::string& s); + +private: + LogBufferPtr mBufferPtr; + LogKeeperPtr mKeeperPtr; + Mutex mLock; +}; + +class LogAsyncBufferWriter : public LogWriter +{ +public: + explicit LogAsyncBufferWriter(LogKeeperPtr keeperPtr); + ~LogAsyncBufferWriter(); + + void Write(const std::string& s); + +private: + void DoWrite(); + +private: + volatile bool mRotate; + std::string mTempBuf; + LogBufferPtr mBufferPtr; + LogKeeperPtr mKeeperPtr; + ThreadPtr mThreadPtr; + Mutex mLock; +}; +} +} + +#endif//__LOG_WRITER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/os.hpp b/deps/unitree_sdk2/include/unitree/common/os.hpp new file mode 100644 index 0000000..fd0067e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/os.hpp @@ -0,0 +1,93 @@ +#ifndef __UT_OS_HPP__ +#define __UT_OS_HPP__ + +#include +#include + +namespace unitree +{ +namespace common +{ +enum UT_SCHED_POLICY +{ + UT_SCHED_POLICY_NORMAL = SCHED_OTHER, + UT_SCHED_POLICY_FIFO = SCHED_FIFO, + UT_SCHED_POLICY_RR = SCHED_RR, + UT_SCHED_POLICY_BATCH = SCHED_BATCH, + UT_SCHED_POLICY_IDLE = SCHED_IDLE, + UT_SCHED_POLICY_DEADLINE = SCHED_DEADLINE +}; + +class OsHelper +{ +public: + static OsHelper* Instance() + { + static OsHelper inst; + return &inst; + } + + uid_t GetUID() const; + gid_t GetGID() const; + std::string GetUser() const; + const struct passwd& GetPasswd() const; + + bool GetPasswd(const std::string& name, struct passwd& pwd); + bool GetUIDAndGID(const std::string& name, uid_t& uid, gid_t& gid); + + int32_t GetProcessorNumber() const; + int32_t GetProcessorNumberConf() const; + + int32_t GetPageSize() const; + + int64_t Align(int64_t len) const; + bool IsAligned(int64_t len) const; + + const std::string& GetHostname() const; + + uint32_t GetProcessId(); + const std::string& GetProcessFileName(); + + std::string GetProcessName(); + std::string GetProcessDirectory(bool withEndDelim = true); + + uint64_t GetThreadId(); + int32_t GetTid(); + + bool GetNetworkInterfaceIps(std::map& networkInterfaceIpMap); + bool GetIps(std::set& ips); + + void CpuSet(const std::string& cpuIds); + void CpuSet(uint64_t threadId, size_t cpuId); + + void SetThreadName(uint64_t threadId, const std::string& name); + + void SetScheduler(int32_t policy, int32_t priority); + void SetScheduler(uint64_t threadId, int32_t policy, int32_t priority); + + void SingletonProcessInstance(); + +private: + OsHelper(); + + void __Getpwuid(); + void __GetProcessor(); + void __GetPageSize(); + void __GetProcessFileName(); + void __GetHostname(); + +private: + uid_t mUID; + struct passwd mPasswd; + int32_t mProcessorNumber; + int32_t mProcessorNumberConf; + int32_t mPageSize; + std::string mHostname; + std::string mProcessFileName; + std::shared_ptr mInstanceLockPtr; +}; + +} +} + +#endif//__UT_OS_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/service/base/service_application.hpp b/deps/unitree_sdk2/include/unitree/common/service/base/service_application.hpp new file mode 100644 index 0000000..024063a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/service/base/service_application.hpp @@ -0,0 +1,51 @@ +#ifndef __UT_SERVICE_APPLICATION_HPP__ +#define __UT_SERVICE_APPLICATION_HPP__ + +#include + +#define SERVICE_REGISTER(SERVICE) \ +class SERVICE##Register \ +{ \ +public: \ + SERVICE##Register() \ + { \ + unitree::common::ServiceApplication::Instance()->RegistService(); \ + } \ + static SERVICE##Register mRegister; \ +}; \ +SERVICE##Register SERVICE##Register::mRegister = SERVICE##Register(); + +namespace unitree +{ +namespace common +{ +class ServiceApplication +{ +public: + static ServiceApplication* Instance() + { + static ServiceApplication inst; + return &inst; + } + + template + void RegistService() + { + mServicePtr = ServicePtr(new SERVICE()); + } + + void Init(const std::string& configFileName); + void Start(); + void Stop(); + +private: + ServiceApplication(); + +protected: + ServicePtr mServicePtr; +}; + +} +} + +#endif//__UT_SERVICE_APPLICATION_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/service/base/service_base.hpp b/deps/unitree_sdk2/include/unitree/common/service/base/service_base.hpp new file mode 100644 index 0000000..bacf750 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/service/base/service_base.hpp @@ -0,0 +1,104 @@ +#ifndef __UT_SERVICE_BASE_HPP__ +#define __UT_SERVICE_BASE_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class ServiceBase +{ +public: + ServiceBase(); + virtual ~ServiceBase(); + + virtual void Parse(const std::string& configFileName); + + virtual void Init(); + + virtual void Register(); + + virtual void Start(); + + virtual void Wait(); + + virtual void Stop(); + +protected: + /* + * Parse config content + */ + virtual void ParseConfigContent(const std::string& content); + + /* + * Get field: ServiceName + */ + const std::string& GetServiceName() const; + + /* + * Get field: CpuIds + */ + const std::string& GetCpuIds() const; + + /* + * Get top-level field/value + */ + const Any& GetGlobalParameter(const std::string& name) const; + + /* + * Get top-level field: Parameter + */ + bool HasParameter(const std::string& name) const; + + /* + * Get top-level field: Parameter + */ + const JsonMap& GetParameter() const; + + /* + * Get field from top-level field: Parameter + */ + const Any& GetParameter(const std::string& name) const; + + /* + * Get field from top-level field: Parameter + */ + template + const T& GetParameter(const std::string& name) const + { + return mConfig.GetParameter(name); + } + + /* + * Get field from top-level field: Parameter + */ + template + T GetNumberParameter(const std::string& name) const + { + return mConfig.GetNumberParameter(name); + } + + /* + * Get field from top-level field: Parameter + */ + template + T GetParameter(const std::string& name, const T& defValue) const + { + return mConfig.GetParameter(name, defValue); + } + + template + T GetNumberParameter(const std::string& name, const T& defValue) const + { + return mConfig.GetNumberParameter(name, defValue); + } + +private: + ServiceConfig mConfig; +}; +typedef std::shared_ptr ServicePtr; + +} +} +#endif//__UT_SERVICE_BASE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/service/base/service_config.hpp b/deps/unitree_sdk2/include/unitree/common/service/base/service_config.hpp new file mode 100644 index 0000000..1d78d5a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/service/base/service_config.hpp @@ -0,0 +1,37 @@ +#ifndef __UT_SERVICE_CONFIG_HPP__ +#define __UT_SERVICE_CONFIG_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class ServiceConfig : public common::JsonConfig +{ +public: + ServiceConfig(); + virtual ~ServiceConfig(); + + ServiceConfig(const std::string& configFileName); + + virtual void Parse(const std::string& configFileName); + virtual void ParseContent(const std::string& content); + + //top-level field: ServiceName + const std::string& GetServiceName() const; + + //top-level field: CpuIds + const std::string& GetCpuIds() const; + +protected: + std::string mCpuIds; + std::string mServiceName; +}; + +typedef std::shared_ptr ServiceConfigPtr; + +} +} + +#endif//__UT_SERVICE_CONFIG_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/service/base/service_decl.hpp b/deps/unitree_sdk2/include/unitree/common/service/base/service_decl.hpp new file mode 100644 index 0000000..375f31b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/service/base/service_decl.hpp @@ -0,0 +1,10 @@ +#ifndef __UT_SERVICE_DECL_HPP__ +#define __UT_SERVICE_DECL_HPP__ + +#include +#include +#include +#include +#include + +#endif//__UT_SERVICE_DECL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/service/dds_service.hpp b/deps/unitree_sdk2/include/unitree/common/service/dds_service.hpp new file mode 100644 index 0000000..3fe7545 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/service/dds_service.hpp @@ -0,0 +1,85 @@ +#ifndef __UT_DDS_SERVICE_HPP__ +#define __UT_DDS_SERVICE_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace common +{ +class DdsService : public ServiceBase +{ +public: + DdsService() + { + mLogger = GetLogger("/unitree/service/dds_service"); + mQuit = false; + } + + virtual ~DdsService() + {} + + virtual void Register() + {} + + virtual void Init() + { + mModel.Init(AnyCast(GetGlobalParameter("DdsParameter"))); + LOG_INFO(mLogger, "parse init dds model success."); + } + + virtual void Start() + {} + + virtual void Wait() + { + while (!mQuit) { sleep(1); } + } + + virtual void Stop() + { + mQuit = true; + } + +public: + virtual void Parse(const std::string& configFileName) + { + ServiceBase::Parse(configFileName); + LOG_INFO(mLogger, "parse config success. filename:", configFileName); + } + +protected: + template + void RegistTopicMessageHandler(const std::string& topic, const DdsMessageHandler& handler) + { + mModel.SetTopic(topic, handler); + LOG_INFO(mLogger, "regist topic reader callback. topic:", topic); + } + + template + void RegistTopic(const std::string& topic) + { + mModel.SetTopic(topic); + LOG_INFO(mLogger, "regist topic. topic:", topic); + } + + /* + * Write message to topic + */ + template + void WriteMessage(const std::string& topic, const MSG& message) + { + mModel.WriteMessage(topic, message); + } + +private: + bool mQuit; + DdsEasyModel mModel; + Logger* mLogger; +}; + +} +} +#endif//__UT_DDS_SERVICE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/string_tool.hpp b/deps/unitree_sdk2/include/unitree/common/string_tool.hpp new file mode 100644 index 0000000..6a861a8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/string_tool.hpp @@ -0,0 +1,77 @@ +#ifndef __UT_STRING_TOOL_HPP__ +#define __UT_STRING_TOOL_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +/* + * trim delim + */ +const char UT_TRIM_DELIM_STR[] = {0x09,0x0A,0x0B,0x0C,0x0D,0x20,0x00}; + +/* + * string cast functions + */ +std::string ToString(const char* s); +std::string ToString(const std::string& s); + +/* + * template ToString + */ +template +std::string ToString(const T& t) +{ + return std::to_string(t); +} + +/* + * string functions + */ +void StringTo(const std::string& s, int32_t& val); +void StringTo(const std::string& s, uint32_t& val); +void StringTo(const std::string& s, int64_t& val); +void StringTo(const std::string& s, uint64_t& val); +void StringTo(const std::string& s, float& val); +void StringTo(const std::string& s, double& val); +void StringTo(const std::string& s, long double& val); + +template +T StringTo(const std::string& s) +{ + T t; + StringTo(s, t); + return t; +} + +/* + * string tool functions + */ +std::string& ToUpper(std::string& s); +std::string& ToLower(std::string& s); + +int32_t Compare(const std::string& s1, const std::string& s2, + bool caseSensitive = true); +int32_t Compare(const std::string& s1, size_t pos, size_t len, + const std::string& s2, bool caseSensitive = true); + +std::string& TrimLeft(std::string& s, const std::string& delim = std::string(UT_TRIM_DELIM_STR)); +std::string& TrimRight(std::string& s, const std::string& delim = std::string(UT_TRIM_DELIM_STR)); +std::string& Trim(std::string& s, const std::string& delim = std::string(UT_TRIM_DELIM_STR)); + +void Split(const std::string& s, std::vector& parts, + const std::string& delim); + +bool StartWith(const std::string& s, const std::string& start, + bool caseSensitive = true); + +bool EndWith(const std::string& s, const std::string& end, + bool caseSensitive = true); + +std::string Replace(const std::string& s, const std::string& partten, + const std::string& target); +} +} +#endif//__UT_STRING_TOOL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/future.hpp b/deps/unitree_sdk2/include/unitree/common/thread/future.hpp new file mode 100644 index 0000000..61e03be --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/future.hpp @@ -0,0 +1,102 @@ +#ifndef __UT_FUTURE_HPP__ +#define __UT_FUTURE_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class Future +{ +public: + enum + { + DEFER = 0, + READY = 1, + FAULT = 2 + }; + + Future() + {} + + virtual ~Future() + {} + + bool IsDeferred() + { + return GetState() == DEFER; + } + + bool IsReady() + { + return GetState() == READY; + } + + bool IsFault() + { + return GetState() == FAULT; + } + + virtual int32_t GetState() = 0; + virtual bool Wait(int64_t microsec = 0) = 0; + virtual const Any& GetValue(int64_t microsec = 0) = 0; + virtual const Any& GetFaultMessage() = 0; + +public: + virtual void Ready(const Any& value) = 0; + virtual void Fault(const Any& message) = 0; +}; + +typedef std::shared_ptr FuturePtr; + +class FutureWrapper : public Future +{ +public: + FutureWrapper(); + virtual ~FutureWrapper(); + + virtual int32_t GetState() + { + return mFuturePtr->GetState(); + } + + virtual bool Wait(int64_t microsec = 0) + { + return mFuturePtr->Wait(microsec); + } + + virtual const Any& GetValue(int64_t microsec = 0) + { + return mFuturePtr->GetValue(microsec); + } + + virtual const Any& GetFaultMessage() + { + return mFuturePtr->GetFaultMessage(); + } + + std::shared_ptr GetFuture() + { + return mFuturePtr; + } + +public: + virtual void Ready(const Any& value) + { + return mFuturePtr->Ready(value); + } + + virtual void Fault(const Any& message) + { + return mFuturePtr->Fault(message); + } + +protected: + std::shared_ptr mFuturePtr; +}; + +} +} + +#endif//__UT_FUTURE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/recurrent_thread.hpp b/deps/unitree_sdk2/include/unitree/common/thread/recurrent_thread.hpp new file mode 100644 index 0000000..75b70b8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/recurrent_thread.hpp @@ -0,0 +1,84 @@ +#ifndef __UT_RECURRENT_THREAD_HPP__ +#define __UT_RECURRENT_THREAD_HPP__ + +#include + +#define UT_THREAD_TIME_INTERVAL_MICROSEC 1000000 + +namespace unitree +{ +namespace common +{ +class RecurrentThread : public Thread +{ +public: + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit RecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__) + : mQuit(false), mIntervalMicrosec(intervalMicrosec) + { + //recurrent function + mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__); + + //Call Thread::Run for runing thread + if (mIntervalMicrosec == 0) + { + Run(&RecurrentThread::ThreadFunc_0, this); + } + else + { + Run(&RecurrentThread::ThreadFunc, this); + } + } + + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit RecurrentThread(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec, + __UT_THREAD_TMPL_FUNC_ARG__) + : Thread(name, cpuId), mQuit(false), mIntervalMicrosec(intervalMicrosec) + { + //recurrent function + mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__); + + //Call Thread::Run for runing thread + if (mIntervalMicrosec == 0) + { + Run(&RecurrentThread::ThreadFunc_0, this); + } + else + { + Run(&RecurrentThread::ThreadFunc, this); + } + } + + virtual ~RecurrentThread(); + + int32_t ThreadFunc(); + int32_t ThreadFunc_0(); + + bool Wait(int64_t microsec = 0); + +private: + volatile bool mQuit; + uint64_t mIntervalMicrosec; + std::function mFunc; +}; + +typedef std::shared_ptr RecurrentThreadPtr; + +__UT_THREAD_DECL_TMPL_FUNC_ARG__ +ThreadPtr CreateRecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__) +{ + return ThreadPtr(new RecurrentThread(intervalMicrosec, __UT_THREAD_BIND_FUNC_ARG__)); +} + +__UT_THREAD_DECL_TMPL_FUNC_ARG__ +ThreadPtr CreateRecurrentThreadEx(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec, + __UT_THREAD_TMPL_FUNC_ARG__) +{ + return ThreadPtr(new RecurrentThread(name, cpuId, intervalMicrosec, + __UT_THREAD_BIND_FUNC_ARG__)); +} + +} +} + +#endif//__UT_RECURRENT_THREAD_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/thread.hpp b/deps/unitree_sdk2/include/unitree/common/thread/thread.hpp new file mode 100644 index 0000000..2c30f1d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/thread.hpp @@ -0,0 +1,79 @@ +#ifndef __UT_THREAD_HPP__ +#define __UT_THREAD_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class Thread : public FutureWrapper +{ +public: + Thread() + : mThreadId(0), mCpuId(UT_CPU_ID_NONE) + {} + + Thread(const std::string& name, int32_t cpuId) + : mThreadId(0), mName(name), mCpuId(cpuId) + {} + + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit Thread(__UT_THREAD_TMPL_FUNC_ARG__) + : Thread() + { + Run(__UT_THREAD_BIND_FUNC_ARG__); + } + + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit Thread(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__) + : Thread(name, cpuId) + { + Run(__UT_THREAD_BIND_FUNC_ARG__); + } + + virtual ~Thread(); + + uint64_t GetThreadId() const; + + void SetCpu(); + void SetName(); + void SetPriority(int32_t priority); + + void Wrap(); + +protected: + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + void Run(__UT_THREAD_TMPL_FUNC_ARG__) + { + mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__); + CreateThreadNative(); + } + + void CreateThreadNative(); + +protected: + pthread_t mThreadId; + std::string mName; + int32_t mCpuId; + std::function mFunc; +}; + +typedef std::shared_ptr ThreadPtr; + +__UT_THREAD_DECL_TMPL_FUNC_ARG__ +static inline ThreadPtr CreateThread(__UT_THREAD_TMPL_FUNC_ARG__) +{ + return ThreadPtr(new Thread(__UT_THREAD_BIND_FUNC_ARG__)); +} + +__UT_THREAD_DECL_TMPL_FUNC_ARG__ +static inline ThreadPtr CreateThreadEx(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__) +{ + return ThreadPtr(new Thread(name, cpuId, __UT_THREAD_BIND_FUNC_ARG__)); +} + +} +} + +#endif//__UT_THREAD_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/thread_decl.hpp b/deps/unitree_sdk2/include/unitree/common/thread/thread_decl.hpp new file mode 100644 index 0000000..5d3b7dd --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/thread_decl.hpp @@ -0,0 +1,20 @@ +#ifndef __UT_THREAD_DECL_HPP__ +#define __UT_THREAD_DECL_HPP__ + +#include +#include +#include +#include + +#define __UT_THREAD_DECL_TMPL_FUNC_ARG__ \ + template + +#define __UT_THREAD_TMPL_FUNC_ARG__ \ + Func&& func, Args&&... args + +#define __UT_THREAD_BIND_FUNC_ARG__ \ + std::forward(func), std::forward(args)... + +#define UT_CPU_ID_NONE -1 + +#endif//__THREAD_DECL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/thread_pool.hpp b/deps/unitree_sdk2/include/unitree/common/thread/thread_pool.hpp new file mode 100644 index 0000000..fb40fee --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/thread_pool.hpp @@ -0,0 +1,98 @@ +#ifndef __UT_THREAD_POOL_HPP__ +#define __UT_THREAD_POOL_HPP__ + +#include +#include +#include +#include + +namespace unitree +{ +namespace common +{ +class ThreadPool +{ +public: + enum + { + /* + * minimum threads can be created. + */ + MIN_THREAD_NUMBER = 1, + /* + * maximum threads can be created. + */ + MAX_THREAD_NUMBER = 1000, + /* + * default timeout get task from blockqueue. + * 1 second + */ + QUEUE_GET_TIMEOUT_MICROSEC = 1000000, + /* + * default max queue size. + * as UT_QUEUE_MAX_LEN + */ + MAX_QUEUE_SIZE = UT_QUEUE_MAX_LEN, + /* + * default in queue time in microsecond. + * 7 days + */ + MAX_QUEUE_MICROSEC = 25200000000 + }; + + explicit ThreadPool(uint32_t threadNumber = MIN_THREAD_NUMBER, + uint32_t queueMaxSize = UT_QUEUE_MAX_LEN, + uint64_t taskMaxQueueMicrosec = MAX_QUEUE_MICROSEC); + + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + bool AddTask(__UT_THREAD_TMPL_FUNC_ARG__) + { + return AddTaskInner(ThreadTaskPtr(new ThreadTask(__UT_THREAD_BIND_FUNC_ARG__))); + } + + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + FuturePtr AddTaskFuture(__UT_THREAD_TMPL_FUNC_ARG__) + { + ThreadTaskFuturePtr taskPtr = ThreadTaskFuturePtr( + new ThreadTaskFuture(__UT_THREAD_BIND_FUNC_ARG__)); + + if (AddTaskInner(std::dynamic_pointer_cast(taskPtr))) + { + return taskPtr->GetFuture(); + } + + return FuturePtr(); + } + + int32_t DoTask(); + uint64_t GetTaskSize(); + + bool IsQuit(); + void Quit(bool waitThreadExit = true); + + bool IsTaskOverdue(uint64_t enqueueTime); + +private: + bool AddTaskInner(ThreadTaskPtr taskptr); + + void InitCreateThread(); + void WaitThreadExit(); + +private: + volatile bool mQuit; + + uint32_t mThreadNumber; + uint32_t mTaskQueueMaxSize; + uint64_t mTaskMaxQueueTime; + + BlockQueue mTaskQueue; + std::vector mThreadList; + + Logger* mLogger; +}; + +typedef std::shared_ptr ThreadPoolPtr; + +} +} +#endif//__UT_THREAD_POOL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/thread/thread_task.hpp b/deps/unitree_sdk2/include/unitree/common/thread/thread_task.hpp new file mode 100644 index 0000000..d1f9ba8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/thread/thread_task.hpp @@ -0,0 +1,47 @@ +#ifndef __UT_THREAD_TASK_HPP__ +#define __UT_THREAD_TASK_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +class ThreadTask +{ +public: + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit ThreadTask(__UT_THREAD_TMPL_FUNC_ARG__) + { + mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__); + } + + virtual void Execute(); + + void SetEnqueueTime(); + uint64_t GetEnqueueTime() const; + +protected: + uint64_t mEnqueueTimeMicrosec; + std::function mFunc; +}; + +typedef std::shared_ptr ThreadTaskPtr; + +class ThreadTaskFuture : public ThreadTask, public FutureWrapper +{ +public: + __UT_THREAD_DECL_TMPL_FUNC_ARG__ + explicit ThreadTaskFuture(__UT_THREAD_TMPL_FUNC_ARG__) + : ThreadTask(__UT_THREAD_BIND_FUNC_ARG__) + {} + + void Execute(); +}; + +typedef std::shared_ptr ThreadTaskFuturePtr; + +} +} + +#endif//__UT_THREAD_TASK_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/time/sleep.hpp b/deps/unitree_sdk2/include/unitree/common/time/sleep.hpp new file mode 100644 index 0000000..031b481 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/time/sleep.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_SLEEP_HPP__ +#define __UT_SLEEP_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +void MicroSleep(uint64_t microsecond); +void MilliSleep(uint64_t millisecond); +void Sleep(uint64_t second); + +} +} + +#endif//__UT_SLEEP_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/common/time/time_tool.hpp b/deps/unitree_sdk2/include/unitree/common/time/time_tool.hpp new file mode 100644 index 0000000..da1b52e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/common/time/time_tool.hpp @@ -0,0 +1,81 @@ +#ifndef __UT_TIME_TOOL_HPP__ +#define __UT_TIME_TOOL_HPP__ + +#include + +namespace unitree +{ +namespace common +{ +#define UT_NUMER_NANO 1000000000 +#define UT_NUMER_MICRO 1000000 +#define UT_NUMER_MILLI 1000 + +//default time format: "YEAR-MON-DAY HOUR:MIN:SEC" +#define UT_TIME_FORMAT_STR "%d-%02d-%02d %02d:%02d:%02d" + +//default precise time format: "YEAR-MON-DAY HOUR:MIN:SEC.[MILLI/MICRO]" +#define UT_TIME_MICROSEC_FORMAT_STR "%d-%02d-%02d %02d:%02d:%02d.%06d" +#define UT_TIME_MILLISEC_FORMAT_STR "%d-%02d-%02d %02d:%02d:%02d.%03d" + +void GetCurrentTimeval(struct timeval& tv); +void GetCurrentTimespec(struct timespec& ts); + +uint64_t GetCurrentTime(); +uint64_t GetCurrentTimeNanosecond(); +uint64_t GetCurrentTimeMicrosecond(); +uint64_t GetCurrentTimeMillisecond(); + +uint64_t GetCurrentCpuTimeNanosecond(); +uint64_t GetCurrentThreadCpuTimeNanosecond(); +uint64_t GetCurrentMonotonicTimeNanosecond(); + +uint64_t GetCurrentCpuTimeMicrosecond(); +uint64_t GetCurrentThreadCpuTimeMicrosecond(); +uint64_t GetCurrentMonotonicTimeMicrosecond(); + +uint64_t TimevalToMicrosecond(const struct timeval& tv); +uint64_t TimevalToMillisecond(const struct timeval& tv); + +uint64_t TimespecToMicrosecond(const struct timespec& ts); +uint64_t TimespecToMillisecond(const struct timespec& ts); + +void MicrosecondToTimeval(uint64_t microsec, struct timeval& tv); +void MillisecondToTimeval(uint64_t millisec, struct timeval& tv); + +void MicrosecondToTimespec(uint64_t microsec, struct timespec& ts); +void MillisecondToTimespec(uint64_t millisec, struct timespec& ts); + +std::string TimeFormatString(struct tm* tmptr, const char* format = UT_TIME_FORMAT_STR); +std::string TimeFormatString(struct tm* tmptr, uint64_t precise, const char* format); +std::string TimeFormatString(uint64_t sec, const char* format = UT_TIME_FORMAT_STR); + +std::string TimeMicrosecondFormatString(const uint64_t& microsec, + const char* format = UT_TIME_MICROSEC_FORMAT_STR); + +std::string TimeMillisecondFormatString(const uint64_t& millisec, + const char* format = UT_TIME_MILLISEC_FORMAT_STR); + +std::string GetTimeString(); +std::string GetTimeMicrosecondString(); +std::string GetTimeMillisecondString(); + +class Timer +{ +public: + Timer(); + ~Timer(); + + void Start(); + void Restart(); + + uint64_t Stop(); + +private: + uint64_t mMicrosecond; +}; + +} +} + +#endif//__UT_TIME_TOOL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Publisher.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Publisher.h new file mode 100644 index 0000000..2cad08a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Publisher.h @@ -0,0 +1,177 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include +#include + +namespace unitree +{ +namespace robot +{ + +/** + * @brief Base class for convenient publishing to topics. + * This class provides an easy-to-use interface for publishing messages to topics. + * + * @tparam MessageType The type of message being published. + */ +template +class PublisherBase : public unitree::robot::ChannelPublisher +{ +public: + using MsgType = MessageType; + using SharedPtr = std::shared_ptr>; + + PublisherBase(std::string TOPIC_NAME) + : unitree::robot::ChannelPublisher(TOPIC_NAME) + { + this->InitChannel(); + } +}; + +// For details: see https://github.com/ros-controls/realtime_tools +template +class RealTimePublisher +{ +public: + using MsgType = MessageType; + using PublisherSharedPtr = typename unitree::robot::ChannelPublisherPtr; + + MessageType msg_{}; + + explicit RealTimePublisher(PublisherSharedPtr publisher) + : publisher_(publisher), is_running_(false), keep_running_(true), turn_(LOOP_NOT_STARTED) + { + thread_ = std::thread(&RealTimePublisher::publishingLoop, this); + } + + explicit RealTimePublisher(std::string topic) + : RealTimePublisher(std::make_shared>(topic)) + {} + + ~RealTimePublisher() + { + stop(); + while (is_running()) { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + if(thread_.joinable()) { thread_.join(); } + } + + void stop() + { + keep_running_ = false; + } + + /** + * @brief Try to get the data lock from realtime + * + * To publish data from the realtime loop, you need to run trylock to + * attenot to get unique access to the msg_ variable. Teylock returns + * true if the lock was aquired, and false otherwise. + */ + bool trylock() + { + if(mutex_.try_lock()) + { + if(turn_ == REALTIME) { + return true; + } else { + mutex_.unlock(); + return false; + } + } else { + return false; + } + } + + /** + * @brief Unlock the msg_ variable and publish it. + */ + void unlockAndPublish() + { + turn_ = NON_REALTIME; + mutex_.unlock(); + } + + /** + * @brief Get the data lock from non-realtime. + * + * To publish data from the realtime loop, you need to run trylock to + * attenot to get unique access to the msg_ variable. Teylock returns + * true if the lock was aquired, and false otherwise. + */ + void lock() + { + // never actually lock on the lock + while (!mutex_.try_lock()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + } + + /** + * @brief Unlocks the data without publishing anything. + */ + void unlock() { mutex_.unlock(); } + +protected: + virtual void pre_communication() {} // something before sending the message + virtual void post_communication() {} // something after sending the message + +private: + // non-copyable + RealTimePublisher(const RealTimePublisher&) = delete; + RealTimePublisher& operator=(const RealTimePublisher&) = delete; + + + bool is_running() const { return is_running_; } + + void publishingLoop() + { + is_running_ = true; + turn_ = REALTIME; + + while (keep_running_) + { + MsgType outgoing; + + // Locks msg_ and copies it + lock(); + while (turn_ != NON_REALTIME && keep_running_) + { + unlock(); + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + lock(); + } + pre_communication(); + outgoing = msg_; + turn_ = REALTIME; + + unlock(); + + if(keep_running_) { + publisher_->Write(outgoing, 0); + } + post_communication(); + } + is_running_ = false; + } + + PublisherSharedPtr publisher_; + std::atomic_bool is_running_; + std::atomic_bool keep_running_; + + std::mutex mutex_; + + std::thread thread_; + + enum { REALTIME, NON_REALTIME, LOOP_NOT_STARTED }; + std::atomic turn_; +}; + +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Subscription.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Subscription.h new file mode 100644 index 0000000..51e76cc --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/Subscription.h @@ -0,0 +1,84 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +/** + * @brief Base class for convenient subscription to topics. + * This class provides an easy-to-use interface for subscribing to topics, + * but the continuous background updates may increase CPU usage. + * + * @tparam MessageType The type of message being subscribed to. + */ +template +class SubscriptionBase +{ +public: + using MsgType = MessageType; + using SharedPtr = std::shared_ptr>; + + SubscriptionBase(const std::string& topic, const std::function& handler = nullptr) + { + last_update_time_ = std::chrono::steady_clock::now() - std::chrono::milliseconds(timeout_ms_); + sub_ = std::make_shared>(topic); + if (handler) { + sub_->InitChannel(handler); + } else { + sub_->InitChannel([this](const void *msg){ + last_update_time_ = std::chrono::steady_clock::now(); + std::lock_guard lock(mutex_); + pre_communication(); + msg_ = *(const MessageType*)msg; + post_communication(); + }); + } + } + + void set_timeout_ms(uint32_t timeout_ms) { timeout_ms_ = timeout_ms; } + + bool isTimeout() { + auto now = std::chrono::steady_clock::now(); + auto elasped_time = now - last_update_time_; + return elasped_time > std::chrono::milliseconds(timeout_ms_); + } + + void wait_for_connection() { + auto t0 = std::chrono::steady_clock::now(); + bool warn_info = false; + while(isTimeout()) { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + if (!warn_info && std::chrono::steady_clock::now() - t0 > std::chrono::seconds(2)) { + warn_info = true; + spdlog::warn("Waiting for connection {}", sub_->GetChannelName()); + } + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); // wait for stable communicaiton + if (warn_info) { + spdlog::info("Connected {}", sub_->GetChannelName()); + } + } + + MessageType msg_; + std::mutex mutex_; + +protected: + virtual void pre_communication() {} // something before receiving message + virtual void post_communication() {} // something after receiving message + + uint32_t timeout_ms_{1000}; + unitree::robot::ChannelSubscriberPtr sub_; + std::chrono::steady_clock::time_point last_update_time_; +}; + + +}; // namespace robot +}; // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/common/crc.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/crc.h new file mode 100644 index 0000000..41025ba --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/crc.h @@ -0,0 +1,80 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include + +inline uint16_t crc16_core (const uint8_t *nData, unsigned short wLength){ + static const uint16_t wCRCTable[] = { + 0X0000, 0XC0C1, 0XC181, 0X0140, 0XC301, 0X03C0, 0X0280, 0XC241, + 0XC601, 0X06C0, 0X0780, 0XC741, 0X0500, 0XC5C1, 0XC481, 0X0440, + 0XCC01, 0X0CC0, 0X0D80, 0XCD41, 0X0F00, 0XCFC1, 0XCE81, 0X0E40, + 0X0A00, 0XCAC1, 0XCB81, 0X0B40, 0XC901, 0X09C0, 0X0880, 0XC841, + 0XD801, 0X18C0, 0X1980, 0XD941, 0X1B00, 0XDBC1, 0XDA81, 0X1A40, + 0X1E00, 0XDEC1, 0XDF81, 0X1F40, 0XDD01, 0X1DC0, 0X1C80, 0XDC41, + 0X1400, 0XD4C1, 0XD581, 0X1540, 0XD701, 0X17C0, 0X1680, 0XD641, + 0XD201, 0X12C0, 0X1380, 0XD341, 0X1100, 0XD1C1, 0XD081, 0X1040, + 0XF001, 0X30C0, 0X3180, 0XF141, 0X3300, 0XF3C1, 0XF281, 0X3240, + 0X3600, 0XF6C1, 0XF781, 0X3740, 0XF501, 0X35C0, 0X3480, 0XF441, + 0X3C00, 0XFCC1, 0XFD81, 0X3D40, 0XFF01, 0X3FC0, 0X3E80, 0XFE41, + 0XFA01, 0X3AC0, 0X3B80, 0XFB41, 0X3900, 0XF9C1, 0XF881, 0X3840, + 0X2800, 0XE8C1, 0XE981, 0X2940, 0XEB01, 0X2BC0, 0X2A80, 0XEA41, + 0XEE01, 0X2EC0, 0X2F80, 0XEF41, 0X2D00, 0XEDC1, 0XEC81, 0X2C40, + 0XE401, 0X24C0, 0X2580, 0XE541, 0X2700, 0XE7C1, 0XE681, 0X2640, + 0X2200, 0XE2C1, 0XE381, 0X2340, 0XE101, 0X21C0, 0X2080, 0XE041, + 0XA001, 0X60C0, 0X6180, 0XA141, 0X6300, 0XA3C1, 0XA281, 0X6240, + 0X6600, 0XA6C1, 0XA781, 0X6740, 0XA501, 0X65C0, 0X6480, 0XA441, + 0X6C00, 0XACC1, 0XAD81, 0X6D40, 0XAF01, 0X6FC0, 0X6E80, 0XAE41, + 0XAA01, 0X6AC0, 0X6B80, 0XAB41, 0X6900, 0XA9C1, 0XA881, 0X6840, + 0X7800, 0XB8C1, 0XB981, 0X7940, 0XBB01, 0X7BC0, 0X7A80, 0XBA41, + 0XBE01, 0X7EC0, 0X7F80, 0XBF41, 0X7D00, 0XBDC1, 0XBC81, 0X7C40, + 0XB401, 0X74C0, 0X7580, 0XB541, 0X7700, 0XB7C1, 0XB681, 0X7640, + 0X7200, 0XB2C1, 0XB381, 0X7340, 0XB101, 0X71C0, 0X7080, 0XB041, + 0X5000, 0X90C1, 0X9181, 0X5140, 0X9301, 0X53C0, 0X5280, 0X9241, + 0X9601, 0X56C0, 0X5780, 0X9741, 0X5500, 0X95C1, 0X9481, 0X5440, + 0X9C01, 0X5CC0, 0X5D80, 0X9D41, 0X5F00, 0X9FC1, 0X9E81, 0X5E40, + 0X5A00, 0X9AC1, 0X9B81, 0X5B40, 0X9901, 0X59C0, 0X5880, 0X9841, + 0X8801, 0X48C0, 0X4980, 0X8941, 0X4B00, 0X8BC1, 0X8A81, 0X4A40, + 0X4E00, 0X8EC1, 0X8F81, 0X4F40, 0X8D01, 0X4DC0, 0X4C80, 0X8C41, + 0X4400, 0X84C1, 0X8581, 0X4540, 0X8701, 0X47C0, 0X4680, 0X8641, + 0X8201, 0X42C0, 0X4380, 0X8341, 0X4100, 0X81C1, 0X8081, 0X4040 }; + + uint8_t nTemp; + uint16_t wCRCWord = 0xFFFF; + + while (wLength--){ + nTemp = *nData++ ^ wCRCWord; + wCRCWord >>= 8; + wCRCWord ^= wCRCTable[nTemp]; + } + return wCRCWord; + +} // End: CRC16 + +inline uint32_t crc32_core(uint32_t* ptr, uint32_t len){ + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t CRC32 = 0xFFFFFFFF; + const uint32_t dwPolynomial = 0x04c11db7; + for (uint32_t i = 0; i < len; i++) + { + xbit = 1 << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; bits++) + { + if (CRC32 & 0x80000000) + { + CRC32 <<= 1; + CRC32 ^= dwPolynomial; + } + else + CRC32 <<= 1; + if (data & xbit) + CRC32 ^= dwPolynomial; + + xbit >>= 1; + } + } + return CRC32; +} \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/common/unitree_joystick.hpp b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/unitree_joystick.hpp new file mode 100644 index 0000000..47e5f87 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/common/unitree_joystick.hpp @@ -0,0 +1,235 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include +#include + +namespace unitree +{ +namespace common +{ + +// ***************************** Unitree Joystick Data Type ***************************** // +typedef union +{ + struct + { + uint8_t R1 : 1; + uint8_t L1 : 1; + uint8_t Start : 1; + uint8_t Select : 1; + uint8_t R2 : 1; + uint8_t L2 : 1; + uint8_t f1 : 1; + uint8_t f2 : 1; + uint8_t A : 1; + uint8_t B : 1; + uint8_t X : 1; + uint8_t Y : 1; + uint8_t up : 1; + uint8_t right : 1; + uint8_t down : 1; + uint8_t left : 1; + } components; + + uint16_t value; +} BtnUnion; + +typedef struct +{ + uint8_t head[2]; + BtnUnion btn; + float lx; + float rx; + float ry; + float L2; + float ly; +} BtnDataStruct; + +typedef union +{ + BtnDataStruct RF_RX; + uint8_t buff[40]; +}REMOTE_DATA_RX; + + +// ***************************** Button & Axis ***************************** // +class KeyBase +{ +/** + * Example: + * >>> btn = KeyBase(); + * + * >>> btn(1); // update + * >>> btn.pressed + * >>> if btn.on_pressed: + * >>> print(btn.click_cnt) + * >>> if btn.pressed: + * >>> print(btn.pressed_time) + */ +public: + KeyBase() = default; + + bool pressed = false; + bool on_pressed = false; + bool on_released = false; + int click_cnt = 0; // used at `on_pressed` + float pressed_time = 0.0; + +protected: + void update(bool is_pressed) + { + pressed = is_pressed; + on_pressed = (pressed && !last_pressed_); + on_released = (!pressed && last_pressed_); + last_pressed_ = pressed; + + auto now = std::chrono::steady_clock::now(); + if (on_pressed) + { + if (std::chrono::duration(now - last_click_time_).count() < double_click_threshold_) { + click_cnt++; + } else { + click_cnt = 1; + } + last_click_time_ = now; + } + + if(pressed) { + pressed_time = std::chrono::duration(now - last_click_time_).count(); + } + if (!(pressed || on_released)) { // save once time on released + pressed_time = 0.0; + } + } +private: + bool last_pressed_{false}; + std::chrono::steady_clock::time_point last_click_time_{}; + const float double_click_threshold_{0.5}; // Unit: second +}; + +template // int, bool, string +class Button : public KeyBase +{ +public: + void operator()(const T& data){ + bool is_pressed = (data != dataNull_); + update(is_pressed); + data_ = data; + } + const T& operator()() { return data_; } +private: + T data_{}, dataNull_{}; +}; + +class Axis : public KeyBase +{ +public: + void operator()(const float& data){ // update + auto data_deadzone = std::fabs(data) < deadzone ? 0.0 : data; + float new_data = data_ * (1.0 - smooth) + data_deadzone * smooth; + bool is_pressed = (new_data > threshold); + update(is_pressed); + data_ = new_data; + } + + const float& operator()() { return data_; } + + float smooth = 0.03; + float deadzone = 0.01; + + float threshold{0.5}; // Change an axis value to a button +private: + float data_{}; +}; + +// ***************************** Unitree Joystick Interface ***************************** // + +class UnitreeJoystick +{ +public: + UnitreeJoystick() = default; + + // Adopts standard joystick key names + Button back; + Button start; + Button LS; + Button RS; + Button LB; + Button RB; + Button A; + Button B; + Button X; + Button Y; + Button up; + Button down; + Button left; + Button right; + Button F1; + Button F2; + Axis lx; + Axis ly; + Axis rx; + Axis ry; + Axis LT; + Axis RT; + + virtual void update(){}; + + void extract(const REMOTE_DATA_RX& key) + { + back(key.RF_RX.btn.components.Select); + start(key.RF_RX.btn.components.Start); + LB(key.RF_RX.btn.components.L1); + RB(key.RF_RX.btn.components.R1); + F1(key.RF_RX.btn.components.f1); + F2(key.RF_RX.btn.components.f2); + A(key.RF_RX.btn.components.A); + B(key.RF_RX.btn.components.B); + X(key.RF_RX.btn.components.X); + Y(key.RF_RX.btn.components.Y); + up(key.RF_RX.btn.components.up); + down(key.RF_RX.btn.components.down); + left(key.RF_RX.btn.components.left); + right(key.RF_RX.btn.components.right); + LT(key.RF_RX.btn.components.L2); + RT(key.RF_RX.btn.components.R2); + lx(key.RF_RX.lx); + ly(key.RF_RX.ly); + rx(key.RF_RX.rx); + ry(key.RF_RX.ry); + } + + REMOTE_DATA_RX combine() + { + REMOTE_DATA_RX key; + key.RF_RX.btn.components.Select = back(); + key.RF_RX.btn.components.Start = start(); + key.RF_RX.btn.components.L1 = LB(); + key.RF_RX.btn.components.R1 = RB(); + key.RF_RX.btn.components.f1 = F1(); + key.RF_RX.btn.components.f2 = F2(); + key.RF_RX.btn.components.A = A(); + key.RF_RX.btn.components.B = B(); + key.RF_RX.btn.components.X = X(); + key.RF_RX.btn.components.Y = Y(); + key.RF_RX.btn.components.up = up(); + key.RF_RX.btn.components.down = down(); + key.RF_RX.btn.components.left = left(); + key.RF_RX.btn.components.right = right(); + key.RF_RX.btn.components.L2 = LT() > 0.5f ? 1 : 0; + key.RF_RX.btn.components.R2 = RT() > 0.5f ? 1 : 0; + key.RF_RX.lx = lx(); + key.RF_RX.ly = ly(); + key.RF_RX.rx = rx(); + key.RF_RX.ry = ry(); + return key; + } +}; + +} // namespace common +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/defines.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/defines.h new file mode 100644 index 0000000..9f752de --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/defines.h @@ -0,0 +1,71 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ + +enum JointIndex{ + // Left leg + LeftHipPitch = 0, + LeftHipRoll = 1, + LeftHipYaw = 2, + LeftKnee = 3, + LeftAnklePitch = 4, + LeftAnkleRoll = 5, + + // Right leg + RightHipPitch = 6, + RightHipRoll = 7, + RightHipYaw = 8, + RightKnee = 9, + RightAnklePitch = 10, + RightAnkleRoll = 11, + + WaistYaw = 12, + WaistRoll = 13, + WaistPitch = 14, + + // Left arm + LeftShoulderPitch = 15, + LeftShoulderRoll = 16, + LeftShoulderYaw = 17, + LeftElbow = 18, + LeftWristRoll = 19, + LeftWristPitch = 20, + LeftWristYaw = 21, + + // Right arm + RightShoulderPitch = 22, + RightShoulderRoll = 23, + RightShoulderYaw = 24, + RightElbow = 25, + RightWristRoll = 26, + RightWristPitch = 27, + RightWristYaw = 28 +}; + +static const std::array ArmJoints = { + JointIndex::LeftShoulderPitch, JointIndex::LeftShoulderRoll, + JointIndex::LeftShoulderYaw, JointIndex::LeftElbow, + JointIndex::LeftWristRoll, JointIndex::LeftWristPitch, + JointIndex::LeftWristYaw, + JointIndex::RightShoulderPitch, JointIndex::RightShoulderRoll, + JointIndex::RightShoulderYaw, JointIndex::RightElbow, + JointIndex::RightWristRoll, JointIndex::RightWristPitch, + JointIndex::RightWristYaw, + JointIndex::WaistYaw, + JointIndex::WaistRoll, + JointIndex::WaistPitch +}; + +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1.h new file mode 100644 index 0000000..ec9a11c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1.h @@ -0,0 +1,18 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include "unitree/dds_wrapper/robots/g1/g1_pub.h" +#include "unitree/dds_wrapper/robots/g1/g1_sub.h" + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ + +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_pub.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_pub.h new file mode 100644 index 0000000..2ae1515 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_pub.h @@ -0,0 +1,92 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include "unitree/dds_wrapper/common/crc.h" +#include "unitree/dds_wrapper/common/unitree_joystick.hpp" + +#include +#include +#include + +#include "g1_sub.h" + + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ +namespace publisher +{ + +class LowState : public RealTimePublisher +{ +public: + LowState(std::string topic = "rt/lowstate") : RealTimePublisher(topic) + { + } + std::shared_ptr joystick = nullptr; + +private: + void pre_communication() override { + if (joystick) { + auto data = joystick->combine(); + memcpy(&msg_.wireless_remote()[0], &data, sizeof(unitree::common::REMOTE_DATA_RX)); + } + msg_.crc() = crc32_core((uint32_t*)&msg_, (sizeof(MsgType)>>2)-1); + } + }; + +class LowCmd : public RealTimePublisher +{ +public: + LowCmd(std::string topic = "rt/lowcmd") : RealTimePublisher(topic) + { + } + + bool check_mode_machine(subscription::LowState::SharedPtr lowstate = nullptr) const + { + auto sub = lowstate == nullptr ? std::make_shared() : lowstate; + sub->wait_for_connection(); + auto m_sub = sub->msg_.mode_machine(); + auto m_pub = msg_.mode_machine(); + + // 0: simulation environment + return !(m_sub != 0 && m_sub != m_pub); + } +private: + /** + * @brief Something before sending the message. + */ + void pre_communication() override { + msg_.crc() = crc32_core((uint32_t*)&msg_, (sizeof(MsgType)>>2)-1); + } +}; + +class ArmSdk : public RealTimePublisher +{ +public: + ArmSdk(std::string topic = "rt/arm_sdk") : RealTimePublisher(topic) {} + + // Enable arm sdk + void weight(float coe) + { + msg_.motor_cmd()[29].q() = std::clamp(coe, 0.0f, 1.0f); + } + + float weight () const + { + return msg_.motor_cmd()[29].q(); + } +}; + + +}; // namespace publisher +}; // namespace g1 +}; // namespace robot +}; // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_sub.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_sub.h new file mode 100644 index 0000000..38a8eb5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/g1/g1_sub.h @@ -0,0 +1,111 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include "unitree/dds_wrapper/common/Subscription.h" +#include "unitree/dds_wrapper/common/unitree_joystick.hpp" +#include "unitree/dds_wrapper/robots/g1/defines.h" + +#include +#include +#include +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ +namespace subscription +{ + +class LowCmd : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + LowCmd(std::string topic = "rt/lowcmd") : SubscriptionBase(topic) {} + +}; + +class ArmSdk : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + ArmSdk(std::string topic = "rt/arm_sdk") : SubscriptionBase(topic) {} + +}; +class LowState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + LowState(std::string topic = "rt/lowstate") : SubscriptionBase(topic) {} + + void update() + { + std::lock_guard lock(mutex_); + // ********** Joystick ********** // + // Check if all joystick values are zero to determine if the joystick is inactive + if(std::all_of(msg_.wireless_remote().begin(), msg_.wireless_remote().end(), [](uint8_t i){return i == 0;})) + { + auto now = std::chrono::system_clock::now(); + auto elasped_time = now - last_joystick_time_; + if(elasped_time > std::chrono::milliseconds(joystick_timeout_ms_)) + { + isJoystickTimeout_ = true; + } + } else { + last_joystick_time_ = std::chrono::system_clock::now(); + isJoystickTimeout_ = false; + } + + // update joystick state + unitree::common::REMOTE_DATA_RX key; + memcpy(&key, &msg_.wireless_remote()[0], 40); + joystick.extract(key); + } + + bool isJoystickTimeout() const { return isJoystickTimeout_; } + unitree::common::UnitreeJoystick joystick; + +private: + uint32_t joystick_timeout_ms_ = 3000; + bool isJoystickTimeout_ = false; + std::chrono::time_point last_joystick_time_; +}; + +class InspireHandState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + InspireHandState(std::string topic = "rt/inspire/state") : SubscriptionBase(topic) {} +}; + +class Dex3LeftHandState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + Dex3LeftHandState(std::string topic = "rt/dex3/left/state") : SubscriptionBase(topic) {} +}; + +class Dex3RightHandState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + Dex3RightHandState(std::string topic = "rt/dex3/right/state") : SubscriptionBase(topic) {} +}; + +} // namespace subscription +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/defines.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/defines.h new file mode 100644 index 0000000..45c8bba --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/defines.h @@ -0,0 +1,32 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ + +enum class JointIndex{ + FR_Hip = 0, + FR_Thigh = 1, + FR_Calf = 2, + FL_Hip = 3, + FL_Thigh = 4, + FL_Calf = 5, + RR_Hip = 6, + RR_Thigh = 7, + RR_Calf = 8, + RL_Hip = 9, + RL_Thigh = 10, + RL_Calf = 11, +}; + +} // namespace go2 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2.h new file mode 100644 index 0000000..8602cc2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2.h @@ -0,0 +1,37 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ + +// Close the default controller +// Run this function before publishing to rt/lowcmd. +inline void shutdown() +{ + auto msc = std::make_shared(); + msc->SetTimeout(3.f); + msc->Init(); + + std::string form, name; + while (msc->CheckMode(form, name), !name.empty()) { + if (msc->ReleaseMode()) { + spdlog::warn("Failed to switch to Release Mode."); + } + sleep(3); + } +} + +} // namespace go2 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_pub.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_pub.h new file mode 100644 index 0000000..1d139f6 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_pub.h @@ -0,0 +1,129 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include "unitree/dds_wrapper/common/Publisher.h" +#include "unitree/dds_wrapper/common/crc.h" +#include "unitree/dds_wrapper/common/unitree_joystick.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +namespace publisher +{ + +class LowCmd : public RealTimePublisher +{ +public: + LowCmd(std::string topic = "rt/lowcmd") + : RealTimePublisher(topic) + { + msg_.head() = {0xFE, 0xEF}; + msg_.level_flag() = 0xFF; + + for (auto & m : msg_.motor_cmd()) m.mode(1); + } + +private: + /** + * @brief Something before sending the message. + */ + void pre_communication() override { + msg_.crc() = crc32_core((uint32_t*)&msg_, (sizeof(MsgType)>>2)-1); + } +}; + + +class LowState : public RealTimePublisher +{ +public: + LowState(std::string topic = "rt/lowstate") + : RealTimePublisher(topic) + {} + + std::shared_ptr joystick = nullptr; + +private: + void pre_communication() override { + if (joystick) { + unitree::common::REMOTE_DATA_RX key = joystick->combine(); + memcpy(&msg_.wireless_remote()[0], &key, sizeof(unitree::common::REMOTE_DATA_RX)); + } + msg_.crc() = crc32_core((uint32_t*)&msg_, (sizeof(MsgType)>>2)-1); + } +}; + +class SportModeState : public RealTimePublisher +{ +public: + SportModeState(std::string topic = "rt/sportmodestate") + : RealTimePublisher(topic) + { + } +}; + +class WirelessController : public RealTimePublisher +{ +public: + WirelessController(std::string topic = "rt/wirelesscontroller") + : RealTimePublisher(topic) + { + } + + std::shared_ptr joystick = nullptr; + +private: + void pre_communication() override { + if (joystick) { + msg_.lx() = joystick->lx(); + msg_.ly() = joystick->ly(); + msg_.rx() = joystick->rx(); + msg_.ry() = joystick->ry(); + msg_.keys() = joystick->combine().RF_RX.btn.value; + } + } +}; + +class MotorCmds : public RealTimePublisher +{ +public: + MotorCmds(std::string topic, int num = 1) + : RealTimePublisher(topic) + { + msg_.cmds().resize(num); + } +}; + +class MotorStates : public RealTimePublisher +{ +public: + MotorStates(std::string topic, int num = 1) + : RealTimePublisher(topic) + { + msg_.states().resize(num); + } +}; + +} // namespace publisher +} // namespace go2 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_sub.h b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_sub.h new file mode 100644 index 0000000..973f8ea --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/dds_wrapper/robots/go2/go2_sub.h @@ -0,0 +1,128 @@ +// Copyright (c) 2025, Unitree Robotics Co., Ltd. +// All rights reserved. + +#pragma once + +#include +#include +#include +#include "unitree/dds_wrapper/common/Subscription.h" +#include "unitree/dds_wrapper/common/unitree_joystick.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ + +namespace subscription +{ + +class LowState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + LowState(std::string topic = "rt/lowstate") : SubscriptionBase(topic) {} + + void update() + { + std::lock_guard lock(mutex_); + // ********** Joystick ********** // + // Check if all joystick values are zero to determine if the joystick is inactive + if(std::all_of(msg_.wireless_remote().begin(), msg_.wireless_remote().end(), [](uint8_t i){return i == 0;})) + { + auto now = std::chrono::system_clock::now(); + auto elasped_time = now - last_joystick_time_; + if(elasped_time > std::chrono::milliseconds(joystick_timeout_ms_)) + { + isJoystickTimeout_ = true; + } + } else { + last_joystick_time_ = std::chrono::system_clock::now(); + isJoystickTimeout_ = false; + } + + // update joystick state + unitree::common::REMOTE_DATA_RX key; + memcpy(&key, &msg_.wireless_remote()[0], 40); + joystick.extract(key); + } + + bool isJoystickTimeout() const { return isJoystickTimeout_; } + + unitree::common::UnitreeJoystick joystick; + +private: + uint32_t joystick_timeout_ms_ = 3000; + bool isJoystickTimeout_ = false; + std::chrono::time_point last_joystick_time_; +}; + +class LowCmd : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + LowCmd(std::string topic = "rt/lowcmd") : SubscriptionBase(topic) {} +}; + +class SportModeState : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + SportModeState(std::string topic = "rt/sportmodestate") : SubscriptionBase(topic) {} + + const uint32_t gaitType() const { return msg_.gait_type(); } + + const Eigen::Vector3f position() const { + return Eigen::Map(msg_.position().data()); + } + const Eigen::Vector3f velocity() const{ + return Eigen::Map(msg_.velocity().data()); + } +}; + +class MotorStates : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + MotorStates(std::string topic, int num = 0) : SubscriptionBase(topic) + { + if (num != 0) msg_.states().resize(num); + } +}; + +class MotorCmds : public SubscriptionBase +{ +public: + using SharedPtr = std::shared_ptr; + + MotorCmds(std::string topic, int num = 0) : SubscriptionBase(topic) + { + if (num != 0) msg_.cmds().resize(num); + } +}; + + +} // namespace subscriber +} // namespace go2 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/AudioData_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/AudioData_.hpp new file mode 100644 index 0000000..2bd6d92 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/AudioData_.hpp @@ -0,0 +1,351 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: AudioData_.idl + Source: AudioData_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_AUDIODATA__HPP +#define DDSCXX_UNITREE_IDL_GO2_AUDIODATA__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class AudioData_ +{ +private: + uint64_t time_frame_ = 0; + std::vector data_; + +public: + AudioData_() = default; + + explicit AudioData_( + uint64_t time_frame, + const std::vector& data) : + time_frame_(time_frame), + data_(data) { } + + uint64_t time_frame() const { return this->time_frame_; } + uint64_t& time_frame() { return this->time_frame_; } + void time_frame(uint64_t _val_) { this->time_frame_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + + bool operator==(const AudioData_& _other) const + { + (void) _other; + return time_frame_ == _other.time_frame_ && + data_ == _other.data_; + } + + bool operator!=(const AudioData_& _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_::AudioData_>::getTypeName() +{ + return "unitree_go::msg::dds_::AudioData_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::AudioData_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::AudioData_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_map_blob_sz() { return 270; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_map_blob() { + static const uint8_t blob[] = { + 0x50, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d, + 0x95, 0xbc, 0x6d, 0xad, 0xc9, 0xa2, 0xe8, 0x00, 0x38, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x2d, 0x24, 0x8b, 0x17, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0x8d, 0x77, 0x7f, 0x38, 0x8f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x53, 0x16, 0x41, + 0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf, 0x39, 0x1a, 0x93, 0x00, 0x77, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x41, 0x75, 0x64, 0x69, 0x6f, 0x44, 0x61, 0x74, 0x61, + 0x5f, 0x00, 0x00, 0x00, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x74, 0x69, 0x6d, 0x65, + 0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00, + 0x64, 0x61, 0x74, 0x61, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0x53, 0x16, 0x41, 0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf, 0x39, 0x1a, 0x93, 0xf1, + 0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d, 0x95, 0xbc, 0x6d, 0xad, 0xc9, 0xa2, 0xe8, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d, 0x95, 0xbc, 0x6d, 0xad, + 0xc9, 0xa2, 0xe8, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x53, 0x16, 0x41, 0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf, + 0x39, 0x1a, 0x93, 0x00, 0x7b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::AudioData_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::AudioData_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::AudioData_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::AudioData_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::AudioData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::AudioData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::AudioData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::AudioData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::AudioData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::AudioData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::AudioData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::AudioData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>(); + 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_AUDIODATA__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/BmsCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/BmsCmd_.hpp new file mode 100644 index 0000000..e635d33 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/BmsCmd_.hpp @@ -0,0 +1,321 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: BmsCmd_.idl + Source: BmsCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_BMSCMD__HPP +#define DDSCXX_UNITREE_IDL_GO2_BMSCMD__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class BmsCmd_ +{ +private: + uint8_t off_ = 0; + std::array reserve_ = { }; + +public: + BmsCmd_() = default; + + explicit BmsCmd_( + uint8_t off, + const std::array& reserve) : + off_(off), + reserve_(reserve) { } + + uint8_t off() const { return this->off_; } + uint8_t& off() { return this->off_; } + void off(uint8_t _val_) { this->off_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const BmsCmd_& _other) const + { + (void) _other; + return off_ == _other.off_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const BmsCmd_& _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_::BmsCmd_>::getTypeName() +{ + return "unitree_go::msg::dds_::BmsCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob_sz() { return 278; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x56, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, + 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x3e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x32, 0x62, 0xd4, 0x8d, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x8e, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, + 0x34, 0x22, 0x33, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, + 0x6d, 0x73, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x6f, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, + 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, + 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, + 0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, + 0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::BmsCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::BmsCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::BmsCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::BmsCmd_& 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.off())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::BmsCmd_& 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.off())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::BmsCmd_& 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.off())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::BmsCmd_& 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.off())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>(); + 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_BMSCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/BmsState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/BmsState_.hpp new file mode 100644 index 0000000..0082805 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/BmsState_.hpp @@ -0,0 +1,651 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: BmsState_.idl + Source: BmsState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_BMSSTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_BMSSTATE__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class BmsState_ +{ +private: + uint8_t version_high_ = 0; + uint8_t version_low_ = 0; + uint8_t status_ = 0; + uint8_t soc_ = 0; + int32_t current_ = 0; + uint16_t cycle_ = 0; + std::array bq_ntc_ = { }; + std::array mcu_ntc_ = { }; + std::array cell_vol_ = { }; + +public: + BmsState_() = default; + + explicit BmsState_( + uint8_t version_high, + uint8_t version_low, + uint8_t status, + uint8_t soc, + int32_t current, + uint16_t cycle, + const std::array& bq_ntc, + const std::array& mcu_ntc, + const std::array& cell_vol) : + version_high_(version_high), + version_low_(version_low), + status_(status), + soc_(soc), + current_(current), + cycle_(cycle), + bq_ntc_(bq_ntc), + mcu_ntc_(mcu_ntc), + cell_vol_(cell_vol) { } + + uint8_t version_high() const { return this->version_high_; } + uint8_t& version_high() { return this->version_high_; } + void version_high(uint8_t _val_) { this->version_high_ = _val_; } + uint8_t version_low() const { return this->version_low_; } + uint8_t& version_low() { return this->version_low_; } + void version_low(uint8_t _val_) { this->version_low_ = _val_; } + uint8_t status() const { return this->status_; } + uint8_t& status() { return this->status_; } + void status(uint8_t _val_) { this->status_ = _val_; } + uint8_t soc() const { return this->soc_; } + uint8_t& soc() { return this->soc_; } + void soc(uint8_t _val_) { this->soc_ = _val_; } + int32_t current() const { return this->current_; } + int32_t& current() { return this->current_; } + void current(int32_t _val_) { this->current_ = _val_; } + uint16_t cycle() const { return this->cycle_; } + uint16_t& cycle() { return this->cycle_; } + void cycle(uint16_t _val_) { this->cycle_ = _val_; } + const std::array& bq_ntc() const { return this->bq_ntc_; } + std::array& bq_ntc() { return this->bq_ntc_; } + void bq_ntc(const std::array& _val_) { this->bq_ntc_ = _val_; } + void bq_ntc(std::array&& _val_) { this->bq_ntc_ = _val_; } + const std::array& mcu_ntc() const { return this->mcu_ntc_; } + std::array& mcu_ntc() { return this->mcu_ntc_; } + void mcu_ntc(const std::array& _val_) { this->mcu_ntc_ = _val_; } + void mcu_ntc(std::array&& _val_) { this->mcu_ntc_ = _val_; } + const std::array& cell_vol() const { return this->cell_vol_; } + std::array& cell_vol() { return this->cell_vol_; } + void cell_vol(const std::array& _val_) { this->cell_vol_ = _val_; } + void cell_vol(std::array&& _val_) { this->cell_vol_ = _val_; } + + bool operator==(const BmsState_& _other) const + { + (void) _other; + return version_high_ == _other.version_high_ && + version_low_ == _other.version_low_ && + status_ == _other.status_ && + soc_ == _other.soc_ && + current_ == _other.current_ && + cycle_ == _other.cycle_ && + bq_ntc_ == _other.bq_ntc_ && + mcu_ntc_ == _other.mcu_ntc_ && + cell_vol_ == _other.cell_vol_; + } + + bool operator!=(const BmsState_& _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_::BmsState_>::getTypeName() +{ + return "unitree_go::msg::dds_::BmsState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::BmsState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_map_blob_sz() { return 642; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_map_blob() { + static const uint8_t blob[] = { + 0xde, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, + 0xc2, 0xe0, 0x37, 0x0c, 0xec, 0x4c, 0xbb, 0x00, 0xc6, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x75, 0x6a, 0xda, 0x84, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x51, 0x99, 0x89, 0x90, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x9a, 0xcb, 0x44, 0x54, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xc7, 0xd5, 0xf8, 0x49, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x43, 0xb5, 0xc9, 0x17, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x9a, 0x4c, 0x07, 0x40, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x2a, 0x42, 0xc9, 0x1e, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x02, 0x02, 0x55, 0x65, 0x52, 0x17, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0f, 0x06, 0x2d, 0x87, + 0xc3, 0x55, 0x00, 0x00, 0x73, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xd8, 0x57, + 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15, 0xfd, 0x14, 0x3d, 0x00, 0x5b, 0x01, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, 0x6d, 0x73, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x01, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x76, 0x65, 0x72, 0x73, + 0x69, 0x6f, 0x6e, 0x5f, 0x68, 0x69, 0x67, 0x68, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x76, 0x65, 0x72, 0x73, + 0x69, 0x6f, 0x6e, 0x5f, 0x6c, 0x6f, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x07, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x74, + 0x75, 0x73, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x73, 0x6f, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x63, 0x75, 0x72, 0x72, 0x65, 0x6e, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 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, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 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_::BmsState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::BmsState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::BmsState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::BmsState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::BmsState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.status())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cycle())) + 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.bq_ntc()[0], instance.bq_ntc().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.mcu_ntc()[0], instance.mcu_ntc().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.cell_vol()[0], instance.cell_vol().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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.status())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cycle())) + 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.bq_ntc()[0], instance.bq_ntc().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.mcu_ntc()[0], instance.mcu_ntc().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.cell_vol()[0], instance.cell_vol().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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.status())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cycle())) + 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.bq_ntc()[0], instance.bq_ntc().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.mcu_ntc()[0], instance.mcu_ntc().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.cell_vol()[0], instance.cell_vol().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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.status())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cycle())) + 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.bq_ntc()[0], instance.bq_ntc().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.mcu_ntc()[0], instance.mcu_ntc().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.cell_vol()[0], instance.cell_vol().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::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>(); + 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_BMSSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/ConfigChangeStatus_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/ConfigChangeStatus_.hpp new file mode 100644 index 0000000..6b021c7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/ConfigChangeStatus_.hpp @@ -0,0 +1,309 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: ConfigChangeStatus_.idl + Source: ConfigChangeStatus_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_CONFIGCHANGESTATUS__HPP +#define DDSCXX_UNITREE_IDL_GO2_CONFIGCHANGESTATUS__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class ConfigChangeStatus_ +{ +private: + std::string name_; + std::string content_; + +public: + ConfigChangeStatus_() = default; + + explicit ConfigChangeStatus_( + const std::string& name, + const std::string& content) : + name_(name), + content_(content) { } + + const std::string& name() const { return this->name_; } + std::string& name() { return this->name_; } + void name(const std::string& _val_) { this->name_ = _val_; } + void name(std::string&& _val_) { this->name_ = _val_; } + const std::string& content() const { return this->content_; } + std::string& content() { return this->content_; } + void content(const std::string& _val_) { this->content_ = _val_; } + void content(std::string&& _val_) { this->content_ = _val_; } + + bool operator==(const ConfigChangeStatus_& _other) const + { + (void) _other; + return name_ == _other.name_ && + content_ == _other.content_; + } + + bool operator!=(const ConfigChangeStatus_& _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_::ConfigChangeStatus_>::getTypeName() +{ + return "unitree_go::msg::dds_::ConfigChangeStatus_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_map_blob_sz() { return 266; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xab, 0x72, 0x41, 0x14, 0x34, 0x88, + 0x06, 0xaa, 0x92, 0xd1, 0x55, 0xf0, 0xe9, 0x00, 0x34, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xb0, 0x68, 0x93, 0x1c, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x9a, 0x03, 0x64, 0xb9, + 0x8e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d, 0x36, 0xf2, 0x55, 0x84, + 0x27, 0x72, 0xfc, 0x68, 0x2f, 0x66, 0xf5, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x33, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x43, 0x68, 0x61, 0x6e, 0x67, 0x65, 0x53, + 0x74, 0x61, 0x74, 0x75, 0x73, 0x5f, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x08, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x6e, 0x74, 0x65, 0x6e, 0x74, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d, + 0x36, 0xf2, 0x55, 0x84, 0x27, 0x72, 0xfc, 0x68, 0x2f, 0x66, 0xf5, 0xf1, 0x8b, 0xab, 0x72, 0x41, + 0x14, 0x34, 0x88, 0x06, 0xaa, 0x92, 0xd1, 0x55, 0xf0, 0xe9, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xab, 0x72, 0x41, 0x14, 0x34, 0x88, 0x06, 0xaa, 0x92, 0xd1, + 0x55, 0xf0, 0xe9, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d, 0x36, 0xf2, 0x55, 0x84, 0x27, 0x72, 0xfc, 0x68, + 0x2f, 0x66, 0xf5, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::ConfigChangeStatus_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::ConfigChangeStatus_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::ConfigChangeStatus_& 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_string(streamer, instance.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.content(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::ConfigChangeStatus_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.content(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::ConfigChangeStatus_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.content(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::ConfigChangeStatus_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.content(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>(); + 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_CONFIGCHANGESTATUS__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/Error_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/Error_.hpp new file mode 100644 index 0000000..ebf191c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/Error_.hpp @@ -0,0 +1,301 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Error_.idl + Source: Error_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_ERROR__HPP +#define DDSCXX_UNITREE_IDL_GO2_ERROR__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class Error_ +{ +private: + uint32_t source_ = 0; + uint32_t state_ = 0; + +public: + Error_() = default; + + explicit Error_( + uint32_t source, + uint32_t state) : + source_(source), + state_(state) { } + + uint32_t source() const { return this->source_; } + uint32_t& source() { return this->source_; } + void source(uint32_t _val_) { this->source_ = _val_; } + uint32_t state() const { return this->state_; } + uint32_t& state() { return this->state_; } + void state(uint32_t _val_) { this->state_ = _val_; } + + bool operator==(const Error_& _other) const + { + (void) _other; + return source_ == _other.source_ && + state_ == _other.state_; + } + + bool operator!=(const Error_& _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_::Error_>::getTypeName() +{ + return "unitree_go::msg::dds_::Error_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Error_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Error_>::type_map_blob_sz() { return 254; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Error_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Error_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64, + 0x1f, 0xee, 0x3b, 0xc7, 0x0e, 0xd6, 0x56, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x36, 0xcd, 0x38, 0xf4, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x9e, 0xd3, 0x9e, 0x2e, 0x00, + 0x84, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a, + 0x4b, 0x4c, 0xbf, 0xbe, 0x7d, 0xd9, 0x1f, 0x00, 0x6c, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x26, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x45, 0x72, 0x72, 0x6f, 0x72, 0x5f, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x73, 0x6f, 0x75, 0x72, 0x63, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a, 0x4b, 0x4c, 0xbf, 0xbe, 0x7d, 0xd9, 0x1f, 0xf1, + 0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64, 0x1f, 0xee, 0x3b, 0xc7, 0x0e, 0xd6, 0x56, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Error_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64, 0x1f, 0xee, 0x3b, 0xc7, + 0x0e, 0xd6, 0x56, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a, 0x4b, 0x4c, 0xbf, 0xbe, + 0x7d, 0xd9, 0x1f, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::Error_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Error_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Error_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::Error_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::Error_& 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.source())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::Error_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Error_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::Error_& 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.source())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::Error_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Error_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::Error_& 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.source())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::Error_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Error_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::Error_& 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.source())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::Error_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Error_>(); + 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_ERROR__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/Go2FrontVideoData_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/Go2FrontVideoData_.hpp new file mode 100644 index 0000000..0f4ff45 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/Go2FrontVideoData_.hpp @@ -0,0 +1,523 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Go2FrontVideoData_.idl + Source: Go2FrontVideoData_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_GO2FRONTVIDEODATA__HPP +#define DDSCXX_UNITREE_IDL_GO2_GO2FRONTVIDEODATA__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class Go2FrontVideoData_ +{ +private: + uint64_t time_frame_ = 0; + std::vector video720p_; + std::vector video360p_; + std::vector video180p_; + +public: + Go2FrontVideoData_() = default; + + explicit Go2FrontVideoData_( + uint64_t time_frame, + const std::vector& video720p, + const std::vector& video360p, + const std::vector& video180p) : + time_frame_(time_frame), + video720p_(video720p), + video360p_(video360p), + video180p_(video180p) { } + + uint64_t time_frame() const { return this->time_frame_; } + uint64_t& time_frame() { return this->time_frame_; } + void time_frame(uint64_t _val_) { this->time_frame_ = _val_; } + const std::vector& video720p() const { return this->video720p_; } + std::vector& video720p() { return this->video720p_; } + void video720p(const std::vector& _val_) { this->video720p_ = _val_; } + void video720p(std::vector&& _val_) { this->video720p_ = _val_; } + const std::vector& video360p() const { return this->video360p_; } + std::vector& video360p() { return this->video360p_; } + void video360p(const std::vector& _val_) { this->video360p_ = _val_; } + void video360p(std::vector&& _val_) { this->video360p_ = _val_; } + const std::vector& video180p() const { return this->video180p_; } + std::vector& video180p() { return this->video180p_; } + void video180p(const std::vector& _val_) { this->video180p_ = _val_; } + void video180p(std::vector&& _val_) { this->video180p_ = _val_; } + + bool operator==(const Go2FrontVideoData_& _other) const + { + (void) _other; + return time_frame_ == _other.time_frame_ && + video720p_ == _other.video720p_ && + video360p_ == _other.video360p_ && + video180p_ == _other.video180p_; + } + + bool operator!=(const Go2FrontVideoData_& _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_::Go2FrontVideoData_>::getTypeName() +{ + return "unitree_go::msg::dds_::Go2FrontVideoData_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_map_blob_sz() { return 386; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_map_blob() { + static const uint8_t blob[] = { + 0x78, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1, + 0x45, 0x05, 0x1d, 0x51, 0xbe, 0x71, 0xb1, 0x00, 0x60, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x2d, 0x24, 0x8b, 0x17, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0xd5, 0x57, 0x60, 0x01, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, + 0x01, 0x00, 0x00, 0x02, 0x1d, 0x38, 0x7d, 0x67, 0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x04, 0xb8, 0xc7, 0x48, 0xdc, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec, + 0x40, 0x49, 0xe1, 0x00, 0xc4, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x32, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x47, + 0x6f, 0x32, 0x46, 0x72, 0x6f, 0x6e, 0x74, 0x56, 0x69, 0x64, 0x65, 0x6f, 0x44, 0x61, 0x74, 0x61, + 0x5f, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x74, 0x69, 0x6d, 0x65, + 0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00, + 0x76, 0x69, 0x64, 0x65, 0x6f, 0x37, 0x32, 0x30, 0x70, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00, + 0x76, 0x69, 0x64, 0x65, 0x6f, 0x33, 0x36, 0x30, 0x70, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00, + 0x76, 0x69, 0x64, 0x65, 0x6f, 0x31, 0x38, 0x30, 0x70, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec, + 0x40, 0x49, 0xe1, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1, 0x45, 0x05, 0x1d, 0x51, 0xbe, + 0x71, 0xb1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1, 0x45, 0x05, 0x1d, 0x51, + 0xbe, 0x71, 0xb1, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec, + 0x40, 0x49, 0xe1, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::Go2FrontVideoData_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Go2FrontVideoData_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::Go2FrontVideoData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video720p().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.video720p()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video360p().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.video360p()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video180p().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.video180p()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::Go2FrontVideoData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video720p().size()); + if (!read(streamer, se_1)) + return false; + instance.video720p().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.video720p()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video360p().size()); + if (!read(streamer, se_1)) + return false; + instance.video360p().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.video360p()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video180p().size()); + if (!read(streamer, se_1)) + return false; + instance.video180p().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.video180p()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::Go2FrontVideoData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video720p().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video360p().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.video180p().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::Go2FrontVideoData_& 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.time_frame())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>(); + 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_GO2FRONTVIDEODATA__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/HeightMap_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/HeightMap_.hpp new file mode 100644 index 0000000..b80ac52 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/HeightMap_.hpp @@ -0,0 +1,581 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: HeightMap_.idl + Source: HeightMap_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_HEIGHTMAP__HPP +#define DDSCXX_UNITREE_IDL_GO2_HEIGHTMAP__HPP + +#include +#include +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class HeightMap_ +{ +private: + double stamp_ = 0.0; + std::string frame_id_; + float resolution_ = 0.0f; + uint32_t width_ = 0; + uint32_t height_ = 0; + std::array origin_ = { }; + std::vector data_; + +public: + HeightMap_() = default; + + explicit HeightMap_( + double stamp, + const std::string& frame_id, + float resolution, + uint32_t width, + uint32_t height, + const std::array& origin, + const std::vector& data) : + stamp_(stamp), + frame_id_(frame_id), + resolution_(resolution), + width_(width), + height_(height), + origin_(origin), + data_(data) { } + + double stamp() const { return this->stamp_; } + double& stamp() { return this->stamp_; } + void stamp(double _val_) { this->stamp_ = _val_; } + const std::string& frame_id() const { return this->frame_id_; } + std::string& frame_id() { return this->frame_id_; } + void frame_id(const std::string& _val_) { this->frame_id_ = _val_; } + void frame_id(std::string&& _val_) { this->frame_id_ = _val_; } + float resolution() const { return this->resolution_; } + float& resolution() { return this->resolution_; } + void resolution(float _val_) { this->resolution_ = _val_; } + uint32_t width() const { return this->width_; } + uint32_t& width() { return this->width_; } + void width(uint32_t _val_) { this->width_ = _val_; } + uint32_t height() const { return this->height_; } + uint32_t& height() { return this->height_; } + void height(uint32_t _val_) { this->height_ = _val_; } + const std::array& origin() const { return this->origin_; } + std::array& origin() { return this->origin_; } + void origin(const std::array& _val_) { this->origin_ = _val_; } + void origin(std::array&& _val_) { this->origin_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + + bool operator==(const HeightMap_& _other) const + { + (void) _other; + return stamp_ == _other.stamp_ && + frame_id_ == _other.frame_id_ && + resolution_ == _other.resolution_ && + width_ == _other.width_ && + height_ == _other.height_ && + origin_ == _other.origin_ && + data_ == _other.data_; + } + + bool operator!=(const HeightMap_& _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_::HeightMap_>::getTypeName() +{ + return "unitree_go::msg::dds_::HeightMap_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::HeightMap_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::HeightMap_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_map_blob_sz() { return 506; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_map_blob() { + static const uint8_t blob[] = { + 0xac, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x1f, 0x43, 0x34, 0x5b, 0x5b, 0x83, 0xd9, + 0xee, 0xf3, 0x84, 0x90, 0x47, 0xb5, 0x97, 0x00, 0x94, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x96, 0xb8, 0xc7, 0x8d, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xb7, 0xe1, 0x64, 0xb3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xea, 0xae, 0x26, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xb4, 0x35, 0xe2, 0x27, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x09, 0x7c, 0x49, 0xb1, 0x53, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x09, 0x8d, 0x77, 0x7f, 0x38, + 0x1f, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab, 0xa3, 0x56, 0x73, 0x67, + 0xe5, 0x4e, 0xb6, 0x6f, 0x87, 0xb9, 0x09, 0x00, 0x07, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x48, 0x65, 0x69, 0x67, 0x68, 0x74, 0x4d, 0x61, 0x70, 0x5f, 0x00, 0x00, 0x00, + 0xcf, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x06, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x6d, 0x70, 0x00, 0x00, 0x00, + 0x17, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x6f, + 0x6c, 0x75, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, 0x77, 0x69, 0x64, 0x74, + 0x68, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x21, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x09, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x6f, 0x72, 0x69, 0x67, + 0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x09, 0x05, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab, + 0xa3, 0x56, 0x73, 0x67, 0xe5, 0x4e, 0xb6, 0x6f, 0x87, 0xb9, 0x09, 0xf1, 0x1f, 0x43, 0x34, 0x5b, + 0x5b, 0x83, 0xd9, 0xee, 0xf3, 0x84, 0x90, 0x47, 0xb5, 0x97, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x1f, 0x43, 0x34, 0x5b, 0x5b, 0x83, 0xd9, 0xee, 0xf3, 0x84, 0x90, + 0x47, 0xb5, 0x97, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab, 0xa3, 0x56, 0x73, 0x67, 0xe5, 0x4e, 0xb6, 0x6f, + 0x87, 0xb9, 0x09, 0x00, 0x0b, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::HeightMap_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::HeightMap_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::HeightMap_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::HeightMap_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::HeightMap_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.height())) + 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.origin()[0], instance.origin().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 (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::HeightMap_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::HeightMap_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.height())) + 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.origin()[0], instance.origin().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 (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::HeightMap_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::HeightMap_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.height())) + 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.origin()[0], instance.origin().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 (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, float(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::HeightMap_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::HeightMap_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.height())) + 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.origin()[0], instance.origin().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 (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, float(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::HeightMap_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>(); + 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_HEIGHTMAP__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/IMUState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/IMUState_.hpp new file mode 100644 index 0000000..fb15a87 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/IMUState_.hpp @@ -0,0 +1,503 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: IMUState_.idl + Source: IMUState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_IMUSTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_IMUSTATE__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class IMUState_ +{ +private: + std::array quaternion_ = { }; + std::array gyroscope_ = { }; + std::array accelerometer_ = { }; + std::array rpy_ = { }; + uint8_t temperature_ = 0; + +public: + IMUState_() = default; + + explicit IMUState_( + const std::array& quaternion, + const std::array& gyroscope, + const std::array& accelerometer, + const std::array& rpy, + uint8_t temperature) : + quaternion_(quaternion), + gyroscope_(gyroscope), + accelerometer_(accelerometer), + rpy_(rpy), + temperature_(temperature) { } + + const std::array& quaternion() const { return this->quaternion_; } + std::array& quaternion() { return this->quaternion_; } + void quaternion(const std::array& _val_) { this->quaternion_ = _val_; } + void quaternion(std::array&& _val_) { this->quaternion_ = _val_; } + const std::array& gyroscope() const { return this->gyroscope_; } + std::array& gyroscope() { return this->gyroscope_; } + void gyroscope(const std::array& _val_) { this->gyroscope_ = _val_; } + void gyroscope(std::array&& _val_) { this->gyroscope_ = _val_; } + const std::array& accelerometer() const { return this->accelerometer_; } + std::array& accelerometer() { return this->accelerometer_; } + void accelerometer(const std::array& _val_) { this->accelerometer_ = _val_; } + void accelerometer(std::array&& _val_) { this->accelerometer_ = _val_; } + const std::array& rpy() const { return this->rpy_; } + std::array& rpy() { return this->rpy_; } + void rpy(const std::array& _val_) { this->rpy_ = _val_; } + void rpy(std::array&& _val_) { this->rpy_ = _val_; } + uint8_t temperature() const { return this->temperature_; } + uint8_t& temperature() { return this->temperature_; } + void temperature(uint8_t _val_) { this->temperature_ = _val_; } + + bool operator==(const IMUState_& _other) const + { + (void) _other; + return quaternion_ == _other.quaternion_ && + gyroscope_ == _other.gyroscope_ && + accelerometer_ == _other.accelerometer_ && + rpy_ == _other.rpy_ && + temperature_ == _other.temperature_; + } + + bool operator!=(const IMUState_& _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_::IMUState_>::getTypeName() +{ + return "unitree_go::msg::dds_::IMUState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::IMUState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob() { + static const uint8_t blob[] = { + 0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, + 0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x75, 0xb9, 0xaa, 0xa0, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x09, 0x6b, 0x3b, 0x2d, 0x85, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x0e, 0x12, + 0x75, 0x69, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00, + 0x16, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, + 0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0x00, 0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x49, 0x4d, 0x55, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0xc6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x71, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, + 0x67, 0x79, 0x72, 0x6f, 0x73, 0x63, 0x6f, 0x70, 0x65, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x09, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x6f, + 0x6d, 0x65, 0x74, 0x65, 0x72, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70, + 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 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, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::IMUState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::IMUState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::IMUState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::IMUState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>(); + 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_IMUSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/InterfaceConfig_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/InterfaceConfig_.hpp new file mode 100644 index 0000000..e6bcf49 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/InterfaceConfig_.hpp @@ -0,0 +1,363 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: InterfaceConfig_.idl + Source: InterfaceConfig_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_INTERFACECONFIG__HPP +#define DDSCXX_UNITREE_IDL_GO2_INTERFACECONFIG__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class InterfaceConfig_ +{ +private: + uint8_t mode_ = 0; + uint8_t value_ = 0; + std::array reserve_ = { }; + +public: + InterfaceConfig_() = default; + + explicit InterfaceConfig_( + uint8_t mode, + uint8_t value, + const std::array& reserve) : + mode_(mode), + value_(value), + reserve_(reserve) { } + + uint8_t mode() const { return this->mode_; } + uint8_t& mode() { return this->mode_; } + void mode(uint8_t _val_) { this->mode_ = _val_; } + uint8_t value() const { return this->value_; } + uint8_t& value() { return this->value_; } + void value(uint8_t _val_) { this->value_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const InterfaceConfig_& _other) const + { + (void) _other; + return mode_ == _other.mode_ && + value_ == _other.value_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const InterfaceConfig_& _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_::InterfaceConfig_>::getTypeName() +{ + return "unitree_go::msg::dds_::InterfaceConfig_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_map_blob_sz() { return 326; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_map_blob() { + static const uint8_t blob[] = { + 0x66, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b, + 0x3a, 0xaf, 0x05, 0x03, 0xdb, 0x8f, 0xa9, 0x00, 0x4e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x20, 0x63, 0xc1, 0x60, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0xae, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f, 0x44, 0x70, 0x5d, 0xb6, + 0x2b, 0x7d, 0x87, 0x00, 0x96, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x30, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x49, + 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x5f, 0x00, + 0x5a, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x76, 0x61, 0x6c, 0x75, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f, + 0x44, 0x70, 0x5d, 0xb6, 0x2b, 0x7d, 0x87, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b, 0x3a, + 0xaf, 0x05, 0x03, 0xdb, 0x8f, 0xa9, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b, 0x3a, 0xaf, 0x05, 0x03, + 0xdb, 0x8f, 0xa9, 0x00, 0x52, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f, 0x44, 0x70, 0x5d, 0xb6, + 0x2b, 0x7d, 0x87, 0x00, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::InterfaceConfig_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::InterfaceConfig_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::InterfaceConfig_& 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.value())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::InterfaceConfig_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::InterfaceConfig_& 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.value())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::InterfaceConfig_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::InterfaceConfig_& 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.value())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::InterfaceConfig_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::InterfaceConfig_& 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.value())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::InterfaceConfig_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>(); + 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_INTERFACECONFIG__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/LidarState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/LidarState_.hpp new file mode 100644 index 0000000..5fe944a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/LidarState_.hpp @@ -0,0 +1,1007 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: LidarState_.idl + Source: LidarState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_LIDARSTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_LIDARSTATE__HPP + +#include +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class LidarState_ +{ +private: + double stamp_ = 0.0; + std::string firmware_version_; + std::string software_version_; + std::string sdk_version_; + float sys_rotation_speed_ = 0.0f; + float com_rotation_speed_ = 0.0f; + uint8_t error_state_ = 0; + uint8_t dirty_percentage_ = 0; + float cloud_frequency_ = 0.0f; + float cloud_packet_loss_rate_ = 0.0f; + uint32_t cloud_size_ = 0; + uint32_t cloud_scan_num_ = 0; + float imu_frequency_ = 0.0f; + float imu_packet_loss_rate_ = 0.0f; + std::array imu_rpy_ = { }; + double serial_recv_stamp_ = 0.0; + uint32_t serial_buffer_size_ = 0; + uint32_t serial_buffer_read_ = 0; + +public: + LidarState_() = default; + + explicit LidarState_( + double stamp, + const std::string& firmware_version, + const std::string& software_version, + const std::string& sdk_version, + float sys_rotation_speed, + float com_rotation_speed, + uint8_t error_state, + uint8_t dirty_percentage, + float cloud_frequency, + float cloud_packet_loss_rate, + uint32_t cloud_size, + uint32_t cloud_scan_num, + float imu_frequency, + float imu_packet_loss_rate, + const std::array& imu_rpy, + double serial_recv_stamp, + uint32_t serial_buffer_size, + uint32_t serial_buffer_read) : + stamp_(stamp), + firmware_version_(firmware_version), + software_version_(software_version), + sdk_version_(sdk_version), + sys_rotation_speed_(sys_rotation_speed), + com_rotation_speed_(com_rotation_speed), + error_state_(error_state), + dirty_percentage_(dirty_percentage), + cloud_frequency_(cloud_frequency), + cloud_packet_loss_rate_(cloud_packet_loss_rate), + cloud_size_(cloud_size), + cloud_scan_num_(cloud_scan_num), + imu_frequency_(imu_frequency), + imu_packet_loss_rate_(imu_packet_loss_rate), + imu_rpy_(imu_rpy), + serial_recv_stamp_(serial_recv_stamp), + serial_buffer_size_(serial_buffer_size), + serial_buffer_read_(serial_buffer_read) { } + + double stamp() const { return this->stamp_; } + double& stamp() { return this->stamp_; } + void stamp(double _val_) { this->stamp_ = _val_; } + const std::string& firmware_version() const { return this->firmware_version_; } + std::string& firmware_version() { return this->firmware_version_; } + void firmware_version(const std::string& _val_) { this->firmware_version_ = _val_; } + void firmware_version(std::string&& _val_) { this->firmware_version_ = _val_; } + const std::string& software_version() const { return this->software_version_; } + std::string& software_version() { return this->software_version_; } + void software_version(const std::string& _val_) { this->software_version_ = _val_; } + void software_version(std::string&& _val_) { this->software_version_ = _val_; } + const std::string& sdk_version() const { return this->sdk_version_; } + std::string& sdk_version() { return this->sdk_version_; } + void sdk_version(const std::string& _val_) { this->sdk_version_ = _val_; } + void sdk_version(std::string&& _val_) { this->sdk_version_ = _val_; } + float sys_rotation_speed() const { return this->sys_rotation_speed_; } + float& sys_rotation_speed() { return this->sys_rotation_speed_; } + void sys_rotation_speed(float _val_) { this->sys_rotation_speed_ = _val_; } + float com_rotation_speed() const { return this->com_rotation_speed_; } + float& com_rotation_speed() { return this->com_rotation_speed_; } + void com_rotation_speed(float _val_) { this->com_rotation_speed_ = _val_; } + uint8_t error_state() const { return this->error_state_; } + uint8_t& error_state() { return this->error_state_; } + void error_state(uint8_t _val_) { this->error_state_ = _val_; } + uint8_t dirty_percentage() const { return this->dirty_percentage_; } + uint8_t& dirty_percentage() { return this->dirty_percentage_; } + void dirty_percentage(uint8_t _val_) { this->dirty_percentage_ = _val_; } + float cloud_frequency() const { return this->cloud_frequency_; } + float& cloud_frequency() { return this->cloud_frequency_; } + void cloud_frequency(float _val_) { this->cloud_frequency_ = _val_; } + float cloud_packet_loss_rate() const { return this->cloud_packet_loss_rate_; } + float& cloud_packet_loss_rate() { return this->cloud_packet_loss_rate_; } + void cloud_packet_loss_rate(float _val_) { this->cloud_packet_loss_rate_ = _val_; } + uint32_t cloud_size() const { return this->cloud_size_; } + uint32_t& cloud_size() { return this->cloud_size_; } + void cloud_size(uint32_t _val_) { this->cloud_size_ = _val_; } + uint32_t cloud_scan_num() const { return this->cloud_scan_num_; } + uint32_t& cloud_scan_num() { return this->cloud_scan_num_; } + void cloud_scan_num(uint32_t _val_) { this->cloud_scan_num_ = _val_; } + float imu_frequency() const { return this->imu_frequency_; } + float& imu_frequency() { return this->imu_frequency_; } + void imu_frequency(float _val_) { this->imu_frequency_ = _val_; } + float imu_packet_loss_rate() const { return this->imu_packet_loss_rate_; } + float& imu_packet_loss_rate() { return this->imu_packet_loss_rate_; } + void imu_packet_loss_rate(float _val_) { this->imu_packet_loss_rate_ = _val_; } + const std::array& imu_rpy() const { return this->imu_rpy_; } + std::array& imu_rpy() { return this->imu_rpy_; } + void imu_rpy(const std::array& _val_) { this->imu_rpy_ = _val_; } + void imu_rpy(std::array&& _val_) { this->imu_rpy_ = _val_; } + double serial_recv_stamp() const { return this->serial_recv_stamp_; } + double& serial_recv_stamp() { return this->serial_recv_stamp_; } + void serial_recv_stamp(double _val_) { this->serial_recv_stamp_ = _val_; } + uint32_t serial_buffer_size() const { return this->serial_buffer_size_; } + uint32_t& serial_buffer_size() { return this->serial_buffer_size_; } + void serial_buffer_size(uint32_t _val_) { this->serial_buffer_size_ = _val_; } + uint32_t serial_buffer_read() const { return this->serial_buffer_read_; } + uint32_t& serial_buffer_read() { return this->serial_buffer_read_; } + void serial_buffer_read(uint32_t _val_) { this->serial_buffer_read_ = _val_; } + + bool operator==(const LidarState_& _other) const + { + (void) _other; + return stamp_ == _other.stamp_ && + firmware_version_ == _other.firmware_version_ && + software_version_ == _other.software_version_ && + sdk_version_ == _other.sdk_version_ && + sys_rotation_speed_ == _other.sys_rotation_speed_ && + com_rotation_speed_ == _other.com_rotation_speed_ && + error_state_ == _other.error_state_ && + dirty_percentage_ == _other.dirty_percentage_ && + cloud_frequency_ == _other.cloud_frequency_ && + cloud_packet_loss_rate_ == _other.cloud_packet_loss_rate_ && + cloud_size_ == _other.cloud_size_ && + cloud_scan_num_ == _other.cloud_scan_num_ && + imu_frequency_ == _other.imu_frequency_ && + imu_packet_loss_rate_ == _other.imu_packet_loss_rate_ && + imu_rpy_ == _other.imu_rpy_ && + serial_recv_stamp_ == _other.serial_recv_stamp_ && + serial_buffer_size_ == _other.serial_buffer_size_ && + serial_buffer_read_ == _other.serial_buffer_read_; + } + + bool operator!=(const LidarState_& _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_::LidarState_>::getTypeName() +{ + return "unitree_go::msg::dds_::LidarState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_map_blob_sz() { return 1126; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x57, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x09, 0xd6, 0x30, 0xb6, 0x06, 0x40, 0xe7, + 0xbe, 0x4d, 0xa2, 0xb9, 0x6d, 0x00, 0x8c, 0x00, 0x3f, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2f, 0x01, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x96, 0xb8, 0xc7, 0x8d, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xdf, 0xa1, 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0x01, 0x00, 0x07, 0x00, 0x13, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x69, 0x61, 0x6c, 0x5f, 0x62, + 0x75, 0x66, 0x66, 0x65, 0x72, 0x5f, 0x72, 0x65, 0x61, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x19, 0xc9, 0x75, 0x02, 0xb1, 0x96, 0x04, + 0x36, 0x08, 0x47, 0x2b, 0xd0, 0x18, 0x25, 0xf1, 0x09, 0xd6, 0x30, 0xb6, 0x06, 0x40, 0xe7, 0xbe, + 0x4d, 0xa2, 0xb9, 0x6d, 0x00, 0x8c, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x09, 0xd6, 0x30, 0xb6, 0x06, 0x40, 0xe7, 0xbe, 0x4d, 0xa2, 0xb9, + 0x6d, 0x00, 0x8c, 0x00, 0x43, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x19, 0xc9, 0x75, 0x02, 0xb1, 0x96, 0x04, 0x36, 0x08, 0x47, 0x2b, + 0xd0, 0x18, 0x25, 0x00, 0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::LidarState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LidarState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LidarState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::LidarState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.firmware_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.sdk_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.sys_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.com_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.dirty_percentage())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cloud_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cloud_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cloud_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cloud_scan_num())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.imu_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.imu_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.serial_recv_stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.serial_buffer_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 17: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.serial_buffer_read())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::LidarState_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.firmware_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.sdk_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.sys_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.com_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.dirty_percentage())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cloud_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cloud_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cloud_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cloud_scan_num())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.imu_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.imu_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.serial_recv_stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.serial_buffer_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 17: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.serial_buffer_read())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.firmware_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.sdk_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.sys_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.com_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.dirty_percentage())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cloud_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cloud_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cloud_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cloud_scan_num())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.imu_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.imu_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.serial_recv_stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.serial_buffer_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 17: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.serial_buffer_read())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.firmware_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.sdk_version(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.sys_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.com_rotation_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.dirty_percentage())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cloud_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cloud_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cloud_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cloud_scan_num())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.imu_frequency())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.imu_packet_loss_rate())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.serial_recv_stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.serial_buffer_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 17: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.serial_buffer_read())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); + 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_LIDARSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/LowCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/LowCmd_.hpp new file mode 100644 index 0000000..287c0db --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/LowCmd_.hpp @@ -0,0 +1,999 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: LowCmd_.idl + Source: LowCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP +#define DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP + +#include "unitree/idl/go2/BmsCmd_.hpp" + +#include "unitree/idl/go2/MotorCmd_.hpp" + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class LowCmd_ +{ +private: + std::array head_ = { }; + uint8_t level_flag_ = 0; + uint8_t frame_reserve_ = 0; + std::array sn_ = { }; + std::array version_ = { }; + uint16_t bandwidth_ = 0; + std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { }; + ::unitree_go::msg::dds_::BmsCmd_ bms_cmd_; + std::array wireless_remote_ = { }; + std::array led_ = { }; + std::array fan_ = { }; + uint8_t gpio_ = 0; + uint32_t reserve_ = 0; + uint32_t crc_ = 0; + +public: + LowCmd_() = default; + + explicit LowCmd_( + const std::array& head, + uint8_t level_flag, + uint8_t frame_reserve, + const std::array& sn, + const std::array& version, + uint16_t bandwidth, + const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd, + const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd, + const std::array& wireless_remote, + const std::array& led, + const std::array& fan, + uint8_t gpio, + uint32_t reserve, + uint32_t crc) : + head_(head), + level_flag_(level_flag), + frame_reserve_(frame_reserve), + sn_(sn), + version_(version), + bandwidth_(bandwidth), + motor_cmd_(motor_cmd), + bms_cmd_(bms_cmd), + wireless_remote_(wireless_remote), + led_(led), + fan_(fan), + gpio_(gpio), + reserve_(reserve), + crc_(crc) { } + + const std::array& head() const { return this->head_; } + std::array& head() { return this->head_; } + void head(const std::array& _val_) { this->head_ = _val_; } + void head(std::array&& _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& sn() const { return this->sn_; } + std::array& sn() { return this->sn_; } + void sn(const std::array& _val_) { this->sn_ = _val_; } + void sn(std::array&& _val_) { this->sn_ = _val_; } + const std::array& version() const { return this->version_; } + std::array& version() { return this->version_; } + void version(const std::array& _val_) { this->version_ = _val_; } + void version(std::array&& _val_) { this->version_ = _val_; } + uint16_t bandwidth() const { return this->bandwidth_; } + uint16_t& bandwidth() { return this->bandwidth_; } + void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; } + const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; } + std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; } + void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; } + void motor_cmd(std::array<::unitree_go::msg::dds_::MotorCmd_, 20>&& _val_) { this->motor_cmd_ = _val_; } + const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; } + ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; } + void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; } + void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; } + const std::array& wireless_remote() const { return this->wireless_remote_; } + std::array& wireless_remote() { return this->wireless_remote_; } + void wireless_remote(const std::array& _val_) { this->wireless_remote_ = _val_; } + void wireless_remote(std::array&& _val_) { this->wireless_remote_ = _val_; } + const std::array& led() const { return this->led_; } + std::array& led() { return this->led_; } + void led(const std::array& _val_) { this->led_ = _val_; } + void led(std::array&& _val_) { this->led_ = _val_; } + const std::array& fan() const { return this->fan_; } + std::array& fan() { return this->fan_; } + void fan(const std::array& _val_) { this->fan_ = _val_; } + void fan(std::array&& _val_) { this->fan_ = _val_; } + uint8_t gpio() const { return this->gpio_; } + uint8_t& gpio() { return this->gpio_; } + void gpio(uint8_t _val_) { this->gpio_ = _val_; } + uint32_t reserve() const { return this->reserve_; } + uint32_t& reserve() { return this->reserve_; } + void reserve(uint32_t _val_) { this->reserve_ = _val_; } + uint32_t crc() const { return this->crc_; } + uint32_t& crc() { return this->crc_; } + void crc(uint32_t _val_) { this->crc_ = _val_; } + + bool operator==(const LowCmd_& _other) const + { + (void) _other; + return head_ == _other.head_ && + level_flag_ == _other.level_flag_ && + frame_reserve_ == _other.frame_reserve_ && + sn_ == _other.sn_ && + version_ == _other.version_ && + bandwidth_ == _other.bandwidth_ && + motor_cmd_ == _other.motor_cmd_ && + bms_cmd_ == _other.bms_cmd_ && + wireless_remote_ == _other.wireless_remote_ && + led_ == _other.led_ && + fan_ == _other.fan_ && + gpio_ == _other.gpio_ && + reserve_ == _other.reserve_ && + crc_ == _other.crc_; + } + + bool operator!=(const LowCmd_& _other) const + { + return !(*this == _other); + } + +}; + +} + +} + +} + +#include "dds/topic/TopicTraits.hpp" +#include "org/eclipse/cyclonedds/topic/datatopic.hpp" + +namespace org { +namespace eclipse { +namespace cyclonedds { +namespace topic { + +template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName() +{ + return "unitree_go::msg::dds_::LowCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob_sz() { return 1710; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x72, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, + 0xd6, 0x9f, 0x6e, 0xd6, 0x2a, 0x3f, 0x63, 0x00, 0x63, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x01, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x96, 0xe8, 0x9a, 0x29, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa2, 0x18, 0x71, 0x24, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xf0, 0xd2, 0xa4, 0x1c, 0x00, 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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0xf2, 0x31, + 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x00, 0x00, + 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, 0x6d, 0x73, 0x43, 0x6d, + 0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x66, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20, + 0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a, + 0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, + 0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, + 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, + 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, + 0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, + 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, + 0x42, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20, + 0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, + 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, + 0x7a, 0x00, 0x00, 0x00, }; + return blob; +} +#endif //DDSCXX_HAS_TYPE_DISCOVERY + +} //namespace topic +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_go::msg::dds_::LowCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.head()[0], instance.head().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.level_flag())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.frame_reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.sn()[0], instance.sn().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.version()[0], instance.version().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.bandwidth())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!write(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.wireless_remote()[0], instance.wireless_remote().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.led()[0], instance.led().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.fan()[0], instance.fan().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.gpio())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.crc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.head()[0], instance.head().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.level_flag())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.frame_reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.sn()[0], instance.sn().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.version()[0], instance.version().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.bandwidth())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!read(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.wireless_remote()[0], instance.wireless_remote().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.led()[0], instance.led().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.fan()[0], instance.fan().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.gpio())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.crc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.head()[0], instance.head().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.level_flag())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.frame_reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.sn()[0], instance.sn().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.version()[0], instance.version().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.bandwidth())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!move(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.wireless_remote()[0], instance.wireless_remote().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.led()[0], instance.led().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.fan()[0], instance.fan().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.gpio())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.crc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.head()[0], instance.head().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.level_flag())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.frame_reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.sn()[0], instance.sn().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.version()[0], instance.version().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.bandwidth())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!max(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.wireless_remote()[0], instance.wireless_remote().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.led()[0], instance.led().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.fan()[0], instance.fan().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.gpio())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.crc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::max, as_key); + return max(str, instance, props.data()); +} + +} //namespace cdr +} //namespace core +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +#endif // DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/LowState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/LowState_.hpp new file mode 100644 index 0000000..383b31f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/LowState_.hpp @@ -0,0 +1,1427 @@ +/**************************************************************** + + 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 +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class LowState_ +{ +private: + std::array head_ = { }; + uint8_t level_flag_ = 0; + uint8_t frame_reserve_ = 0; + std::array sn_ = { }; + std::array 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 foot_force_ = { }; + std::array foot_force_est_ = { }; + uint32_t tick_ = 0; + std::array 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 fan_frequency_ = { }; + uint32_t reserve_ = 0; + uint32_t crc_ = 0; + +public: + LowState_() = default; + + explicit LowState_( + const std::array& head, + uint8_t level_flag, + uint8_t frame_reserve, + const std::array& sn, + const std::array& 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& foot_force, + const std::array& foot_force_est, + uint32_t tick, + const std::array& 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& 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& head() const { return this->head_; } + std::array& head() { return this->head_; } + void head(const std::array& _val_) { this->head_ = _val_; } + void head(std::array&& _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& sn() const { return this->sn_; } + std::array& sn() { return this->sn_; } + void sn(const std::array& _val_) { this->sn_ = _val_; } + void sn(std::array&& _val_) { this->sn_ = _val_; } + const std::array& version() const { return this->version_; } + std::array& version() { return this->version_; } + void version(const std::array& _val_) { this->version_ = _val_; } + void version(std::array&& _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& foot_force() const { return this->foot_force_; } + std::array& foot_force() { return this->foot_force_; } + void foot_force(const std::array& _val_) { this->foot_force_ = _val_; } + void foot_force(std::array&& _val_) { this->foot_force_ = _val_; } + const std::array& foot_force_est() const { return this->foot_force_est_; } + std::array& foot_force_est() { return this->foot_force_est_; } + void foot_force_est(const std::array& _val_) { this->foot_force_est_ = _val_; } + void foot_force_est(std::array&& _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& wireless_remote() const { return this->wireless_remote_; } + std::array& wireless_remote() { return this->wireless_remote_; } + void wireless_remote(const std::array& _val_) { this->wireless_remote_ = _val_; } + void wireless_remote(std::array&& _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& fan_frequency() const { return this->fan_frequency_; } + std::array& fan_frequency() { return this->fan_frequency_; } + void fan_frequency(const std::array& _val_) { this->fan_frequency_ = _val_; } + void fan_frequency(std::array&& _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[] = { + 0x7e, 0x04, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x85, 0x3a, 0x99, 0xe2, 0x3d, 0x0d, 0xaa, + 0x16, 0x10, 0xb6, 0x5c, 0x52, 0x6b, 0x40, 0x00, 0xff, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xef, 0x01, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x96, 0xe8, 0x9a, 0x29, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa2, 0x18, 0x71, 0x24, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xf0, 0xd2, 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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::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::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::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::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::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::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::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::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 diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmd_.hpp new file mode 100644 index 0000000..980978f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmd_.hpp @@ -0,0 +1,528 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MotorCmd_.idl + Source: MotorCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORCMD__HPP +#define DDSCXX_UNITREE_IDL_GO2_MOTORCMD__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class MotorCmd_ +{ +private: + uint8_t mode_ = 0; + float q_ = 0.0f; + float dq_ = 0.0f; + float tau_ = 0.0f; + float kp_ = 0.0f; + float kd_ = 0.0f; + std::array reserve_ = { }; + +public: + MotorCmd_() = default; + + explicit MotorCmd_( + uint8_t mode, + float q, + float dq, + float tau, + float kp, + float kd, + const std::array& reserve) : + mode_(mode), + q_(q), + dq_(dq), + tau_(tau), + kp_(kp), + kd_(kd), + 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 tau() const { return this->tau_; } + float& tau() { return this->tau_; } + void tau(float _val_) { this->tau_ = _val_; } + float kp() const { return this->kp_; } + float& kp() { return this->kp_; } + void kp(float _val_) { this->kp_ = _val_; } + float kd() const { return this->kd_; } + float& kd() { return this->kd_; } + void kd(float _val_) { this->kd_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const MotorCmd_& _other) const + { + (void) _other; + return mode_ == _other.mode_ && + q_ == _other.q_ && + dq_ == _other.dq_ && + tau_ == _other.tau_ && + kp_ == _other.kp_ && + kd_ == _other.kd_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const MotorCmd_& _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_::MotorCmd_>::getTypeName() +{ + return "unitree_go::msg::dds_::MotorCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 478; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0xa6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, + 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x06, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, + 0x16, 0x30, 0x3b, 0x00, 0xee, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, + 0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, + 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0xf1, + 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, + 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, + 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::MotorCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::MotorCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.kd())) + 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.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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.kd())) + 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.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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.kd())) + 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.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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.kd())) + 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.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::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>(); + 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_MOTORCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmds_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmds_.hpp new file mode 100644 index 0000000..cdce892 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/MotorCmds_.hpp @@ -0,0 +1,348 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MotorCmds_.idl + Source: MotorCmds_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORCMDS__HPP +#define DDSCXX_UNITREE_IDL_GO2_MOTORCMDS__HPP + +#include "unitree/idl/go2/MotorCmd_.hpp" + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class MotorCmds_ +{ +private: + std::vector<::unitree_go::msg::dds_::MotorCmd_> cmds_; + +public: + MotorCmds_() = default; + + explicit MotorCmds_( + const std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds) : + cmds_(cmds) { } + + const std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds() const { return this->cmds_; } + std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds() { return this->cmds_; } + void cmds(const std::vector<::unitree_go::msg::dds_::MotorCmd_>& _val_) { this->cmds_ = _val_; } + void cmds(std::vector<::unitree_go::msg::dds_::MotorCmd_>&& _val_) { this->cmds_ = _val_; } + + bool operator==(const MotorCmds_& _other) const + { + (void) _other; + return cmds_ == _other.cmds_; + } + + bool operator!=(const MotorCmds_& _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_::MotorCmds_>::getTypeName() +{ + return "unitree_go::msg::dds_::MotorCmds_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_map_blob_sz() { return 708; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_map_blob() { + static const uint8_t blob[] = { + 0xf2, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xdd, 0x20, 0x7f, 0x54, 0xf9, 0xc2, + 0xac, 0x2e, 0xa6, 0xb2, 0xa0, 0x48, 0x2e, 0x00, 0x36, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf1, 0x01, 0x00, 0x00, 0xf1, + 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0xb0, 0x2e, + 0x95, 0x33, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, + 0xff, 0x00, 0x00, 0x00, 0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x82, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0x2e, 0xa8, 0x7a, 0x3a, 0xc2, 0x22, 0xec, 0x38, 0x65, 0x96, 0x03, 0x6e, 0xce, 0x43, 0x00, + 0x67, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, + 0x43, 0x6d, 0x64, 0x73, 0x5f, 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf2, 0x01, 0x00, 0x00, 0xf2, + 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x63, 0x6d, 0x64, 0x73, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, + 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0x00, 0xee, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, + 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xa8, 0x7a, 0x3a, 0xc2, 0x22, 0xec, + 0x38, 0x65, 0x96, 0x03, 0x6e, 0xce, 0x43, 0xf1, 0x8b, 0xdd, 0x20, 0x7f, 0x54, 0xf9, 0xc2, 0xac, + 0x2e, 0xa6, 0xb2, 0xa0, 0x48, 0x2e, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, + 0x3f, 0xff, 0x16, 0x30, 0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, + 0x1d, 0xfa, 0x02, 0xff, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_info_blob() { + static const uint8_t blob[] = { + 0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xdd, 0x20, 0x7f, 0x54, 0xf9, 0xc2, 0xac, 0x2e, 0xa6, 0xb2, + 0xa0, 0x48, 0x2e, 0x00, 0x3a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, + 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xa8, 0x7a, + 0x3a, 0xc2, 0x22, 0xec, 0x38, 0x65, 0x96, 0x03, 0x6e, 0xce, 0x43, 0x00, 0x6b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, + 0xf2, 0x00, 0x00, 0x00, }; + 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_::MotorCmds_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorCmds_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::MotorCmds_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::MotorCmds_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.cmds().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.cmds()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::MotorCmds_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::MotorCmds_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.cmds().size()); + if (!read(streamer, se_1)) + return false; + instance.cmds().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.cmds()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::MotorCmds_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::MotorCmds_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.cmds().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.cmds()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::MotorCmds_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::MotorCmds_& 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(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.cmds()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::MotorCmds_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>(); + 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_MOTORCMDS__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/MotorState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/MotorState_.hpp new file mode 100644 index 0000000..792e68e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/MotorState_.hpp @@ -0,0 +1,696 @@ +/**************************************************************** + + 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_GO2_MOTORSTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_MOTORSTATE__HPP + +#include +#include + +namespace unitree_go +{ +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; + float q_raw_ = 0.0f; + float dq_raw_ = 0.0f; + float ddq_raw_ = 0.0f; + uint8_t temperature_ = 0; + uint32_t lost_ = 0; + std::array reserve_ = { }; + +public: + MotorState_() = default; + + explicit MotorState_( + uint8_t mode, + float q, + float dq, + float ddq, + float tau_est, + float q_raw, + float dq_raw, + float ddq_raw, + uint8_t temperature, + uint32_t lost, + const std::array& reserve) : + mode_(mode), + q_(q), + dq_(dq), + ddq_(ddq), + tau_est_(tau_est), + q_raw_(q_raw), + dq_raw_(dq_raw), + ddq_raw_(ddq_raw), + temperature_(temperature), + lost_(lost), + 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_; } + float q_raw() const { return this->q_raw_; } + float& q_raw() { return this->q_raw_; } + void q_raw(float _val_) { this->q_raw_ = _val_; } + float dq_raw() const { return this->dq_raw_; } + float& dq_raw() { return this->dq_raw_; } + void dq_raw(float _val_) { this->dq_raw_ = _val_; } + float ddq_raw() const { return this->ddq_raw_; } + float& ddq_raw() { return this->ddq_raw_; } + void ddq_raw(float _val_) { this->ddq_raw_ = _val_; } + uint8_t temperature() const { return this->temperature_; } + uint8_t& temperature() { return this->temperature_; } + void temperature(uint8_t _val_) { this->temperature_ = _val_; } + uint32_t lost() const { return this->lost_; } + uint32_t& lost() { return this->lost_; } + void lost(uint32_t _val_) { this->lost_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _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_ && + q_raw_ == _other.q_raw_ && + dq_raw_ == _other.dq_raw_ && + ddq_raw_ == _other.ddq_raw_ && + temperature_ == _other.temperature_ && + lost_ == _other.lost_ && + 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_go::msg::dds_::MotorState_>::getTypeName() +{ + return "unitree_go::msg::dds_::MotorState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_map_blob_sz() { return 658; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_map_blob() { + static const uint8_t blob[] = { + 0xe6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, + 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0x00, 0xce, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xbe, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x16, 0x89, 0x09, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x6e, 0x96, 0x3d, 0x84, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x30, 0x50, 0xb6, 0xd9, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x4a, 0xe0, 0x48, 0xae, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x1c, 0x9a, 0x44, 0xeb, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x7a, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5, + 0x0b, 0xa1, 0xc9, 0x00, 0x62, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, + 0x6f, 0x74, 0x6f, 0x72, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x2a, 0x01, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x74, 0x61, 0x75, 0x5f, 0x65, 0x73, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x06, 0x00, 0x00, 0x00, 0x71, 0x5f, 0x72, 0x61, + 0x77, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x64, 0x71, 0x5f, 0x72, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x64, 0x64, 0x71, 0x5f, 0x72, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70, + 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6c, 0x6f, 0x73, 0x74, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 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, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::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, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, + 0x36, 0xb1, 0xbe, 0x00, 0xd2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::MotorState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::MotorState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::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 (!write(streamer, instance.q_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.dq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.ddq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.lost())) + 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.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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::MotorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::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 (!read(streamer, instance.q_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.dq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.ddq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.lost())) + 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.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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::MotorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::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 (!move(streamer, instance.q_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.dq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.ddq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.lost())) + 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.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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::MotorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::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 (!max(streamer, instance.q_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.dq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.ddq_raw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.lost())) + 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.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::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::MotorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::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_GO2_MOTORSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/MotorStates_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/MotorStates_.hpp new file mode 100644 index 0000000..56fbf2d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/MotorStates_.hpp @@ -0,0 +1,359 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MotorStates_.idl + Source: MotorStates_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORSTATES__HPP +#define DDSCXX_UNITREE_IDL_GO2_MOTORSTATES__HPP + +#include "unitree/idl/go2/MotorState_.hpp" + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class MotorStates_ +{ +private: + std::vector<::unitree_go::msg::dds_::MotorState_> states_; + +public: + MotorStates_() = default; + + explicit MotorStates_( + const std::vector<::unitree_go::msg::dds_::MotorState_>& states) : + states_(states) { } + + const std::vector<::unitree_go::msg::dds_::MotorState_>& states() const { return this->states_; } + std::vector<::unitree_go::msg::dds_::MotorState_>& states() { return this->states_; } + void states(const std::vector<::unitree_go::msg::dds_::MotorState_>& _val_) { this->states_ = _val_; } + void states(std::vector<::unitree_go::msg::dds_::MotorState_>&& _val_) { this->states_ = _val_; } + + bool operator==(const MotorStates_& _other) const + { + (void) _other; + return states_ == _other.states_; + } + + bool operator!=(const MotorStates_& _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_::MotorStates_>::getTypeName() +{ + return "unitree_go::msg::dds_::MotorStates_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorStates_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorStates_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_map_blob_sz() { return 888; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_map_blob() { + static const uint8_t blob[] = { + 0x32, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x13, 0xa0, 0x6c, 0x7a, 0xa8, 0x80, 0x82, + 0x61, 0x7d, 0xd1, 0xe8, 0xed, 0xe0, 0x45, 0x00, 0x36, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf1, 0x01, 0x00, 0x00, 0xf1, + 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0x34, 0xd9, + 0x55, 0xa0, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, + 0xbe, 0x00, 0x00, 0x00, 0xce, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xbe, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x16, 0x89, 0x09, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x6e, 0x96, 0x3d, 0x84, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x30, 0x50, 0xb6, 0xd9, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x4a, 0xe0, 0x48, 0xae, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x1c, 0x9a, 0x44, 0xeb, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x02, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0xf6, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0xb9, 0x0a, 0xca, 0x92, 0x86, 0xab, 0x4e, 0x3e, 0xae, 0x76, 0x38, 0xef, 0x5c, 0xa9, 0x00, + 0x69, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x24, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, + 0x53, 0x74, 0x61, 0x74, 0x65, 0x73, 0x5f, 0x00, 0x31, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf2, 0x01, 0x00, 0x00, 0xf2, + 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5, 0x0b, 0xa1, 0xc9, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x74, 0x65, 0x73, 0x00, 0x00, 0x00, 0xf2, 0xd2, 0xbc, + 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5, 0x0b, 0xa1, 0xc9, 0x62, 0x01, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, 0x53, 0x74, 0x61, 0x74, + 0x65, 0x5f, 0x00, 0x00, 0x2a, 0x01, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, + 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x64, 0x64, 0x71, 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0x6c, 0x7a, 0xa8, 0x80, 0x82, 0x61, 0x7d, 0xd1, 0xe8, + 0xed, 0xe0, 0x45, 0x00, 0x3a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 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, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xb9, 0x0a, 0xca, + 0x92, 0x86, 0xab, 0x4e, 0x3e, 0xae, 0x76, 0x38, 0xef, 0x5c, 0xa9, 0x00, 0x6d, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 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, }; + 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_::MotorStates_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorStates_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorStates_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::MotorStates_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::MotorStates_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.states().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.states()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::MotorStates_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::MotorStates_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.states().size()); + if (!read(streamer, se_1)) + return false; + instance.states().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.states()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::MotorStates_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::MotorStates_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.states().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.states()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::MotorStates_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::MotorStates_& 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(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.states()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::MotorStates_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>(); + 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_MOTORSTATES__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/PathPoint_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/PathPoint_.hpp new file mode 100644 index 0000000..d6f70b4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/PathPoint_.hpp @@ -0,0 +1,508 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PathPoint_.idl + Source: PathPoint_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_PATHPOINT__HPP +#define DDSCXX_UNITREE_IDL_GO2_PATHPOINT__HPP + + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class PathPoint_ +{ +private: + float t_from_start_ = 0.0f; + float x_ = 0.0f; + float y_ = 0.0f; + float yaw_ = 0.0f; + float vx_ = 0.0f; + float vy_ = 0.0f; + float vyaw_ = 0.0f; + +public: + PathPoint_() = default; + + explicit PathPoint_( + float t_from_start, + float x, + float y, + float yaw, + float vx, + float vy, + float vyaw) : + t_from_start_(t_from_start), + x_(x), + y_(y), + yaw_(yaw), + vx_(vx), + vy_(vy), + vyaw_(vyaw) { } + + float t_from_start() const { return this->t_from_start_; } + float& t_from_start() { return this->t_from_start_; } + void t_from_start(float _val_) { this->t_from_start_ = _val_; } + float x() const { return this->x_; } + float& x() { return this->x_; } + void x(float _val_) { this->x_ = _val_; } + float y() const { return this->y_; } + float& y() { return this->y_; } + void y(float _val_) { this->y_ = _val_; } + float yaw() const { return this->yaw_; } + float& yaw() { return this->yaw_; } + void yaw(float _val_) { this->yaw_ = _val_; } + float vx() const { return this->vx_; } + float& vx() { return this->vx_; } + void vx(float _val_) { this->vx_ = _val_; } + float vy() const { return this->vy_; } + float& vy() { return this->vy_; } + void vy(float _val_) { this->vy_ = _val_; } + float vyaw() const { return this->vyaw_; } + float& vyaw() { return this->vyaw_; } + void vyaw(float _val_) { this->vyaw_ = _val_; } + + bool operator==(const PathPoint_& _other) const + { + (void) _other; + return t_from_start_ == _other.t_from_start_ && + x_ == _other.x_ && + y_ == _other.y_ && + yaw_ == _other.yaw_ && + vx_ == _other.vx_ && + vy_ == _other.vy_ && + vyaw_ == _other.vyaw_; + } + + bool operator!=(const PathPoint_& _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_::PathPoint_>::getTypeName() +{ + return "unitree_go::msg::dds_::PathPoint_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::PathPoint_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_map_blob_sz() { return 454; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_map_blob() { + static const uint8_t blob[] = { + 0x9b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, + 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x6c, 0x41, 0xab, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x92, 0xdd, 0xa6, 0x44, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x7f, 0xc7, 0x3d, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x94, 0x95, 0xfa, 0x6c, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x83, 0x29, 0x00, 0xa3, 0x00, + 0xfb, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, + 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, 0xe3, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x50, 0x61, 0x74, 0x68, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x5f, 0x00, 0x00, 0x00, + 0xab, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x74, 0x5f, 0x66, 0x72, 0x6f, 0x6d, 0x5f, 0x73, + 0x74, 0x61, 0x72, 0x74, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x76, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x76, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x05, 0x00, 0x00, 0x00, 0x76, 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, + 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, + 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, + 0xf6, 0xbd, 0xe2, 0x00, 0x87, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, + 0xa2, 0xd4, 0x15, 0x00, 0xe7, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::PathPoint_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::PathPoint_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::PathPoint_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::PathPoint_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::PathPoint_& 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.t_from_start())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.vx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.vy())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.vyaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::PathPoint_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::PathPoint_& 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.t_from_start())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.vx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.vy())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.vyaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::PathPoint_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::PathPoint_& 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.t_from_start())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.vx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.vy())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.vyaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::PathPoint_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::PathPoint_& 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.t_from_start())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.vx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.vy())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.vyaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::PathPoint_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>(); + 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_PATHPOINT__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/Req_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/Req_.hpp new file mode 100644 index 0000000..3efeead --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/Req_.hpp @@ -0,0 +1,308 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Req_.idl + Source: Req_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_REQ__HPP +#define DDSCXX_UNITREE_IDL_GO2_REQ__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class Req_ +{ +private: + std::string uuid_; + std::string body_; + +public: + Req_() = default; + + explicit Req_( + const std::string& uuid, + const std::string& body) : + uuid_(uuid), + body_(body) { } + + const std::string& uuid() const { return this->uuid_; } + std::string& uuid() { return this->uuid_; } + void uuid(const std::string& _val_) { this->uuid_ = _val_; } + void uuid(std::string&& _val_) { this->uuid_ = _val_; } + const std::string& body() const { return this->body_; } + std::string& body() { return this->body_; } + void body(const std::string& _val_) { this->body_ = _val_; } + void body(std::string&& _val_) { this->body_ = _val_; } + + bool operator==(const Req_& _other) const + { + (void) _other; + return uuid_ == _other.uuid_ && + body_ == _other.body_; + } + + bool operator!=(const Req_& _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_::Req_>::getTypeName() +{ + return "unitree_go::msg::dds_::Req_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Req_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Req_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Req_>::type_map_blob_sz() { return 246; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Req_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Req_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab, + 0x31, 0x5f, 0x50, 0x70, 0x86, 0x74, 0x52, 0x00, 0x34, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xef, 0x7c, 0x87, 0x6f, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x84, 0x1a, 0x2d, 0x68, + 0x7b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61, + 0x1d, 0xd6, 0x73, 0x0b, 0x4b, 0x4d, 0x57, 0x00, 0x63, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x5f, 0x00, 0x33, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x75, 0x75, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x62, 0x6f, 0x64, 0x79, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61, + 0x1d, 0xd6, 0x73, 0x0b, 0x4b, 0x4d, 0x57, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab, 0x31, + 0x5f, 0x50, 0x70, 0x86, 0x74, 0x52, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Req_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab, 0x31, 0x5f, 0x50, 0x70, + 0x86, 0x74, 0x52, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61, 0x1d, 0xd6, 0x73, 0x0b, + 0x4b, 0x4d, 0x57, 0x00, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::Req_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Req_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Req_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::Req_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::Req_& 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_string(streamer, instance.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::Req_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Req_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::Req_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::Req_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Req_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::Req_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::Req_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Req_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::Req_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::Req_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Req_>(); + 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_REQ__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/Res_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/Res_.hpp new file mode 100644 index 0000000..bb37287 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/Res_.hpp @@ -0,0 +1,395 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Res_.idl + Source: Res_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_RES__HPP +#define DDSCXX_UNITREE_IDL_GO2_RES__HPP + +#include +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class Res_ +{ +private: + std::string uuid_; + std::vector data_; + std::string body_; + +public: + Res_() = default; + + explicit Res_( + const std::string& uuid, + const std::vector& data, + const std::string& body) : + uuid_(uuid), + data_(data), + body_(body) { } + + const std::string& uuid() const { return this->uuid_; } + std::string& uuid() { return this->uuid_; } + void uuid(const std::string& _val_) { this->uuid_ = _val_; } + void uuid(std::string&& _val_) { this->uuid_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + const std::string& body() const { return this->body_; } + std::string& body() { return this->body_; } + void body(const std::string& _val_) { this->body_ = _val_; } + void body(std::string&& _val_) { this->body_ = _val_; } + + bool operator==(const Res_& _other) const + { + (void) _other; + return uuid_ == _other.uuid_ && + data_ == _other.data_ && + body_ == _other.body_; + } + + bool operator!=(const Res_& _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_::Res_>::getTypeName() +{ + return "unitree_go::msg::dds_::Res_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Res_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Res_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Res_>::type_map_blob_sz() { return 294; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Res_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Res_>::type_map_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0, + 0x13, 0x2b, 0xc3, 0x64, 0xa3, 0xd8, 0xca, 0x00, 0x48, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xef, 0x7c, 0x87, 0x6f, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0x8d, 0x77, 0x7f, 0x38, 0x0c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x84, 0x1a, 0x2d, 0x68, 0x97, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7, + 0x14, 0xf2, 0x86, 0x5c, 0xb5, 0xdb, 0x4d, 0x4f, 0x9b, 0x8d, 0x01, 0x00, 0x7f, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x73, 0x5f, 0x00, 0x4f, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x75, 0x75, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00, + 0x64, 0x61, 0x74, 0x61, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x62, 0x6f, 0x64, 0x79, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7, 0x14, 0xf2, 0x86, 0x5c, + 0xb5, 0xdb, 0x4d, 0x4f, 0x9b, 0x8d, 0x01, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0, 0x13, + 0x2b, 0xc3, 0x64, 0xa3, 0xd8, 0xca, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Res_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0, 0x13, 0x2b, 0xc3, 0x64, + 0xa3, 0xd8, 0xca, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7, 0x14, 0xf2, 0x86, 0x5c, 0xb5, 0xdb, 0x4d, 0x4f, + 0x9b, 0x8d, 0x01, 0x00, 0x83, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::Res_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Res_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Res_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::Res_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::Res_& 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_string(streamer, instance.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::Res_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Res_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::Res_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::Res_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Res_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::Res_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::Res_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Res_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::Res_& 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.uuid(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.body(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::Res_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::Res_>(); + 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_RES__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/SportModeCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/SportModeCmd_.hpp new file mode 100644 index 0000000..71cb8b7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/SportModeCmd_.hpp @@ -0,0 +1,819 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: SportModeCmd_.idl + Source: SportModeCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_SPORTMODECMD__HPP +#define DDSCXX_UNITREE_IDL_GO2_SPORTMODECMD__HPP + +#include "unitree/idl/go2/BmsCmd_.hpp" + +#include "unitree/idl/go2/PathPoint_.hpp" + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class SportModeCmd_ +{ +private: + uint8_t mode_ = 0; + uint8_t gait_type_ = 0; + uint8_t speed_level_ = 0; + float foot_raise_height_ = 0.0f; + float body_height_ = 0.0f; + std::array position_ = { }; + std::array euler_ = { }; + std::array velocity_ = { }; + float yaw_speed_ = 0.0f; + ::unitree_go::msg::dds_::BmsCmd_ bms_cmd_; + std::array<::unitree_go::msg::dds_::PathPoint_, 30> path_point_ = { }; + +public: + SportModeCmd_() = default; + + explicit SportModeCmd_( + uint8_t mode, + uint8_t gait_type, + uint8_t speed_level, + float foot_raise_height, + float body_height, + const std::array& position, + const std::array& euler, + const std::array& velocity, + float yaw_speed, + const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd, + const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point) : + mode_(mode), + gait_type_(gait_type), + speed_level_(speed_level), + foot_raise_height_(foot_raise_height), + body_height_(body_height), + position_(position), + euler_(euler), + velocity_(velocity), + yaw_speed_(yaw_speed), + bms_cmd_(bms_cmd), + path_point_(path_point) { } + + uint8_t mode() const { return this->mode_; } + uint8_t& mode() { return this->mode_; } + void mode(uint8_t _val_) { this->mode_ = _val_; } + uint8_t gait_type() const { return this->gait_type_; } + uint8_t& gait_type() { return this->gait_type_; } + void gait_type(uint8_t _val_) { this->gait_type_ = _val_; } + uint8_t speed_level() const { return this->speed_level_; } + uint8_t& speed_level() { return this->speed_level_; } + void speed_level(uint8_t _val_) { this->speed_level_ = _val_; } + float foot_raise_height() const { return this->foot_raise_height_; } + float& foot_raise_height() { return this->foot_raise_height_; } + void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; } + float body_height() const { return this->body_height_; } + float& body_height() { return this->body_height_; } + void body_height(float _val_) { this->body_height_ = _val_; } + const std::array& position() const { return this->position_; } + std::array& position() { return this->position_; } + void position(const std::array& _val_) { this->position_ = _val_; } + void position(std::array&& _val_) { this->position_ = _val_; } + const std::array& euler() const { return this->euler_; } + std::array& euler() { return this->euler_; } + void euler(const std::array& _val_) { this->euler_ = _val_; } + void euler(std::array&& _val_) { this->euler_ = _val_; } + const std::array& velocity() const { return this->velocity_; } + std::array& velocity() { return this->velocity_; } + void velocity(const std::array& _val_) { this->velocity_ = _val_; } + void velocity(std::array&& _val_) { this->velocity_ = _val_; } + float yaw_speed() const { return this->yaw_speed_; } + float& yaw_speed() { return this->yaw_speed_; } + void yaw_speed(float _val_) { this->yaw_speed_ = _val_; } + const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; } + ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; } + void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; } + void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; } + const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() const { return this->path_point_; } + std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() { return this->path_point_; } + void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& _val_) { this->path_point_ = _val_; } + void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 30>&& _val_) { this->path_point_ = _val_; } + + bool operator==(const SportModeCmd_& _other) const + { + (void) _other; + return mode_ == _other.mode_ && + gait_type_ == _other.gait_type_ && + speed_level_ == _other.speed_level_ && + foot_raise_height_ == _other.foot_raise_height_ && + body_height_ == _other.body_height_ && + position_ == _other.position_ && + euler_ == _other.euler_ && + velocity_ == _other.velocity_ && + yaw_speed_ == _other.yaw_speed_ && + bms_cmd_ == _other.bms_cmd_ && + path_point_ == _other.path_point_; + } + + bool operator!=(const SportModeCmd_& _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_::SportModeCmd_>::getTypeName() +{ + return "unitree_go::msg::dds_::SportModeCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob_sz() { return 1506; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob_sz() { return 196; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x13, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, + 0x02, 0x68, 0x52, 0x1d, 0xd0, 0xd4, 0xb6, 0x00, 0x10, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xe2, 0xc7, 0x6d, 0x1e, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x3b, 0xbb, 0xc1, 0x77, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xb5, 0x46, 0x7f, 0xa0, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe0, 0x34, 0x4c, 0x32, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 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0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x76, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x76, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x05, 0x00, 0x00, 0x00, 0x76, 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, + 0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66, + 0x1a, 0x6a, 0xcc, 0x38, 0x22, 0x2e, 0x2f, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, + 0x68, 0x52, 0x1d, 0xd0, 0xd4, 0xb6, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, + 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, + 0x51, 0xed, 0x4a, 0x23, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, + 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, + 0xbd, 0xe2, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, 0x68, 0x52, 0x1d, + 0xd0, 0xd4, 0xb6, 0x00, 0x14, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, + 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, + 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66, 0x1a, 0x6a, 0xcc, 0x38, + 0x22, 0x2e, 0x2f, 0x00, 0xcd, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, + 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, + 0xe7, 0x00, 0x00, 0x00, }; + return blob; +} +#endif //DDSCXX_HAS_TYPE_DISCOVERY + +} //namespace topic +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_go::msg::dds_::SportModeCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& 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.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.speed_level())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.foot_raise_height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.body_height())) + 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.position()[0], instance.position().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.euler()[0], instance.euler().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.velocity()[0], instance.velocity().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.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::SportModeCmd_& 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.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.speed_level())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.foot_raise_height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.body_height())) + 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.position()[0], instance.position().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.euler()[0], instance.euler().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.velocity()[0], instance.velocity().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.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& 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.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.speed_level())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.foot_raise_height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.body_height())) + 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.position()[0], instance.position().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.euler()[0], instance.euler().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.velocity()[0], instance.velocity().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.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& 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.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.speed_level())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.foot_raise_height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.body_height())) + 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.position()[0], instance.position().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.euler()[0], instance.euler().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.velocity()[0], instance.velocity().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.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.bms_cmd(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); + 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_SPORTMODECMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/SportModeState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/SportModeState_.hpp new file mode 100644 index 0000000..0eda562 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/SportModeState_.hpp @@ -0,0 +1,1121 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: SportModeState_.idl + Source: SportModeState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_SPORTMODESTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_SPORTMODESTATE__HPP + +#include "unitree/idl/go2/IMUState_.hpp" + +#include "unitree/idl/go2/PathPoint_.hpp" + +#include "unitree/idl/go2/TimeSpec_.hpp" + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class SportModeState_ +{ +private: + ::unitree_go::msg::dds_::TimeSpec_ stamp_; + uint32_t error_code_ = 0; + ::unitree_go::msg::dds_::IMUState_ imu_state_; + uint8_t mode_ = 0; + float progress_ = 0.0f; + uint8_t gait_type_ = 0; + float foot_raise_height_ = 0.0f; + std::array position_ = { }; + float body_height_ = 0.0f; + std::array velocity_ = { }; + float yaw_speed_ = 0.0f; + std::array range_obstacle_ = { }; + std::array foot_force_ = { }; + std::array foot_position_body_ = { }; + std::array foot_speed_body_ = { }; + std::array<::unitree_go::msg::dds_::PathPoint_, 10> path_point_ = { }; + +public: + SportModeState_() = default; + + explicit SportModeState_( + const ::unitree_go::msg::dds_::TimeSpec_& stamp, + uint32_t error_code, + const ::unitree_go::msg::dds_::IMUState_& imu_state, + uint8_t mode, + float progress, + uint8_t gait_type, + float foot_raise_height, + const std::array& position, + float body_height, + const std::array& velocity, + float yaw_speed, + const std::array& range_obstacle, + const std::array& foot_force, + const std::array& foot_position_body, + const std::array& foot_speed_body, + const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point) : + stamp_(stamp), + error_code_(error_code), + imu_state_(imu_state), + mode_(mode), + progress_(progress), + gait_type_(gait_type), + foot_raise_height_(foot_raise_height), + position_(position), + body_height_(body_height), + velocity_(velocity), + yaw_speed_(yaw_speed), + range_obstacle_(range_obstacle), + foot_force_(foot_force), + foot_position_body_(foot_position_body), + foot_speed_body_(foot_speed_body), + path_point_(path_point) { } + + const ::unitree_go::msg::dds_::TimeSpec_& stamp() const { return this->stamp_; } + ::unitree_go::msg::dds_::TimeSpec_& stamp() { return this->stamp_; } + void stamp(const ::unitree_go::msg::dds_::TimeSpec_& _val_) { this->stamp_ = _val_; } + void stamp(::unitree_go::msg::dds_::TimeSpec_&& _val_) { this->stamp_ = _val_; } + uint32_t error_code() const { return this->error_code_; } + uint32_t& error_code() { return this->error_code_; } + void error_code(uint32_t _val_) { this->error_code_ = _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_; } + uint8_t mode() const { return this->mode_; } + uint8_t& mode() { return this->mode_; } + void mode(uint8_t _val_) { this->mode_ = _val_; } + float progress() const { return this->progress_; } + float& progress() { return this->progress_; } + void progress(float _val_) { this->progress_ = _val_; } + uint8_t gait_type() const { return this->gait_type_; } + uint8_t& gait_type() { return this->gait_type_; } + void gait_type(uint8_t _val_) { this->gait_type_ = _val_; } + float foot_raise_height() const { return this->foot_raise_height_; } + float& foot_raise_height() { return this->foot_raise_height_; } + void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; } + const std::array& position() const { return this->position_; } + std::array& position() { return this->position_; } + void position(const std::array& _val_) { this->position_ = _val_; } + void position(std::array&& _val_) { this->position_ = _val_; } + float body_height() const { return this->body_height_; } + float& body_height() { return this->body_height_; } + void body_height(float _val_) { this->body_height_ = _val_; } + const std::array& velocity() const { return this->velocity_; } + std::array& velocity() { return this->velocity_; } + void velocity(const std::array& _val_) { this->velocity_ = _val_; } + void velocity(std::array&& _val_) { this->velocity_ = _val_; } + float yaw_speed() const { return this->yaw_speed_; } + float& yaw_speed() { return this->yaw_speed_; } + void yaw_speed(float _val_) { this->yaw_speed_ = _val_; } + const std::array& range_obstacle() const { return this->range_obstacle_; } + std::array& range_obstacle() { return this->range_obstacle_; } + void range_obstacle(const std::array& _val_) { this->range_obstacle_ = _val_; } + void range_obstacle(std::array&& _val_) { this->range_obstacle_ = _val_; } + const std::array& foot_force() const { return this->foot_force_; } + std::array& foot_force() { return this->foot_force_; } + void foot_force(const std::array& _val_) { this->foot_force_ = _val_; } + void foot_force(std::array&& _val_) { this->foot_force_ = _val_; } + const std::array& foot_position_body() const { return this->foot_position_body_; } + std::array& foot_position_body() { return this->foot_position_body_; } + void foot_position_body(const std::array& _val_) { this->foot_position_body_ = _val_; } + void foot_position_body(std::array&& _val_) { this->foot_position_body_ = _val_; } + const std::array& foot_speed_body() const { return this->foot_speed_body_; } + std::array& foot_speed_body() { return this->foot_speed_body_; } + void foot_speed_body(const std::array& _val_) { this->foot_speed_body_ = _val_; } + void foot_speed_body(std::array&& _val_) { this->foot_speed_body_ = _val_; } + const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() const { return this->path_point_; } + std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() { return this->path_point_; } + void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& _val_) { this->path_point_ = _val_; } + void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 10>&& _val_) { this->path_point_ = _val_; } + + bool operator==(const SportModeState_& _other) const + { + (void) _other; + return stamp_ == _other.stamp_ && + error_code_ == _other.error_code_ && + imu_state_ == _other.imu_state_ && + mode_ == _other.mode_ && + progress_ == _other.progress_ && + gait_type_ == _other.gait_type_ && + foot_raise_height_ == _other.foot_raise_height_ && + position_ == _other.position_ && + body_height_ == _other.body_height_ && + velocity_ == _other.velocity_ && + yaw_speed_ == _other.yaw_speed_ && + range_obstacle_ == _other.range_obstacle_ && + foot_force_ == _other.foot_force_ && + foot_position_body_ == _other.foot_position_body_ && + foot_speed_body_ == _other.foot_speed_body_ && + path_point_ == _other.path_point_; + } + + bool operator!=(const SportModeState_& _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_::SportModeState_>::getTypeName() +{ + return "unitree_go::msg::dds_::SportModeState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob_sz() { return 2316; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x33, 0x03, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, + 0xaa, 0xb8, 0xa7, 0x62, 0xe3, 0x10, 0x44, 0x00, 0x94, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x84, 0x01, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, + 0x1c, 0x3b, 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0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x97, 0x49, 0x63, 0x0f, 0xff, 0x75, 0xcc, 0x17, 0x0a, 0xfb, + 0x23, 0x87, 0x83, 0xf1, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, 0xaa, 0xb8, 0xa7, 0x62, 0xe3, + 0x10, 0x44, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, + 0xcc, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, + 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, 0xd6, + 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, + 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeState_>::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, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, 0xaa, 0xb8, 0xa7, 0x62, + 0xe3, 0x10, 0x44, 0x00, 0x98, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, + 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 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, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, + 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x97, 0x49, + 0x63, 0x0f, 0xff, 0x75, 0xcc, 0x17, 0x0a, 0xfb, 0x23, 0x87, 0x83, 0x00, 0xad, 0x02, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, 0xcc, 0x00, + 0x72, 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, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, + 0xe7, 0x00, 0x00, 0x00, }; + return blob; +} +#endif //DDSCXX_HAS_TYPE_DISCOVERY + +} //namespace topic +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_go::msg::dds_::SportModeState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::SportModeState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.error_code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.progress())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.foot_raise_height())) + 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.position()[0], instance.position().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.body_height())) + 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.velocity()[0], instance.velocity().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 (!write(streamer, instance.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.range_obstacle()[0], instance.range_obstacle().size())) + return false; + if (!streamer.finish_consecutive()) + 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.foot_force()[0], instance.foot_force().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.foot_position_body()[0], instance.foot_position_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::SportModeState_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.error_code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.progress())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.foot_raise_height())) + 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.position()[0], instance.position().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.body_height())) + 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.velocity()[0], instance.velocity().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 (!read(streamer, instance.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.range_obstacle()[0], instance.range_obstacle().size())) + return false; + if (!streamer.finish_consecutive()) + 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.foot_force()[0], instance.foot_force().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.foot_position_body()[0], instance.foot_position_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.error_code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.progress())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.foot_raise_height())) + 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.position()[0], instance.position().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.body_height())) + 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.velocity()[0], instance.velocity().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 (!move(streamer, instance.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.range_obstacle()[0], instance.range_obstacle().size())) + return false; + if (!streamer.finish_consecutive()) + 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.foot_force()[0], instance.foot_force().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.foot_position_body()[0], instance.foot_position_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.error_code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.progress())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.gait_type())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.foot_raise_height())) + 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.position()[0], instance.position().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.body_height())) + 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.velocity()[0], instance.velocity().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 (!max(streamer, instance.yaw_speed())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.range_obstacle()[0], instance.range_obstacle().size())) + return false; + if (!streamer.finish_consecutive()) + 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.foot_force()[0], instance.foot_force().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.foot_position_body()[0], instance.foot_position_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.path_point()) { //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; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>(); + 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_SPORTMODESTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/TimeSpec_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/TimeSpec_.hpp new file mode 100644 index 0000000..5cd7f36 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/TimeSpec_.hpp @@ -0,0 +1,302 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: TimeSpec_.idl + Source: TimeSpec_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_TIMESPEC__HPP +#define DDSCXX_UNITREE_IDL_GO2_TIMESPEC__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class TimeSpec_ +{ +private: + int32_t sec_ = 0; + uint32_t nanosec_ = 0; + +public: + TimeSpec_() = default; + + explicit TimeSpec_( + int32_t sec, + uint32_t nanosec) : + sec_(sec), + nanosec_(nanosec) { } + + int32_t sec() const { return this->sec_; } + int32_t& sec() { return this->sec_; } + void sec(int32_t _val_) { this->sec_ = _val_; } + uint32_t nanosec() const { return this->nanosec_; } + uint32_t& nanosec() { return this->nanosec_; } + void nanosec(uint32_t _val_) { this->nanosec_ = _val_; } + + bool operator==(const TimeSpec_& _other) const + { + (void) _other; + return sec_ == _other.sec_ && + nanosec_ == _other.nanosec_; + } + + bool operator!=(const TimeSpec_& _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_::TimeSpec_>::getTypeName() +{ + return "unitree_go::msg::dds_::TimeSpec_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_map_blob_sz() { return 258; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, + 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00, + 0x86, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, + 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, 0xcc, 0x00, 0x6e, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x54, 0x69, 0x6d, 0x65, 0x53, 0x70, 0x65, 0x63, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x6e, 0x61, 0x6e, 0x6f, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, + 0xc9, 0x35, 0xcc, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, + 0xf9, 0x8d, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, + 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, + 0xc9, 0x35, 0xcc, 0x00, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::TimeSpec_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::TimeSpec_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::TimeSpec_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::TimeSpec_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::TimeSpec_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::TimeSpec_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::TimeSpec_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::TimeSpec_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::TimeSpec_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::TimeSpec_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::TimeSpec_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>(); + 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_TIMESPEC__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/UwbState_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/UwbState_.hpp new file mode 100644 index 0000000..913e7a2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/UwbState_.hpp @@ -0,0 +1,968 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: UwbState_.idl + Source: UwbState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_UWBSTATE__HPP +#define DDSCXX_UNITREE_IDL_GO2_UWBSTATE__HPP + +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class UwbState_ +{ +private: + std::array version_ = { }; + uint8_t channel_ = 0; + uint8_t joy_mode_ = 0; + float orientation_est_ = 0.0f; + float pitch_est_ = 0.0f; + float distance_est_ = 0.0f; + float yaw_est_ = 0.0f; + float tag_roll_ = 0.0f; + float tag_pitch_ = 0.0f; + float tag_yaw_ = 0.0f; + float base_roll_ = 0.0f; + float base_pitch_ = 0.0f; + float base_yaw_ = 0.0f; + std::array joystick_ = { }; + uint8_t error_state_ = 0; + uint8_t buttons_ = 0; + uint8_t enabled_from_app_ = 0; + +public: + UwbState_() = default; + + explicit UwbState_( + const std::array& version, + uint8_t channel, + uint8_t joy_mode, + float orientation_est, + float pitch_est, + float distance_est, + float yaw_est, + float tag_roll, + float tag_pitch, + float tag_yaw, + float base_roll, + float base_pitch, + float base_yaw, + const std::array& joystick, + uint8_t error_state, + uint8_t buttons, + uint8_t enabled_from_app) : + version_(version), + channel_(channel), + joy_mode_(joy_mode), + orientation_est_(orientation_est), + pitch_est_(pitch_est), + distance_est_(distance_est), + yaw_est_(yaw_est), + tag_roll_(tag_roll), + tag_pitch_(tag_pitch), + tag_yaw_(tag_yaw), + base_roll_(base_roll), + base_pitch_(base_pitch), + base_yaw_(base_yaw), + joystick_(joystick), + error_state_(error_state), + buttons_(buttons), + enabled_from_app_(enabled_from_app) { } + + const std::array& version() const { return this->version_; } + std::array& version() { return this->version_; } + void version(const std::array& _val_) { this->version_ = _val_; } + void version(std::array&& _val_) { this->version_ = _val_; } + uint8_t channel() const { return this->channel_; } + uint8_t& channel() { return this->channel_; } + void channel(uint8_t _val_) { this->channel_ = _val_; } + uint8_t joy_mode() const { return this->joy_mode_; } + uint8_t& joy_mode() { return this->joy_mode_; } + void joy_mode(uint8_t _val_) { this->joy_mode_ = _val_; } + float orientation_est() const { return this->orientation_est_; } + float& orientation_est() { return this->orientation_est_; } + void orientation_est(float _val_) { this->orientation_est_ = _val_; } + float pitch_est() const { return this->pitch_est_; } + float& pitch_est() { return this->pitch_est_; } + void pitch_est(float _val_) { this->pitch_est_ = _val_; } + float distance_est() const { return this->distance_est_; } + float& distance_est() { return this->distance_est_; } + void distance_est(float _val_) { this->distance_est_ = _val_; } + float yaw_est() const { return this->yaw_est_; } + float& yaw_est() { return this->yaw_est_; } + void yaw_est(float _val_) { this->yaw_est_ = _val_; } + float tag_roll() const { return this->tag_roll_; } + float& tag_roll() { return this->tag_roll_; } + void tag_roll(float _val_) { this->tag_roll_ = _val_; } + float tag_pitch() const { return this->tag_pitch_; } + float& tag_pitch() { return this->tag_pitch_; } + void tag_pitch(float _val_) { this->tag_pitch_ = _val_; } + float tag_yaw() const { return this->tag_yaw_; } + float& tag_yaw() { return this->tag_yaw_; } + void tag_yaw(float _val_) { this->tag_yaw_ = _val_; } + float base_roll() const { return this->base_roll_; } + float& base_roll() { return this->base_roll_; } + void base_roll(float _val_) { this->base_roll_ = _val_; } + float base_pitch() const { return this->base_pitch_; } + float& base_pitch() { return this->base_pitch_; } + void base_pitch(float _val_) { this->base_pitch_ = _val_; } + float base_yaw() const { return this->base_yaw_; } + float& base_yaw() { return this->base_yaw_; } + void base_yaw(float _val_) { this->base_yaw_ = _val_; } + const std::array& joystick() const { return this->joystick_; } + std::array& joystick() { return this->joystick_; } + void joystick(const std::array& _val_) { this->joystick_ = _val_; } + void joystick(std::array&& _val_) { this->joystick_ = _val_; } + uint8_t error_state() const { return this->error_state_; } + uint8_t& error_state() { return this->error_state_; } + void error_state(uint8_t _val_) { this->error_state_ = _val_; } + uint8_t buttons() const { return this->buttons_; } + uint8_t& buttons() { return this->buttons_; } + void buttons(uint8_t _val_) { this->buttons_ = _val_; } + uint8_t enabled_from_app() const { return this->enabled_from_app_; } + uint8_t& enabled_from_app() { return this->enabled_from_app_; } + void enabled_from_app(uint8_t _val_) { this->enabled_from_app_ = _val_; } + + bool operator==(const UwbState_& _other) const + { + (void) _other; + return version_ == _other.version_ && + channel_ == _other.channel_ && + joy_mode_ == _other.joy_mode_ && + orientation_est_ == _other.orientation_est_ && + pitch_est_ == _other.pitch_est_ && + distance_est_ == _other.distance_est_ && + yaw_est_ == _other.yaw_est_ && + tag_roll_ == _other.tag_roll_ && + tag_pitch_ == _other.tag_pitch_ && + tag_yaw_ == _other.tag_yaw_ && + base_roll_ == _other.base_roll_ && + base_pitch_ == _other.base_pitch_ && + base_yaw_ == _other.base_yaw_ && + joystick_ == _other.joystick_ && + error_state_ == _other.error_state_ && + buttons_ == _other.buttons_ && + enabled_from_app_ == _other.enabled_from_app_; + } + + bool operator!=(const UwbState_& _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_::UwbState_>::getTypeName() +{ + return "unitree_go::msg::dds_::UwbState_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::UwbState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_map_blob_sz() { return 998; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x53, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3, + 0x3d, 0x57, 0x4e, 0xb0, 0xbe, 0x39, 0xae, 0x00, 0x3b, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x01, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x2a, 0xf7, 0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xc4, 0x85, 0xd2, 0xed, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xf5, 0x20, 0x55, 0xed, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xb7, 0x48, 0xcc, 0x5d, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x17, 0x8d, 0xce, 0xa7, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xf5, 0x06, 0x73, 0x9b, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x2e, 0xae, 0x04, 0xde, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x6f, 0x2d, 0x01, 0xc9, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x2f, 0x7d, 0xc9, 0x14, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x1e, 0xe4, 0xc0, 0x80, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x69, 0x52, 0xd1, 0x26, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x02, 0xda, 0x41, 0x0a, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x83, 0xbd, 0x50, 0x7a, 0x00, 0x16, 0x00, 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0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x11, 0x00, 0x00, 0x00, 0x65, 0x6e, 0x61, 0x62, + 0x6c, 0x65, 0x64, 0x5f, 0x66, 0x72, 0x6f, 0x6d, 0x5f, 0x61, 0x70, 0x70, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x82, 0x5c, 0xad, 0xb9, 0xe5, 0x0d, 0xf1, + 0x58, 0xaf, 0x64, 0xdc, 0x66, 0xa5, 0x20, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3, 0x3d, + 0x57, 0x4e, 0xb0, 0xbe, 0x39, 0xae, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3, 0x3d, 0x57, 0x4e, 0xb0, + 0xbe, 0x39, 0xae, 0x00, 0x3f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x82, 0x5c, 0xad, 0xb9, 0xe5, 0x0d, 0xf1, 0x58, 0xaf, 0x64, 0xdc, + 0x66, 0xa5, 0x20, 0x00, 0x4f, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::UwbState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::UwbState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::UwbState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::UwbState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::UwbState_& 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.channel())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.joy_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.orientation_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.pitch_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.distance_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.yaw_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.tag_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.tag_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.tag_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.base_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.base_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.base_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.joystick()[0], instance.joystick().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.buttons())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.enabled_from_app())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::UwbState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::UwbState_& 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.channel())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.joy_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.orientation_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.pitch_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.distance_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.yaw_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.tag_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.tag_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.tag_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.base_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.base_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.base_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.joystick()[0], instance.joystick().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.buttons())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.enabled_from_app())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::UwbState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::UwbState_& 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.channel())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.joy_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.orientation_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.pitch_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.distance_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.yaw_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.tag_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.tag_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.tag_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.base_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.base_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.base_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.joystick()[0], instance.joystick().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.buttons())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.enabled_from_app())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::UwbState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::UwbState_& 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.channel())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.joy_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.orientation_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.pitch_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.distance_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.yaw_est())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.tag_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.tag_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.tag_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.base_roll())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.base_pitch())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 12: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.base_yaw())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 13: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.joystick()[0], instance.joystick().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 14: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.error_state())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 15: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.buttons())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 16: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.enabled_from_app())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::UwbState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>(); + 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_UWBSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/UwbSwitch_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/UwbSwitch_.hpp new file mode 100644 index 0000000..12abe7c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/UwbSwitch_.hpp @@ -0,0 +1,260 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: UwbSwitch_.idl + Source: UwbSwitch_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_UWBSWITCH__HPP +#define DDSCXX_UNITREE_IDL_GO2_UWBSWITCH__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class UwbSwitch_ +{ +private: + uint8_t enabled_ = 0; + +public: + UwbSwitch_() = default; + + explicit UwbSwitch_( + uint8_t enabled) : + enabled_(enabled) { } + + uint8_t enabled() const { return this->enabled_; } + uint8_t& enabled() { return this->enabled_; } + void enabled(uint8_t _val_) { this->enabled_ = _val_; } + + bool operator==(const UwbSwitch_& _other) const + { + (void) _other; + return enabled_ == _other.enabled_; + } + + bool operator!=(const UwbSwitch_& _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_::UwbSwitch_>::getTypeName() +{ + return "unitree_go::msg::dds_::UwbSwitch_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_map_blob_sz() { return 218; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_map_blob() { + static const uint8_t blob[] = { + 0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4, 0x3a, 0x87, 0x3e, + 0x4b, 0xff, 0x03, 0x70, 0x95, 0x52, 0x60, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa1, 0x03, 0x11, 0x45, 0x00, + 0x6e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76, 0xfa, 0x1b, 0x1c, 0x22, + 0x03, 0x2c, 0x71, 0xd3, 0x7c, 0x77, 0x05, 0x00, 0x56, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x55, 0x77, 0x62, 0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x5f, 0x00, 0x00, 0x00, + 0x1e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x00, 0x08, 0x00, 0x00, 0x00, 0x65, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x64, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76, + 0xfa, 0x1b, 0x1c, 0x22, 0x03, 0x2c, 0x71, 0xd3, 0x7c, 0x77, 0x05, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4, + 0x3a, 0x87, 0x3e, 0x4b, 0xff, 0x03, 0x70, 0x95, 0x52, 0x60, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4, 0x3a, 0x87, 0x3e, 0x4b, 0xff, 0x03, 0x70, + 0x95, 0x52, 0x60, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76, 0xfa, 0x1b, 0x1c, 0x22, 0x03, 0x2c, 0x71, 0xd3, + 0x7c, 0x77, 0x05, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::UwbSwitch_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::UwbSwitch_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::UwbSwitch_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::UwbSwitch_& 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.enabled())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::UwbSwitch_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::UwbSwitch_& 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.enabled())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::UwbSwitch_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::UwbSwitch_& 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.enabled())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::UwbSwitch_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::UwbSwitch_& 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.enabled())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::UwbSwitch_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>(); + 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_UWBSWITCH__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/VoxelMapCompressed_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/VoxelMapCompressed_.hpp new file mode 100644 index 0000000..5d92c26 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/VoxelMapCompressed_.hpp @@ -0,0 +1,600 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: VoxelMapCompressed_.idl + Source: VoxelMapCompressed_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_VOXELMAPCOMPRESSED__HPP +#define DDSCXX_UNITREE_IDL_GO2_VOXELMAPCOMPRESSED__HPP + +#include +#include +#include +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class VoxelMapCompressed_ +{ +private: + double stamp_ = 0.0; + std::string frame_id_; + double resolution_ = 0.0; + std::array origin_ = { }; + std::array width_ = { }; + uint64_t src_size_ = 0; + std::vector data_; + +public: + VoxelMapCompressed_() = default; + + explicit VoxelMapCompressed_( + double stamp, + const std::string& frame_id, + double resolution, + const std::array& origin, + const std::array& width, + uint64_t src_size, + const std::vector& data) : + stamp_(stamp), + frame_id_(frame_id), + resolution_(resolution), + origin_(origin), + width_(width), + src_size_(src_size), + data_(data) { } + + double stamp() const { return this->stamp_; } + double& stamp() { return this->stamp_; } + void stamp(double _val_) { this->stamp_ = _val_; } + const std::string& frame_id() const { return this->frame_id_; } + std::string& frame_id() { return this->frame_id_; } + void frame_id(const std::string& _val_) { this->frame_id_ = _val_; } + void frame_id(std::string&& _val_) { this->frame_id_ = _val_; } + double resolution() const { return this->resolution_; } + double& resolution() { return this->resolution_; } + void resolution(double _val_) { this->resolution_ = _val_; } + const std::array& origin() const { return this->origin_; } + std::array& origin() { return this->origin_; } + void origin(const std::array& _val_) { this->origin_ = _val_; } + void origin(std::array&& _val_) { this->origin_ = _val_; } + const std::array& width() const { return this->width_; } + std::array& width() { return this->width_; } + void width(const std::array& _val_) { this->width_ = _val_; } + void width(std::array&& _val_) { this->width_ = _val_; } + uint64_t src_size() const { return this->src_size_; } + uint64_t& src_size() { return this->src_size_; } + void src_size(uint64_t _val_) { this->src_size_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + + bool operator==(const VoxelMapCompressed_& _other) const + { + (void) _other; + return stamp_ == _other.stamp_ && + frame_id_ == _other.frame_id_ && + resolution_ == _other.resolution_ && + origin_ == _other.origin_ && + width_ == _other.width_ && + src_size_ == _other.src_size_ && + data_ == _other.data_; + } + + bool operator!=(const VoxelMapCompressed_& _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_::VoxelMapCompressed_>::getTypeName() +{ + return "unitree_go::msg::dds_::VoxelMapCompressed_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_map_blob_sz() { return 538; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_map_blob() { + static const uint8_t blob[] = { + 0xb8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xf4, 0x58, 0xe7, 0x8f, 0x62, 0xc9, 0xad, + 0xbc, 0x43, 0x1d, 0x16, 0x4e, 0xdf, 0xdd, 0x00, 0xa0, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x96, 0xb8, 0xc7, 0x8d, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xb7, 0xe1, 0x64, 0xb3, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x0a, 0x7c, 0x49, 0xb1, 0x53, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x06, 0xea, 0xae, 0x26, 0xa6, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x08, 0x20, 0x1e, 0x06, 0xae, 0x00, 0x10, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x8d, 0x77, 0x7f, 0x38, 0x33, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb, 0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e, + 0xd7, 0xa4, 0x76, 0x00, 0x1b, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x33, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x56, + 0x6f, 0x78, 0x65, 0x6c, 0x4d, 0x61, 0x70, 0x43, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65, + 0x64, 0x5f, 0x00, 0x00, 0xdb, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x06, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x6d, + 0x70, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x72, 0x65, 0x73, 0x6f, 0x6c, 0x75, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x21, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x0a, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x6f, 0x72, 0x69, 0x67, + 0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x06, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x77, 0x69, 0x64, 0x74, 0x68, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x09, 0x00, 0x00, 0x00, 0x73, 0x72, 0x63, 0x5f, + 0x73, 0x69, 0x7a, 0x65, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb, + 0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e, 0xd7, 0xa4, 0x76, 0xf1, 0xf4, 0x58, 0xe7, 0x8f, + 0x62, 0xc9, 0xad, 0xbc, 0x43, 0x1d, 0x16, 0x4e, 0xdf, 0xdd, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xf4, 0x58, 0xe7, 0x8f, 0x62, 0xc9, 0xad, 0xbc, 0x43, 0x1d, 0x16, + 0x4e, 0xdf, 0xdd, 0x00, 0xa4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb, 0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e, + 0xd7, 0xa4, 0x76, 0x00, 0x1f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::VoxelMapCompressed_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::VoxelMapCompressed_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::VoxelMapCompressed_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.resolution())) + 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.origin()[0], instance.origin().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.width()[0], instance.width().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.src_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::VoxelMapCompressed_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.resolution())) + 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.origin()[0], instance.origin().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.width()[0], instance.width().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.src_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::VoxelMapCompressed_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.resolution())) + 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.origin()[0], instance.origin().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.width()[0], instance.width().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.src_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::VoxelMapCompressed_& 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.stamp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.resolution())) + 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.origin()[0], instance.origin().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.width()[0], instance.width().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.src_size())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>(); + 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_VOXELMAPCOMPRESSED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/go2/WirelessController_.hpp b/deps/unitree_sdk2/include/unitree/idl/go2/WirelessController_.hpp new file mode 100644 index 0000000..1bd8bf4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/go2/WirelessController_.hpp @@ -0,0 +1,426 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: WirelessController_.idl + Source: WirelessController_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_GO2_WIRELESSCONTROLLER__HPP +#define DDSCXX_UNITREE_IDL_GO2_WIRELESSCONTROLLER__HPP + +#include + +namespace unitree_go +{ +namespace msg +{ +namespace dds_ +{ +class WirelessController_ +{ +private: + float lx_ = 0.0f; + float ly_ = 0.0f; + float rx_ = 0.0f; + float ry_ = 0.0f; + uint16_t keys_ = 0; + +public: + WirelessController_() = default; + + explicit WirelessController_( + float lx, + float ly, + float rx, + float ry, + uint16_t keys) : + lx_(lx), + ly_(ly), + rx_(rx), + ry_(ry), + keys_(keys) { } + + float lx() const { return this->lx_; } + float& lx() { return this->lx_; } + void lx(float _val_) { this->lx_ = _val_; } + float ly() const { return this->ly_; } + float& ly() { return this->ly_; } + void ly(float _val_) { this->ly_ = _val_; } + float rx() const { return this->rx_; } + float& rx() { return this->rx_; } + void rx(float _val_) { this->rx_ = _val_; } + float ry() const { return this->ry_; } + float& ry() { return this->ry_; } + void ry(float _val_) { this->ry_ = _val_; } + uint16_t keys() const { return this->keys_; } + uint16_t& keys() { return this->keys_; } + void keys(uint16_t _val_) { this->keys_ = _val_; } + + bool operator==(const WirelessController_& _other) const + { + (void) _other; + return lx_ == _other.lx_ && + ly_ == _other.ly_ && + rx_ == _other.rx_ && + ry_ == _other.ry_ && + keys_ == _other.keys_; + } + + bool operator!=(const WirelessController_& _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_::WirelessController_>::getTypeName() +{ + return "unitree_go::msg::dds_::WirelessController_"; +} + +template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::WirelessController_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_map_blob_sz() { return 382; } +template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_map_blob() { + static const uint8_t blob[] = { + 0x7b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59, + 0x61, 0xcd, 0x0e, 0x3f, 0xc0, 0x49, 0xcb, 0x00, 0x63, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x80, 0x37, 0xcc, 0xea, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe7, 0x28, 0xb4, 0x77, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x22, 0x77, 0x0f, 0xbd, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x73, 0x1a, 0x58, 0x83, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x14, 0xf8, 0x02, 0xe1, 0x00, + 0xd3, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08, + 0xf9, 0x2c, 0xb2, 0x49, 0x43, 0xac, 0x72, 0x00, 0xbb, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x33, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x57, 0x69, 0x72, 0x65, 0x6c, 0x65, 0x73, 0x73, 0x43, 0x6f, 0x6e, 0x74, 0x72, + 0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x5f, 0x00, 0x00, 0x7b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x6c, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6c, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x72, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x72, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x13, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x6b, 0x65, 0x79, 0x73, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08, 0xf9, 0x2c, 0xb2, 0x49, 0x43, 0xac, 0x72, 0xf1, + 0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59, 0x61, 0xcd, 0x0e, 0x3f, 0xc0, 0x49, 0xcb, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59, 0x61, 0xcd, 0x0e, 0x3f, + 0xc0, 0x49, 0xcb, 0x00, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08, 0xf9, 0x2c, 0xb2, 0x49, + 0x43, 0xac, 0x72, 0x00, 0xbf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_go::msg::dds_::WirelessController_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::WirelessController_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::WirelessController_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_go::msg::dds_::WirelessController_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_go::msg::dds_::WirelessController_& 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.lx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.ly())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.rx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.ry())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.keys())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_go::msg::dds_::WirelessController_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_go::msg::dds_::WirelessController_& 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.lx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.ly())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.rx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.ry())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.keys())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_go::msg::dds_::WirelessController_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_go::msg::dds_::WirelessController_& 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.lx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.ly())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.rx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.ry())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.keys())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_go::msg::dds_::WirelessController_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_go::msg::dds_::WirelessController_& 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.lx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.ly())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.rx())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.ry())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.keys())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_go::msg::dds_::WirelessController_& instance, bool as_key) { + auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>(); + 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_WIRELESSCONTROLLER__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/AgvBmsState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/AgvBmsState_.hpp new file mode 100644 index 0000000..8c796c8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/AgvBmsState_.hpp @@ -0,0 +1,541 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: AgvBmsState_.idl + Source: AgvBmsState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_AGVBMSSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_AGVBMSSTATE__HPP + +#include +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class AgvBmsState_ +{ +private: + std::string software_version_; + uint8_t battery_percentage_ = 0; + int32_t current_ = 0; + std::array temperature_ = { }; + std::string docking_status_; + bool is_charging_ = false; + bool is_dc_connected_ = false; + +public: + AgvBmsState_() = default; + + explicit AgvBmsState_( + const std::string& software_version, + uint8_t battery_percentage, + int32_t current, + const std::array& temperature, + const std::string& docking_status, + bool is_charging, + bool is_dc_connected) : + software_version_(software_version), + battery_percentage_(battery_percentage), + current_(current), + temperature_(temperature), + docking_status_(docking_status), + is_charging_(is_charging), + is_dc_connected_(is_dc_connected) { } + + const std::string& software_version() const { return this->software_version_; } + std::string& software_version() { return this->software_version_; } + void software_version(const std::string& _val_) { this->software_version_ = _val_; } + void software_version(std::string&& _val_) { this->software_version_ = _val_; } + uint8_t battery_percentage() const { return this->battery_percentage_; } + uint8_t& battery_percentage() { return this->battery_percentage_; } + void battery_percentage(uint8_t _val_) { this->battery_percentage_ = _val_; } + int32_t current() const { return this->current_; } + int32_t& current() { return this->current_; } + void current(int32_t _val_) { this->current_ = _val_; } + const std::array& temperature() const { return this->temperature_; } + std::array& temperature() { return this->temperature_; } + void temperature(const std::array& _val_) { this->temperature_ = _val_; } + void temperature(std::array&& _val_) { this->temperature_ = _val_; } + const std::string& docking_status() const { return this->docking_status_; } + std::string& docking_status() { return this->docking_status_; } + void docking_status(const std::string& _val_) { this->docking_status_ = _val_; } + void docking_status(std::string&& _val_) { this->docking_status_ = _val_; } + bool is_charging() const { return this->is_charging_; } + bool& is_charging() { return this->is_charging_; } + void is_charging(bool _val_) { this->is_charging_ = _val_; } + bool is_dc_connected() const { return this->is_dc_connected_; } + bool& is_dc_connected() { return this->is_dc_connected_; } + void is_dc_connected(bool _val_) { this->is_dc_connected_ = _val_; } + + bool operator==(const AgvBmsState_& _other) const + { + (void) _other; + return software_version_ == _other.software_version_ && + battery_percentage_ == _other.battery_percentage_ && + current_ == _other.current_ && + temperature_ == _other.temperature_ && + docking_status_ == _other.docking_status_ && + is_charging_ == _other.is_charging_ && + is_dc_connected_ == _other.is_dc_connected_; + } + + bool operator!=(const AgvBmsState_& _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_::AgvBmsState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::AgvBmsState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::type_map_blob_sz() { return 550; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::type_info_blob_sz() { return 100; } +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, + 0xc2, 0x7f, 0x74, 0xa8, 0x32, 0x31, 0x6b, 0x00, 0x8f, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xed, 0x06, 0xdc, 0x4c, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x1e, 0x1c, 0x79, 0x06, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x43, 0xb5, 0xc9, 0x17, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x03, 0x03, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xc9, 0xbd, 0x04, 0xb8, 0x0b, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0xb4, 0x46, 0x31, 0x5e, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x0d, 0x78, 0x71, 0x07, 0x00, 0x4e, 0x01, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa4, 0x53, 0x00, 0x3b, 0x5b, 0x09, 0xe8, 0x8e, 0x24, 0xb5, 0xc7, + 0x86, 0x52, 0x54, 0x00, 0x36, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2c, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x41, + 0x67, 0x76, 0x42, 0x6d, 0x73, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0xfe, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x73, 0x6f, 0x66, 0x74, 0x77, 0x61, 0x72, 0x65, 0x5f, 0x76, 0x65, 0x72, + 0x73, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x00, 0x13, 0x00, 0x00, 0x00, 0x62, 0x61, 0x74, 0x74, 0x65, 0x72, 0x79, 0x5f, + 0x70, 0x65, 0x72, 0x63, 0x65, 0x6e, 0x74, 0x61, 0x67, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x63, 0x75, 0x72, 0x72, 0x65, 0x6e, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x03, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70, 0x65, 0x72, 0x61, 0x74, + 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x64, 0x6f, 0x63, 0x6b, 0x69, 0x6e, 0x67, 0x5f, + 0x73, 0x74, 0x61, 0x74, 0x75, 0x73, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x69, 0x73, 0x5f, 0x63, + 0x68, 0x61, 0x72, 0x67, 0x69, 0x6e, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x10, 0x00, 0x00, 0x00, 0x69, 0x73, 0x5f, 0x64, + 0x63, 0x5f, 0x63, 0x6f, 0x6e, 0x6e, 0x65, 0x63, 0x74, 0x65, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa4, 0x53, 0x00, 0x3b, 0x5b, 0x09, 0xe8, + 0x8e, 0x24, 0xb5, 0xc7, 0x86, 0x52, 0x54, 0xf1, 0xed, 0x44, 0x74, 0x98, 0xd8, 0x24, 0x53, 0xc2, + 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, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xed, 0x44, 0x74, 0x98, 0xd8, 0x24, 0x53, 0xc2, 0x7f, 0x74, 0xa8, + 0x32, 0x31, 0x6b, 0x00, 0x93, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xa4, 0x53, 0x00, 0x3b, 0x5b, 0x09, 0xe8, 0x8e, 0x24, 0xb5, 0xc7, + 0x86, 0x52, 0x54, 0x00, 0x3a, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::AgvBmsState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::AgvBmsState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>(); + +template::value, bool> = true > +bool write(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 (!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: + 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::value, bool> = true > +bool write(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::write, as_key); + return write(str, instance, props.data()); +} + +template::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::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::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::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::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::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 diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/BmsCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/BmsCmd_.hpp new file mode 100644 index 0000000..6188a61 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/BmsCmd_.hpp @@ -0,0 +1,321 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: BmsCmd_.idl + Source: BmsCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_BMSCMD__HPP +#define DDSCXX_UNITREE_IDL_HG_BMSCMD__HPP + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class BmsCmd_ +{ +private: + uint8_t cmd_ = 0; + std::array reserve_ = { }; + +public: + BmsCmd_() = default; + + explicit BmsCmd_( + uint8_t cmd, + const std::array& reserve) : + cmd_(cmd), + reserve_(reserve) { } + + uint8_t cmd() const { return this->cmd_; } + uint8_t& cmd() { return this->cmd_; } + void cmd(uint8_t _val_) { this->cmd_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const BmsCmd_& _other) const + { + (void) _other; + return cmd_ == _other.cmd_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const BmsCmd_& _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_::BmsCmd_>::getTypeName() +{ + return "unitree_hg::msg::dds_::BmsCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::type_map_blob_sz() { return 278; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x56, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x91, 0xa3, 0x78, 0x24, 0x46, 0xf5, 0xc1, + 0xa3, 0xbe, 0x38, 0x87, 0x82, 0x38, 0xf4, 0x00, 0x3e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xdf, 0xff, 0x0a, 0x7f, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x28, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x8e, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf3, 0x1a, 0x44, 0x88, 0xbc, 0xce, 0xdc, 0xaa, 0xdb, 0x49, 0x15, + 0xee, 0x2b, 0x01, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, + 0x6d, 0x73, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x63, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x28, 0x02, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf3, 0x1a, 0x44, 0x88, 0xbc, 0xce, 0xdc, + 0xaa, 0xdb, 0x49, 0x15, 0xee, 0x2b, 0x01, 0xf1, 0x91, 0xa3, 0x78, 0x24, 0x46, 0xf5, 0xc1, 0xa3, + 0xbe, 0x38, 0x87, 0x82, 0x38, 0xf4, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x91, 0xa3, 0x78, 0x24, 0x46, 0xf5, 0xc1, 0xa3, 0xbe, 0x38, 0x87, + 0x82, 0x38, 0xf4, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf3, 0x1a, 0x44, 0x88, 0xbc, 0xce, 0xdc, 0xaa, 0xdb, 0x49, 0x15, + 0xee, 0x2b, 0x01, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::BmsCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::BmsCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::BmsCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::BmsCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::BmsCmd_& 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.cmd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::BmsCmd_& 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.cmd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::BmsCmd_& 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.cmd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::BmsCmd_& 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.cmd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::BmsCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsCmd_>(); + 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_BMSCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/BmsState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/BmsState_.hpp new file mode 100644 index 0000000..b30d032 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/BmsState_.hpp @@ -0,0 +1,855 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: BmsState_.idl + Source: BmsState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_BMSSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_BMSSTATE__HPP + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class BmsState_ +{ +private: + uint8_t version_high_ = 0; + uint8_t version_low_ = 0; + uint8_t fn_ = 0; + std::array cell_vol_ = { }; + std::array bmsvoltage_ = { }; + int32_t current_ = 0; + uint8_t soc_ = 0; + uint8_t soh_ = 0; + std::array temperature_ = { }; + uint16_t cycle_ = 0; + uint16_t manufacturer_date_ = 0; + std::array bmsstate_ = { }; + std::array reserve_ = { }; + +public: + BmsState_() = default; + + explicit BmsState_( + uint8_t version_high, + uint8_t version_low, + uint8_t fn, + const std::array& cell_vol, + const std::array& bmsvoltage, + int32_t current, + uint8_t soc, + uint8_t soh, + const std::array& temperature, + uint16_t cycle, + uint16_t manufacturer_date, + const std::array& bmsstate, + const std::array& reserve) : + version_high_(version_high), + version_low_(version_low), + fn_(fn), + cell_vol_(cell_vol), + bmsvoltage_(bmsvoltage), + current_(current), + soc_(soc), + soh_(soh), + temperature_(temperature), + cycle_(cycle), + manufacturer_date_(manufacturer_date), + bmsstate_(bmsstate), + reserve_(reserve) { } + + uint8_t version_high() const { return this->version_high_; } + uint8_t& version_high() { return this->version_high_; } + void version_high(uint8_t _val_) { this->version_high_ = _val_; } + uint8_t version_low() const { return this->version_low_; } + uint8_t& version_low() { return this->version_low_; } + void version_low(uint8_t _val_) { this->version_low_ = _val_; } + uint8_t fn() const { return this->fn_; } + uint8_t& fn() { return this->fn_; } + void fn(uint8_t _val_) { this->fn_ = _val_; } + const std::array& cell_vol() const { return this->cell_vol_; } + std::array& cell_vol() { return this->cell_vol_; } + void cell_vol(const std::array& _val_) { this->cell_vol_ = _val_; } + void cell_vol(std::array&& _val_) { this->cell_vol_ = _val_; } + const std::array& bmsvoltage() const { return this->bmsvoltage_; } + std::array& bmsvoltage() { return this->bmsvoltage_; } + void bmsvoltage(const std::array& _val_) { this->bmsvoltage_ = _val_; } + void bmsvoltage(std::array&& _val_) { this->bmsvoltage_ = _val_; } + int32_t current() const { return this->current_; } + int32_t& current() { return this->current_; } + void current(int32_t _val_) { this->current_ = _val_; } + uint8_t soc() const { return this->soc_; } + uint8_t& soc() { return this->soc_; } + void soc(uint8_t _val_) { this->soc_ = _val_; } + uint8_t soh() const { return this->soh_; } + uint8_t& soh() { return this->soh_; } + void soh(uint8_t _val_) { this->soh_ = _val_; } + const std::array& temperature() const { return this->temperature_; } + std::array& temperature() { return this->temperature_; } + void temperature(const std::array& _val_) { this->temperature_ = _val_; } + void temperature(std::array&& _val_) { this->temperature_ = _val_; } + uint16_t cycle() const { return this->cycle_; } + uint16_t& cycle() { return this->cycle_; } + void cycle(uint16_t _val_) { this->cycle_ = _val_; } + uint16_t manufacturer_date() const { return this->manufacturer_date_; } + uint16_t& manufacturer_date() { return this->manufacturer_date_; } + void manufacturer_date(uint16_t _val_) { this->manufacturer_date_ = _val_; } + const std::array& bmsstate() const { return this->bmsstate_; } + std::array& bmsstate() { return this->bmsstate_; } + void bmsstate(const std::array& _val_) { this->bmsstate_ = _val_; } + void bmsstate(std::array&& _val_) { this->bmsstate_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const BmsState_& _other) const + { + (void) _other; + return version_high_ == _other.version_high_ && + version_low_ == _other.version_low_ && + fn_ == _other.fn_ && + cell_vol_ == _other.cell_vol_ && + bmsvoltage_ == _other.bmsvoltage_ && + current_ == _other.current_ && + soc_ == _other.soc_ && + soh_ == _other.soh_ && + temperature_ == _other.temperature_ && + cycle_ == _other.cycle_ && + manufacturer_date_ == _other.manufacturer_date_ && + bmsstate_ == _other.bmsstate_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const BmsState_& _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_::BmsState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::BmsState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::BmsState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_map_blob_sz() { return 874; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x36, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x98, 0xd8, 0x09, 0xa6, 0x3f, 0x63, + 0xc7, 0xcb, 0x31, 0xa8, 0x18, 0x50, 0x6b, 0x00, 0x1e, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x75, 0x6a, 0xda, 0x84, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x51, 0x99, 0x89, 0x90, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x4d, 0x9d, 0x6c, 0x17, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x28, 0x06, 0x2d, 0x87, 0xc3, 0x55, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x07, 0x46, 0x32, 0x3c, 0x06, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x04, 0x43, 0xb5, 0xc9, 0x17, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0xc7, 0xd5, 0xf8, 0x49, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x17, 0x39, 0xe7, 0x01, 0x00, 0x16, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x03, 0xee, 0xf4, + 0x38, 0xf7, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x9a, + 0x4c, 0x07, 0x40, 0x00, 0x0b, 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0x00, 0x00, + 0x6d, 0x61, 0x6e, 0x75, 0x66, 0x61, 0x63, 0x74, 0x75, 0x72, 0x65, 0x72, 0x5f, 0x64, 0x61, 0x74, + 0x65, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x05, 0x07, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x62, 0x6d, 0x73, 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xdb, 0xa6, + 0x86, 0x24, 0x98, 0xf5, 0x54, 0xba, 0x92, 0x7b, 0xa1, 0x8d, 0xe0, 0xf1, 0x4b, 0x98, 0xd8, 0x09, + 0xa6, 0x3f, 0x63, 0xc7, 0xcb, 0x31, 0xa8, 0x18, 0x50, 0x6b, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x98, 0xd8, 0x09, 0xa6, 0x3f, 0x63, 0xc7, 0xcb, 0x31, 0xa8, + 0x18, 0x50, 0x6b, 0x00, 0x22, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xdb, 0xa6, 0x86, 0x24, 0x98, 0xf5, 0x54, 0xba, 0x92, 0x7b, + 0xa1, 0x8d, 0xe0, 0x00, 0xee, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::BmsState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::BmsState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::BmsState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::BmsState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.fn())) + 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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.soh())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.temperature()[0], instance.temperature().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.cycle())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.manufacturer_date())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.bmsstate()[0], instance.bmsstate().size())) + return false; + if (!streamer.finish_consecutive()) + 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.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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.fn())) + 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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.soh())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.temperature()[0], instance.temperature().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.cycle())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.manufacturer_date())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.bmsstate()[0], instance.bmsstate().size())) + return false; + if (!streamer.finish_consecutive()) + 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.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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.fn())) + 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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.soh())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.temperature()[0], instance.temperature().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.cycle())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.manufacturer_date())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.bmsstate()[0], instance.bmsstate().size())) + return false; + if (!streamer.finish_consecutive()) + 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.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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::BmsState_& 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.version_high())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.version_low())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.fn())) + 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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.soc())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.soh())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.temperature()[0], instance.temperature().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 9: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.cycle())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 10: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.manufacturer_date())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 11: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.bmsstate()[0], instance.bmsstate().size())) + return false; + if (!streamer.finish_consecutive()) + 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.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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::BmsState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>(); + 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_BMSSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/HandCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/HandCmd_.hpp new file mode 100644 index 0000000..5697607 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/HandCmd_.hpp @@ -0,0 +1,409 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: HandCmd_.idl + Source: HandCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_HANDCMD__HPP +#define DDSCXX_UNITREE_IDL_HG_HANDCMD__HPP + +#include "unitree/idl/hg/MotorCmd_.hpp" + +#include +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class HandCmd_ +{ +private: + std::vector<::unitree_hg::msg::dds_::MotorCmd_> motor_cmd_; + std::array reserve_ = { }; + +public: + HandCmd_() = default; + + explicit HandCmd_( + const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd, + const std::array& reserve) : + motor_cmd_(motor_cmd), + reserve_(reserve) { } + + const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd() const { return this->motor_cmd_; } + std::vector<::unitree_hg::msg::dds_::MotorCmd_>& motor_cmd() { return this->motor_cmd_; } + void motor_cmd(const std::vector<::unitree_hg::msg::dds_::MotorCmd_>& _val_) { this->motor_cmd_ = _val_; } + void motor_cmd(std::vector<::unitree_hg::msg::dds_::MotorCmd_>&& _val_) { this->motor_cmd_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const HandCmd_& _other) const + { + (void) _other; + return motor_cmd_ == _other.motor_cmd_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const HandCmd_& _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_::HandCmd_>::getTypeName() +{ + return "unitree_hg::msg::dds_::HandCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_map_blob_sz() { return 752; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x03, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0xa6, 0x3e, 0x17, 0xe2, 0x28, 0xe6, 0x7d, + 0x27, 0x6d, 0xfe, 0x71, 0xd6, 0xf1, 0x56, 0x00, 0x52, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf1, 0x01, 0x00, 0x00, 0xf1, + 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x5b, 0xcf, + 0x19, 0xa4, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0xf1, 0x82, + 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x00, 0x00, + 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x9e, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0x5c, 0x45, 0xf9, 0xf8, 0xb1, 0xe1, 0xc2, 0x79, 0xa6, 0x59, 0x52, 0x13, 0x32, 0xb0, 0x00, + 0x8e, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x48, 0x61, 0x6e, 0x64, 0x43, + 0x6d, 0x64, 0x5f, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf2, 0x01, 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, + 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, + 0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x5f, 0x63, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x04, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, + 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, + 0xf1, 0x00, 0x00, 0x00, 0xe2, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, + 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, + 0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x00, 0x00, 0xaa, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0xf2, 0x5c, 0x45, 0xf9, 0xf8, 0xb1, 0xe1, 0xc2, 0x79, 0xa6, 0x59, 0x52, + 0x13, 0x32, 0xb0, 0xf1, 0xa6, 0x3e, 0x17, 0xe2, 0x28, 0xe6, 0x7d, 0x27, 0x6d, 0xfe, 0x71, 0xd6, + 0xf1, 0x56, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, + 0xf1, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, +}; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xa6, 0x3e, 0x17, 0xe2, 0x28, 0xe6, 0x7d, 0x27, 0x6d, 0xfe, 0x71, + 0xd6, 0xf1, 0x56, 0x00, 0x56, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, + 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x5c, 0x45, 0xf9, + 0xf8, 0xb1, 0xe1, 0xc2, 0x79, 0xa6, 0x59, 0x52, 0x13, 0x32, 0xb0, 0x00, 0x92, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0x00, + 0xe6, 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_::HandCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::HandCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::HandCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::HandCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_cmd().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.motor_cmd()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::HandCmd_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_cmd().size()); + if (!read(streamer, se_1)) + return false; + instance.motor_cmd().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.motor_cmd()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_cmd().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.motor_cmd()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::HandCmd_& 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(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.motor_cmd()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + 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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::HandCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandCmd_>(); + 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_HANDCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/HandState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/HandState_.hpp new file mode 100644 index 0000000..e648618 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/HandState_.hpp @@ -0,0 +1,850 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: HandState_.idl + Source: HandState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP + +#include "unitree/idl/hg/IMUState_.hpp" + +#include "unitree/idl/hg/MotorState_.hpp" + +#include "unitree/idl/hg/PressSensorState_.hpp" + +#include +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class HandState_ +{ +private: + std::vector<::unitree_hg::msg::dds_::MotorState_> motor_state_; + std::vector<::unitree_hg::msg::dds_::PressSensorState_> press_sensor_state_; + ::unitree_hg::msg::dds_::IMUState_ imu_state_; + float power_v_ = 0.0f; + float power_a_ = 0.0f; + float system_v_ = 0.0f; + float device_v_ = 0.0f; + std::array error_ = { }; + std::array reserve_ = { }; + +public: + HandState_() = default; + + explicit HandState_( + const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state, + const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state, + const ::unitree_hg::msg::dds_::IMUState_& imu_state, + float power_v, + float power_a, + float system_v, + float device_v, + const std::array& error, + const std::array& reserve) : + motor_state_(motor_state), + press_sensor_state_(press_sensor_state), + imu_state_(imu_state), + power_v_(power_v), + power_a_(power_a), + system_v_(system_v), + device_v_(device_v), + error_(error), + reserve_(reserve) { } + + const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() const { return this->motor_state_; } + std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() { return this->motor_state_; } + void motor_state(const std::vector<::unitree_hg::msg::dds_::MotorState_>& _val_) { this->motor_state_ = _val_; } + void motor_state(std::vector<::unitree_hg::msg::dds_::MotorState_>&& _val_) { this->motor_state_ = _val_; } + const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() const { return this->press_sensor_state_; } + std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() { return this->press_sensor_state_; } + void press_sensor_state(const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& _val_) { this->press_sensor_state_ = _val_; } + void press_sensor_state(std::vector<::unitree_hg::msg::dds_::PressSensorState_>&& _val_) { this->press_sensor_state_ = _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_; } + 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_; } + float system_v() const { return this->system_v_; } + float& system_v() { return this->system_v_; } + void system_v(float _val_) { this->system_v_ = _val_; } + float device_v() const { return this->device_v_; } + float& device_v() { return this->device_v_; } + void device_v(float _val_) { this->device_v_ = _val_; } + const std::array& error() const { return this->error_; } + std::array& error() { return this->error_; } + void error(const std::array& _val_) { this->error_ = _val_; } + void error(std::array&& _val_) { this->error_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + + bool operator==(const HandState_& _other) const + { + (void) _other; + return motor_state_ == _other.motor_state_ && + press_sensor_state_ == _other.press_sensor_state_ && + imu_state_ == _other.imu_state_ && + power_v_ == _other.power_v_ && + power_a_ == _other.power_a_ && + system_v_ == _other.system_v_ && + device_v_ == _other.device_v_ && + error_ == _other.error_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const HandState_& _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_::HandState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::HandState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_map_blob_sz() { return 2244; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x1f, 0x03, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x69, 0x9e, 0xb3, 0x27, 0x0c, 0x7d, 0x77, + 0x88, 0xed, 0x03, 0xbe, 0xbe, 0x16, 0xb9, 0x00, 0xf2, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe2, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf1, 0x01, 0x00, 0x00, 0xf1, + 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0xb2, 0x1e, + 0x53, 0xdc, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 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0x55, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, + 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06, 0x55, 0x84, 0x73, + 0xdf, 0x44, 0x22, 0x80, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::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, 0x69, 0x9e, 0xb3, 0x27, 0x0c, 0x7d, 0x77, 0x88, 0xed, 0x03, 0xbe, + 0xbe, 0x16, 0xb9, 0x00, 0xf6, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 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, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, 0x26, 0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, 0x00, + 0x6f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xfc, 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+namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_hg::msg::dds_::HandState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::HandState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::HandState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::HandState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_state().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.motor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.press_sensor_state().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.press_sensor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.power_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.power_a())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.system_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.device_v())) + 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.error()[0], instance.error().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 (!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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::HandState_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_state().size()); + if (!read(streamer, se_1)) + return false; + instance.motor_state().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.motor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.press_sensor_state().size()); + if (!read(streamer, se_1)) + return false; + instance.press_sensor_state().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.press_sensor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.power_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.power_a())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.system_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.device_v())) + 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.error()[0], instance.error().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 (!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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.motor_state().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.motor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.press_sensor_state().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.press_sensor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.power_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.power_a())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.system_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.device_v())) + 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.error()[0], instance.error().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 (!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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.motor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.press_sensor_state()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + 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 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.power_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.power_a())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.system_v())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.device_v())) + 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.error()[0], instance.error().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 (!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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>(); + 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_HANDSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/IMUState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/IMUState_.hpp new file mode 100644 index 0000000..9448e47 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/IMUState_.hpp @@ -0,0 +1,503 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: IMUState_.idl + Source: IMUState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_IMUSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_IMUSTATE__HPP + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class IMUState_ +{ +private: + std::array quaternion_ = { }; + std::array gyroscope_ = { }; + std::array accelerometer_ = { }; + std::array rpy_ = { }; + int16_t temperature_ = 0; + +public: + IMUState_() = default; + + explicit IMUState_( + const std::array& quaternion, + const std::array& gyroscope, + const std::array& accelerometer, + const std::array& rpy, + int16_t temperature) : + quaternion_(quaternion), + gyroscope_(gyroscope), + accelerometer_(accelerometer), + rpy_(rpy), + temperature_(temperature) { } + + const std::array& quaternion() const { return this->quaternion_; } + std::array& quaternion() { return this->quaternion_; } + void quaternion(const std::array& _val_) { this->quaternion_ = _val_; } + void quaternion(std::array&& _val_) { this->quaternion_ = _val_; } + const std::array& gyroscope() const { return this->gyroscope_; } + std::array& gyroscope() { return this->gyroscope_; } + void gyroscope(const std::array& _val_) { this->gyroscope_ = _val_; } + void gyroscope(std::array&& _val_) { this->gyroscope_ = _val_; } + const std::array& accelerometer() const { return this->accelerometer_; } + std::array& accelerometer() { return this->accelerometer_; } + void accelerometer(const std::array& _val_) { this->accelerometer_ = _val_; } + void accelerometer(std::array&& _val_) { this->accelerometer_ = _val_; } + const std::array& rpy() const { return this->rpy_; } + std::array& rpy() { return this->rpy_; } + void rpy(const std::array& _val_) { this->rpy_ = _val_; } + void rpy(std::array&& _val_) { this->rpy_ = _val_; } + int16_t temperature() const { return this->temperature_; } + int16_t& temperature() { return this->temperature_; } + void temperature(int16_t _val_) { this->temperature_ = _val_; } + + bool operator==(const IMUState_& _other) const + { + (void) _other; + return quaternion_ == _other.quaternion_ && + gyroscope_ == _other.gyroscope_ && + accelerometer_ == _other.accelerometer_ && + rpy_ == _other.rpy_ && + temperature_ == _other.temperature_; + } + + bool operator!=(const IMUState_& _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_::IMUState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::IMUState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::IMUState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_map_blob() { + static const uint8_t blob[] = { + 0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06, + 0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x75, 0xb9, 0xaa, 0xa0, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x09, 0x6b, 0x3b, 0x2d, 0x85, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x0e, 0x12, + 0x75, 0x69, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0xee, 0xf4, 0x38, 0xf7, 0x00, + 0x16, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, + 0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00, 0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x49, 0x4d, 0x55, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0xc6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x71, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, + 0x67, 0x79, 0x72, 0x6f, 0x73, 0x63, 0x6f, 0x70, 0x65, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x03, 0x09, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x6f, + 0x6d, 0x65, 0x74, 0x65, 0x72, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70, + 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2, + 0x5b, 0x04, 0x03, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06, 0x55, 0x84, 0x73, 0xdf, 0x44, + 0x22, 0x80, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::IMUState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::IMUState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::IMUState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::IMUState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::IMUState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::IMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::IMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::IMUState_>(); + 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_IMUSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/LowCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/LowCmd_.hpp new file mode 100644 index 0000000..8fc355d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/LowCmd_.hpp @@ -0,0 +1,506 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: LowCmd_.idl + Source: LowCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP +#define DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP + +#include "unitree/idl/hg/MotorCmd_.hpp" + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class LowCmd_ +{ +private: + uint8_t mode_pr_ = 0; + uint8_t mode_machine_ = 0; + std::array<::unitree_hg::msg::dds_::MotorCmd_, 35> motor_cmd_ = { }; + std::array reserve_ = { }; + uint32_t crc_ = 0; + +public: + LowCmd_() = default; + + explicit LowCmd_( + uint8_t mode_pr, + uint8_t mode_machine, + const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd, + const std::array& reserve, + uint32_t crc) : + mode_pr_(mode_pr), + mode_machine_(mode_machine), + motor_cmd_(motor_cmd), + reserve_(reserve), + crc_(crc) { } + + 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_; } + const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd() const { return this->motor_cmd_; } + std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd() { return this->motor_cmd_; } + void motor_cmd(const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& _val_) { this->motor_cmd_ = _val_; } + void motor_cmd(std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>&& _val_) { this->motor_cmd_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _val_) { this->reserve_ = _val_; } + uint32_t crc() const { return this->crc_; } + uint32_t& crc() { return this->crc_; } + void crc(uint32_t _val_) { this->crc_ = _val_; } + + bool operator==(const LowCmd_& _other) const + { + (void) _other; + return mode_pr_ == _other.mode_pr_ && + mode_machine_ == _other.mode_machine_ && + motor_cmd_ == _other.motor_cmd_ && + reserve_ == _other.reserve_ && + crc_ == _other.crc_; + } + + bool operator!=(const LowCmd_& _other) const + { + return !(*this == _other); + } + +}; + +} + +} + +} + +#include "dds/topic/TopicTraits.hpp" +#include "org/eclipse/cyclonedds/topic/datatopic.hpp" + +namespace org { +namespace eclipse { +namespace cyclonedds { +namespace topic { + +template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::getTypeName() +{ + return "unitree_hg::msg::dds_::LowCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_map_blob_sz() { return 892; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x37, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a, + 0xa8, 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0x00, 0x00, 0x00, + 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, + 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0x42, 0xb0, 0x28, 0x3a, 0xa7, 0xe1, 0xbb, 0x59, 0x2e, 0xc8, 0x98, 0xa0, 0xdb, 0xed, 0xf1, + 0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a, 0xa8, 0x60, 0x0b, 0x9e, 0x91, 0xfb, 0xbc, 0xf2, 0xa2, + 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0xf1, 0x82, 0x7f, + 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a, 0xa8, 0x60, 0x0b, 0x9e, + 0x91, 0xfb, 0xbc, 0x00, 0x8b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, + 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0xb0, 0x28, + 0x3a, 0xa7, 0xe1, 0xbb, 0x59, 0x2e, 0xc8, 0x98, 0xa0, 0xdb, 0xed, 0x00, 0xea, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0x00, + 0xe6, 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_::LowCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::LowCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::LowCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.mode_pr())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.mode_machine())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!write(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + 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 4: + 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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.mode_pr())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.mode_machine())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!read(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + 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 4: + 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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.mode_pr())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.mode_machine())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!move(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + 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 4: + 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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) { + (void)instance; + if (!streamer.start_struct(*props)) + return false; + auto prop = streamer.first_entity(props); + while (prop) { + switch (prop->m_id) { + case 0: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.mode_pr())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.mode_machine())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, false)) + return false; + for (const auto & a_1:instance.motor_cmd()) { //array depth 1 + if (!max(streamer, a_1, prop)) + return false; + } //array depth 1 + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + 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 4: + 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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::LowCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>(); + str.set_mode(cdr_stream::stream_mode::max, as_key); + return max(str, instance, props.data()); +} + +} //namespace cdr +} //namespace core +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +#endif // DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/LowState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/LowState_.hpp new file mode 100644 index 0000000..685c610 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/LowState_.hpp @@ -0,0 +1,762 @@ +/**************************************************************** + + 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 +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class LowState_ +{ +private: + std::array 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 wireless_remote_ = { }; + std::array reserve_ = { }; + uint32_t crc_ = 0; + +public: + LowState_() = default; + + explicit LowState_( + const std::array& 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& wireless_remote, + const std::array& 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& version() const { return this->version_; } + std::array& version() { return this->version_; } + void version(const std::array& _val_) { this->version_ = _val_; } + void version(std::array&& _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& wireless_remote() const { return this->wireless_remote_; } + std::array& wireless_remote() { return this->wireless_remote_; } + void wireless_remote(const std::array& _val_) { this->wireless_remote_ = _val_; } + void wireless_remote(std::array&& _val_) { this->wireless_remote_ = _val_; } + const std::array& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _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[] = { + 0x9a, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02, + 0x30, 0xb9, 0x2d, 0x37, 0x8b, 0x1e, 0x39, 0x00, 0xef, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xdf, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x2a, 0xf7, 0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xb6, 0x9f, 0x36, 0x51, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 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0x00, + 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, + 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0xf2, 0x2b, 0xe9, 0x70, 0x6c, 0x95, 0x87, 0xe8, 0xd8, 0xaf, 0xd8, 0xbf, 0xc6, 0xde, 0x7b, 0xf1, + 0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02, 0x30, 0xb9, 0x2d, 0x37, 0x8b, 0x1e, 0x39, 0xf2, 0x7d, + 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0xf1, 0xfc, 0x68, + 0x71, 0x76, 0x65, 0x12, 0x06, 0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0xf2, 0xa8, 0x6c, 0xba, + 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0xf1, 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_::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, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02, 0x30, 0xb9, 0x2d, 0x37, + 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::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::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::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::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::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::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::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::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 diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/MainBoardState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/MainBoardState_.hpp new file mode 100644 index 0000000..d203586 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/MainBoardState_.hpp @@ -0,0 +1,460 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MainBoardState_.idl + Source: MainBoardState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_MAINBOARDSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_MAINBOARDSTATE__HPP + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class MainBoardState_ +{ +private: + std::array fan_state_ = { }; + std::array temperature_ = { }; + std::array value_ = { }; + std::array state_ = { }; + +public: + MainBoardState_() = default; + + explicit MainBoardState_( + const std::array& fan_state, + const std::array& temperature, + const std::array& value, + const std::array& state) : + fan_state_(fan_state), + temperature_(temperature), + value_(value), + state_(state) { } + + const std::array& fan_state() const { return this->fan_state_; } + std::array& fan_state() { return this->fan_state_; } + void fan_state(const std::array& _val_) { this->fan_state_ = _val_; } + void fan_state(std::array&& _val_) { this->fan_state_ = _val_; } + const std::array& temperature() const { return this->temperature_; } + std::array& temperature() { return this->temperature_; } + void temperature(const std::array& _val_) { this->temperature_ = _val_; } + void temperature(std::array&& _val_) { this->temperature_ = _val_; } + const std::array& value() const { return this->value_; } + std::array& value() { return this->value_; } + void value(const std::array& _val_) { this->value_ = _val_; } + void value(std::array&& _val_) { this->value_ = _val_; } + const std::array& state() const { return this->state_; } + std::array& state() { return this->state_; } + void state(const std::array& _val_) { this->state_ = _val_; } + void state(std::array&& _val_) { this->state_ = _val_; } + + bool operator==(const MainBoardState_& _other) const + { + (void) _other; + return fan_state_ == _other.fan_state_ && + temperature_ == _other.temperature_ && + value_ == _other.value_ && + state_ == _other.state_; + } + + bool operator!=(const MainBoardState_& _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_::MainBoardState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::MainBoardState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::type_map_blob_sz() { return 446; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x9a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xde, 0xab, 0xb8, 0xf4, 0x95, 0x16, 0x55, + 0x33, 0xd2, 0x9d, 0x46, 0x46, 0x5f, 0x6a, 0x00, 0x82, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x72, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x06, 0x06, 0x6f, 0x80, 0x17, 0x1f, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x06, 0x03, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x06, 0x09, 0x20, 0x63, + 0xc1, 0x60, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x06, 0x07, 0x9e, 0xd3, 0x9e, 0x2e, 0x00, 0x00, + 0xf4, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x56, 0xc3, 0x59, 0xc8, 0xbe, 0x34, 0xec, + 0xd0, 0x38, 0xbc, 0x21, 0x76, 0x76, 0x4d, 0x00, 0xdc, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x27, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x4d, 0x61, 0x69, 0x6e, 0x42, 0x6f, 0x61, 0x72, 0x64, 0x53, 0x74, 0x61, 0x74, + 0x65, 0x5f, 0x00, 0x00, 0xa0, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x06, 0x06, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x66, 0x61, 0x6e, 0x5f, 0x73, 0x74, 0x61, 0x74, + 0x65, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x06, 0x03, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, + 0x74, 0x65, 0x6d, 0x70, 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x06, 0x09, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x76, 0x61, 0x6c, 0x75, + 0x65, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x06, 0x07, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0x56, 0xc3, 0x59, 0xc8, 0xbe, 0x34, 0xec, 0xd0, 0x38, 0xbc, 0x21, 0x76, 0x76, 0x4d, 0xf1, + 0xde, 0xab, 0xb8, 0xf4, 0x95, 0x16, 0x55, 0x33, 0xd2, 0x9d, 0x46, 0x46, 0x5f, 0x6a, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xde, 0xab, 0xb8, 0xf4, 0x95, 0x16, 0x55, 0x33, 0xd2, 0x9d, 0x46, + 0x46, 0x5f, 0x6a, 0x00, 0x86, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x56, 0xc3, 0x59, 0xc8, 0xbe, 0x34, 0xec, 0xd0, 0x38, 0xbc, 0x21, + 0x76, 0x76, 0x4d, 0x00, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::MainBoardState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::MainBoardState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::MainBoardState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::MainBoardState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::MainBoardState_& 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.fan_state()[0], instance.fan_state().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.value()[0], instance.value().size())) + return false; + if (!streamer.finish_consecutive()) + 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.state()[0], instance.state().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::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::MainBoardState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MainBoardState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::MainBoardState_& 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.fan_state()[0], instance.fan_state().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.value()[0], instance.value().size())) + return false; + if (!streamer.finish_consecutive()) + 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.state()[0], instance.state().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::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::MainBoardState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MainBoardState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::MainBoardState_& 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.fan_state()[0], instance.fan_state().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.value()[0], instance.value().size())) + return false; + if (!streamer.finish_consecutive()) + 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.state()[0], instance.state().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::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::MainBoardState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MainBoardState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::MainBoardState_& 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.fan_state()[0], instance.fan_state().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.value()[0], instance.value().size())) + return false; + if (!streamer.finish_consecutive()) + 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.state()[0], instance.state().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::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::MainBoardState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MainBoardState_>(); + 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_MAINBOARDSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/MotorCmd_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/MotorCmd_.hpp new file mode 100644 index 0000000..f7233c7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/MotorCmd_.hpp @@ -0,0 +1,509 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MotorCmd_.idl + Source: MotorCmd_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_MOTORCMD__HPP +#define DDSCXX_UNITREE_IDL_HG_MOTORCMD__HPP + +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class MotorCmd_ +{ +private: + uint8_t mode_ = 0; + float q_ = 0.0f; + float dq_ = 0.0f; + float tau_ = 0.0f; + float kp_ = 0.0f; + float kd_ = 0.0f; + uint32_t reserve_ = 0; + +public: + MotorCmd_() = default; + + explicit MotorCmd_( + uint8_t mode, + float q, + float dq, + float tau, + float kp, + float kd, + uint32_t reserve) : + mode_(mode), + q_(q), + dq_(dq), + tau_(tau), + kp_(kp), + kd_(kd), + 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 tau() const { return this->tau_; } + float& tau() { return this->tau_; } + void tau(float _val_) { this->tau_ = _val_; } + float kp() const { return this->kp_; } + float& kp() { return this->kp_; } + void kp(float _val_) { this->kp_ = _val_; } + float kd() const { return this->kd_; } + float& kd() { return this->kd_; } + void kd(float _val_) { this->kd_ = _val_; } + uint32_t reserve() const { return this->reserve_; } + uint32_t& reserve() { return this->reserve_; } + void reserve(uint32_t _val_) { this->reserve_ = _val_; } + + bool operator==(const MotorCmd_& _other) const + { + (void) _other; + return mode_ == _other.mode_ && + q_ == _other.q_ && + dq_ == _other.dq_ && + tau_ == _other.tau_ && + kp_ == _other.kp_ && + kd_ == _other.kd_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const MotorCmd_& _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_::MotorCmd_>::getTypeName() +{ + return "unitree_hg::msg::dds_::MotorCmd_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 454; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_map_blob() { + static const uint8_t blob[] = { + 0x9b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, + 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, + 0xfa, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, + 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0x00, 0xe2, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0xaa, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, + 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, + 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, + 0x1e, 0x56, 0xc9, 0x00, 0x87, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, + 0x3a, 0x13, 0xf1, 0x00, 0xe6, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::MotorCmd_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::MotorCmd_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::MotorCmd_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.kd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.kd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.kd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MotorCmd_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::MotorCmd_& 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.tau())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.kp())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.kd())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::MotorCmd_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::MotorCmd_>(); + 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_MOTORCMD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/MotorState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/MotorState_.hpp new file mode 100644 index 0000000..3bddcad --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/MotorState_.hpp @@ -0,0 +1,691 @@ +/**************************************************************** + + 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 +#include + +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 temperature_ = { }; + float vol_ = 0.0f; + std::array sensor_ = { }; + uint32_t motorstate_ = 0; + std::array reserve_ = { }; + +public: + MotorState_() = default; + + explicit MotorState_( + uint8_t mode, + float q, + float dq, + float ddq, + float tau_est, + const std::array& temperature, + float vol, + const std::array& sensor, + uint32_t motorstate, + const std::array& 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& temperature() const { return this->temperature_; } + std::array& temperature() { return this->temperature_; } + void temperature(const std::array& _val_) { this->temperature_ = _val_; } + void temperature(std::array&& _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& sensor() const { return this->sensor_; } + std::array& sensor() { return this->sensor_; } + void sensor(const std::array& _val_) { this->sensor_ = _val_; } + void sensor(std::array&& _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& reserve() const { return this->reserve_; } + std::array& reserve() { return this->reserve_; } + void reserve(const std::array& _val_) { this->reserve_ = _val_; } + void reserve(std::array&& _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[] = { + 0xee, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, + 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0x00, 0xd6, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc6, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x16, 0x89, 0x09, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x02, 0x03, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x0a, 0xcf, 0x8b, 0xe1, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x02, 0x07, 0xa5, 0xfe, 0x26, 0xd5, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0xd1, 0x41, 0x1a, 0xed, 0x00, 0x16, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x9c, 0x3b, + 0x62, 0x94, 0x00, 0x00, 0x7e, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa8, 0x6c, 0xba, + 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0x00, 0x66, 0x01, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, + 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, 0x53, 0x74, 0x61, 0x74, + 0x65, 0x5f, 0x00, 0x00, 0x2e, 0x01, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, + 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x64, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x5f, 0x65, 0x73, 0x74, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x03, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, + 0x74, 0x65, 0x6d, 0x70, 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x12, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x76, 0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, + 0x07, 0x00, 0x00, 0x00, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, + 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0xf1, + 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, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, + 0xe0, 0xed, 0x24, 0x00, 0xda, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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::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::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::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::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::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::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::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::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 diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/PressSensorState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/PressSensorState_.hpp new file mode 100644 index 0000000..786fe71 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/PressSensorState_.hpp @@ -0,0 +1,424 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PressSensorState_.idl + Source: PressSensorState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_PRESSSENSORSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_PRESSSENSORSTATE__HPP + +#include +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class PressSensorState_ +{ +private: + std::array pressure_ = { }; + std::array temperature_ = { }; + uint32_t lost_ = 0; + uint32_t reserve_ = 0; + +public: + PressSensorState_() = default; + + explicit PressSensorState_( + const std::array& pressure, + const std::array& temperature, + uint32_t lost, + uint32_t reserve) : + pressure_(pressure), + temperature_(temperature), + lost_(lost), + reserve_(reserve) { } + + const std::array& pressure() const { return this->pressure_; } + std::array& pressure() { return this->pressure_; } + void pressure(const std::array& _val_) { this->pressure_ = _val_; } + void pressure(std::array&& _val_) { this->pressure_ = _val_; } + const std::array& temperature() const { return this->temperature_; } + std::array& temperature() { return this->temperature_; } + void temperature(const std::array& _val_) { this->temperature_ = _val_; } + void temperature(std::array&& _val_) { this->temperature_ = _val_; } + uint32_t lost() const { return this->lost_; } + uint32_t& lost() { return this->lost_; } + void lost(uint32_t _val_) { this->lost_ = _val_; } + uint32_t reserve() const { return this->reserve_; } + uint32_t& reserve() { return this->reserve_; } + void reserve(uint32_t _val_) { this->reserve_ = _val_; } + + bool operator==(const PressSensorState_& _other) const + { + (void) _other; + return pressure_ == _other.pressure_ && + temperature_ == _other.temperature_ && + lost_ == _other.lost_ && + reserve_ == _other.reserve_; + } + + bool operator!=(const PressSensorState_& _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_::PressSensorState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::PressSensorState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::type_map_blob_sz() { return 406; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x83, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, + 0x26, 0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, 0x00, 0x6b, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0xd9, 0x9f, 0xad, 0x96, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x0c, 0x09, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x1c, 0x9a, 0x44, 0xeb, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0xe2, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0xcd, 0x53, 0x1f, 0x52, 0x24, 0x7f, 0x1d, 0x07, 0xb3, 0x82, 0x0f, 0xf4, 0x2b, 0x21, 0x00, + 0xca, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x72, 0x65, 0x73, 0x73, + 0x53, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0x8a, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x70, 0x72, 0x65, 0x73, 0x73, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x26, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70, + 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6c, 0x6f, 0x73, 0x74, + 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xcd, 0x53, 0x1f, 0x52, 0x24, 0x7f, 0x1d, + 0x07, 0xb3, 0x82, 0x0f, 0xf4, 0x2b, 0x21, 0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, 0x26, + 0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, 0x26, 0x6e, 0x46, 0x6a, + 0x66, 0xb2, 0x55, 0x00, 0x6f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xcd, 0x53, 0x1f, 0x52, 0x24, 0x7f, 0x1d, 0x07, 0xb3, 0x82, 0x0f, + 0xf4, 0x2b, 0x21, 0x00, 0xce, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::PressSensorState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::PressSensorState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::PressSensorState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::PressSensorState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::PressSensorState_& 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.pressure()[0], instance.pressure().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.lost())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::PressSensorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::PressSensorState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::PressSensorState_& 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.pressure()[0], instance.pressure().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.lost())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::PressSensorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::PressSensorState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::PressSensorState_& 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.pressure()[0], instance.pressure().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.lost())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::PressSensorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::PressSensorState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::PressSensorState_& 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.pressure()[0], instance.pressure().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 (!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 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.lost())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.reserve())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::PressSensorState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::PressSensorState_>(); + 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_PRESSSENSORSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg/SportModeState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg/SportModeState_.hpp new file mode 100644 index 0000000..a974a97 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg/SportModeState_.hpp @@ -0,0 +1,386 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: SportModeState_.idl + Source: SportModeState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_SPORTMODESTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_SPORTMODESTATE__HPP + +#include + +namespace unitree_hg +{ +namespace msg +{ +namespace dds_ +{ +class SportModeState_ +{ +private: + uint32_t fsm_id_ = 0; + uint32_t fsm_mode_ = 0; + uint32_t task_id_ = 0; + float task_time_ = 0.0f; + +public: + SportModeState_() = default; + + explicit SportModeState_( + uint32_t fsm_id, + uint32_t fsm_mode, + uint32_t task_id, + float task_time) : + fsm_id_(fsm_id), + fsm_mode_(fsm_mode), + task_id_(task_id), + task_time_(task_time) { } + + uint32_t fsm_id() const { return this->fsm_id_; } + uint32_t& fsm_id() { return this->fsm_id_; } + void fsm_id(uint32_t _val_) { this->fsm_id_ = _val_; } + uint32_t fsm_mode() const { return this->fsm_mode_; } + uint32_t& fsm_mode() { return this->fsm_mode_; } + void fsm_mode(uint32_t _val_) { this->fsm_mode_ = _val_; } + uint32_t task_id() const { return this->task_id_; } + uint32_t& task_id() { return this->task_id_; } + void task_id(uint32_t _val_) { this->task_id_ = _val_; } + float task_time() const { return this->task_time_; } + float& task_time() { return this->task_time_; } + void task_time(float _val_) { this->task_time_ = _val_; } + + bool operator==(const SportModeState_& _other) const + { + (void) _other; + return fsm_id_ == _other.fsm_id_ && + fsm_mode_ == _other.fsm_mode_ && + task_id_ == _other.task_id_ && + task_time_ == _other.task_time_; + } + + bool operator!=(const SportModeState_& _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_::SportModeState_>::getTypeName() +{ + return "unitree_hg::msg::dds_::SportModeState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::type_map_blob_sz() { return 354; } +template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::type_map_blob() { + static const uint8_t blob[] = { + 0x6b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0xd7, 0xf0, 0x1c, 0x80, 0xe8, + 0x28, 0xb3, 0x93, 0x6e, 0xf9, 0xad, 0xcd, 0x00, 0x53, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x2d, 0xd6, 0x36, 0xc3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x8d, 0x48, 0xe5, 0x3f, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x57, 0x74, 0x6c, 0xc8, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x80, 0xea, 0xf8, 0x4c, 0x00, + 0xc8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x8c, 0x32, 0xbb, 0x55, 0x6f, 0x4d, 0x30, + 0xa5, 0xcc, 0x29, 0x21, 0x14, 0x99, 0xd6, 0x00, 0xb0, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x27, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x53, 0x70, 0x6f, 0x72, 0x74, 0x4d, 0x6f, 0x64, 0x65, 0x53, 0x74, 0x61, 0x74, + 0x65, 0x5f, 0x00, 0x00, 0x74, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x07, 0x00, 0x00, 0x00, 0x66, 0x73, 0x6d, 0x5f, + 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x00, 0x09, 0x00, 0x00, 0x00, 0x66, 0x73, 0x6d, 0x5f, 0x6d, 0x6f, 0x64, 0x65, + 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x74, 0x61, 0x73, 0x6b, 0x5f, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x18, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x0a, 0x00, 0x00, 0x00, + 0x74, 0x61, 0x73, 0x6b, 0x5f, 0x74, 0x69, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x8c, 0x32, 0xbb, 0x55, 0x6f, 0x4d, 0x30, 0xa5, 0xcc, 0x29, 0x21, + 0x14, 0x99, 0xd6, 0xf1, 0x28, 0xcf, 0xd7, 0xf0, 0x1c, 0x80, 0xe8, 0x28, 0xb3, 0x93, 0x6e, 0xf9, + 0xad, 0xcd, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0xd7, 0xf0, 0x1c, 0x80, 0xe8, 0x28, 0xb3, 0x93, 0x6e, + 0xf9, 0xad, 0xcd, 0x00, 0x57, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x8c, 0x32, 0xbb, 0x55, 0x6f, 0x4d, 0x30, 0xa5, 0xcc, 0x29, 0x21, + 0x14, 0x99, 0xd6, 0x00, 0xb4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_::SportModeState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::SportModeState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::SportModeState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg::msg::dds_::SportModeState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg::msg::dds_::SportModeState_& 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.fsm_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.fsm_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.task_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.task_time())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_hg::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg::msg::dds_::SportModeState_& 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.fsm_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.fsm_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.task_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.task_time())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_hg::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg::msg::dds_::SportModeState_& 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.fsm_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.fsm_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.task_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.task_time())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_hg::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::SportModeState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg::msg::dds_::SportModeState_& 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.fsm_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.fsm_mode())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.task_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.task_time())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_hg::msg::dds_::SportModeState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg::msg::dds_::SportModeState_>(); + 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_SPORTMODESTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp b/deps/unitree_sdk2/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp new file mode 100644 index 0000000..db08842 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp @@ -0,0 +1,545 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: doubleIMUState_.idl + Source: doubleIMUState_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_HG_DOUBLEIMU_DOUBLEIMUSTATE__HPP +#define DDSCXX_UNITREE_IDL_HG_DOUBLEIMU_DOUBLEIMUSTATE__HPP + +#include +#include + +namespace unitree_hg_doubleimu +{ +namespace msg +{ +namespace dds_ +{ +class doubleIMUState_ +{ +private: + std::array quaternion_ = { }; + std::array gyroscope_ = { }; + std::array accelerometer_ = { }; + std::array rpy_ = { }; + int16_t temperature_ = 0; + uint32_t tick_ = 0; + +public: + doubleIMUState_() = default; + + explicit doubleIMUState_( + const std::array& quaternion, + const std::array& gyroscope, + const std::array& accelerometer, + const std::array& rpy, + int16_t temperature, + uint32_t tick) : + quaternion_(quaternion), + gyroscope_(gyroscope), + accelerometer_(accelerometer), + rpy_(rpy), + temperature_(temperature), + tick_(tick) { } + + const std::array& quaternion() const { return this->quaternion_; } + std::array& quaternion() { return this->quaternion_; } + void quaternion(const std::array& _val_) { this->quaternion_ = _val_; } + void quaternion(std::array&& _val_) { this->quaternion_ = _val_; } + const std::array& gyroscope() const { return this->gyroscope_; } + std::array& gyroscope() { return this->gyroscope_; } + void gyroscope(const std::array& _val_) { this->gyroscope_ = _val_; } + void gyroscope(std::array&& _val_) { this->gyroscope_ = _val_; } + const std::array& accelerometer() const { return this->accelerometer_; } + std::array& accelerometer() { return this->accelerometer_; } + void accelerometer(const std::array& _val_) { this->accelerometer_ = _val_; } + void accelerometer(std::array&& _val_) { this->accelerometer_ = _val_; } + const std::array& rpy() const { return this->rpy_; } + std::array& rpy() { return this->rpy_; } + void rpy(const std::array& _val_) { this->rpy_ = _val_; } + void rpy(std::array&& _val_) { this->rpy_ = _val_; } + int16_t temperature() const { return this->temperature_; } + int16_t& temperature() { return this->temperature_; } + void temperature(int16_t _val_) { this->temperature_ = _val_; } + uint32_t tick() const { return this->tick_; } + uint32_t& tick() { return this->tick_; } + void tick(uint32_t _val_) { this->tick_ = _val_; } + + bool operator==(const doubleIMUState_& _other) const + { + (void) _other; + return quaternion_ == _other.quaternion_ && + gyroscope_ == _other.gyroscope_ && + accelerometer_ == _other.accelerometer_ && + rpy_ == _other.rpy_ && + temperature_ == _other.temperature_ && + tick_ == _other.tick_; + } + + bool operator!=(const doubleIMUState_& _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_doubleimu::msg::dds_::doubleIMUState_>::getTypeName() +{ + return "unitree_hg_doubleimu::msg::dds_::doubleIMUState_"; +} + +template <> constexpr bool TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_map_blob_sz() { return 554; } +template<> constexpr unsigned int TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_map_blob() { + static const uint8_t blob[] = { + 0xbb, 0x00, 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0x00, 0x13, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x74, 0x69, 0x63, 0x6b, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd0, 0x8d, 0x00, + 0x25, 0xc9, 0x25, 0x90, 0xdf, 0xc3, 0x06, 0x18, 0x52, 0xa9, 0xf7, 0xf1, 0x8b, 0xcc, 0xc5, 0x2b, + 0x0f, 0x1a, 0xc2, 0x5a, 0xa6, 0x45, 0x4a, 0x3f, 0x62, 0x20, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xcc, 0xc5, 0x2b, 0x0f, 0x1a, 0xc2, 0x5a, 0xa6, 0x45, 0x4a, + 0x3f, 0x62, 0x20, 0x00, 0xa7, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd0, 0x8d, 0x00, 0x25, 0xc9, 0x25, 0x90, 0xdf, 0xc3, 0x06, 0x18, + 0x52, 0xa9, 0xf7, 0x00, 0x2b, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_doubleimu::msg::dds_::doubleIMUState_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_hg_doubleimu::msg::dds_::doubleIMUState_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.tick())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.tick())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.tick())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& 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.quaternion()[0], instance.quaternion().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 (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.gyroscope()[0], instance.gyroscope().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.accelerometer()[0], instance.accelerometer().size())) + return false; + if (!streamer.finish_consecutive()) + 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.rpy()[0], instance.rpy().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(streamer, instance.temperature())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.tick())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) { + auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>(); + 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_DOUBLEIMU_DOUBLEIMUSTATE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Header_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Header_.hpp new file mode 100644 index 0000000..b09cb48 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Header_.hpp @@ -0,0 +1,330 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Header_.idl + Source: Header_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_HEADER__HPP +#define DDSCXX_UNITREE_IDL_ROS2_HEADER__HPP + +#include "unitree/idl/ros2/Time_.hpp" + +#include + +namespace std_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Header_ +{ +private: + ::builtin_interfaces::msg::dds_::Time_ stamp_; + std::string frame_id_; + +public: + Header_() = default; + + explicit Header_( + const ::builtin_interfaces::msg::dds_::Time_& stamp, + const std::string& frame_id) : + stamp_(stamp), + frame_id_(frame_id) { } + + const ::builtin_interfaces::msg::dds_::Time_& stamp() const { return this->stamp_; } + ::builtin_interfaces::msg::dds_::Time_& stamp() { return this->stamp_; } + void stamp(const ::builtin_interfaces::msg::dds_::Time_& _val_) { this->stamp_ = _val_; } + void stamp(::builtin_interfaces::msg::dds_::Time_&& _val_) { this->stamp_ = _val_; } + const std::string& frame_id() const { return this->frame_id_; } + std::string& frame_id() { return this->frame_id_; } + void frame_id(const std::string& _val_) { this->frame_id_ = _val_; } + void frame_id(std::string&& _val_) { this->frame_id_ = _val_; } + + bool operator==(const Header_& _other) const + { + (void) _other; + return stamp_ == _other.stamp_ && + frame_id_ == _other.frame_id_; + } + + bool operator!=(const Header_& _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<::std_msgs::msg::dds_::Header_>::getTypeName() +{ + return "std_msgs::msg::dds_::Header_"; +} + +template <> constexpr bool TopicTraits<::std_msgs::msg::dds_::Header_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::std_msgs::msg::dds_::Header_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::std_msgs::msg::dds_::Header_>::type_map_blob_sz() { return 524; } +template<> constexpr unsigned int TopicTraits<::std_msgs::msg::dds_::Header_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::std_msgs::msg::dds_::Header_>::type_map_blob() { + static const uint8_t blob[] = { + 0xa3, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x44, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, + 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, 0x8d, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00, 0x1a, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 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0x00, 0x62, 0x75, 0x69, 0x6c, 0x74, 0x69, 0x6e, 0x5f, 0x69, 0x6e, 0x74, 0x65, + 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, + 0x5f, 0x3a, 0x3a, 0x54, 0x69, 0x6d, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6e, 0x6f, + 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, + 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, + 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, + 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::std_msgs::msg::dds_::Header_>::type_info_blob() { + static const uint8_t blob[] = { + 0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, + 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, + 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, + 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 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<::std_msgs::msg::dds_::Header_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::std_msgs::msg::dds_::Header_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::std_msgs::msg::dds_::Header_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::std_msgs::msg::dds_::Header_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::std_msgs::msg::dds_::Header_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::std_msgs::msg::dds_::Header_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::Header_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::std_msgs::msg::dds_::Header_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::std_msgs::msg::dds_::Header_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::Header_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::std_msgs::msg::dds_::Header_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::std_msgs::msg::dds_::Header_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::Header_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::std_msgs::msg::dds_::Header_& 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.stamp(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::std_msgs::msg::dds_::Header_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::Header_>(); + 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_ROS2_HEADER__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Imu_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Imu_.hpp new file mode 100644 index 0000000..e26fbda --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Imu_.hpp @@ -0,0 +1,672 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Imu_.idl + Source: Imu_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_IMU__HPP +#define DDSCXX_UNITREE_IDL_ROS2_IMU__HPP + +#include "unitree/idl/ros2/Quaternion_.hpp" + +#include "unitree/idl/ros2/Vector3_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + +#include + +namespace sensor_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Imu_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::Quaternion_ orientation_; + std::array orientation_covariance_ = { }; + ::geometry_msgs::msg::dds_::Vector3_ angular_velocity_; + std::array angular_velocity_covariance_ = { }; + ::geometry_msgs::msg::dds_::Vector3_ linear_acceleration_; + std::array linear_acceleration_covariance_ = { }; + +public: + Imu_() = default; + + explicit Imu_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::Quaternion_& orientation, + const std::array& orientation_covariance, + const ::geometry_msgs::msg::dds_::Vector3_& angular_velocity, + const std::array& angular_velocity_covariance, + const ::geometry_msgs::msg::dds_::Vector3_& linear_acceleration, + const std::array& linear_acceleration_covariance) : + header_(header), + orientation_(orientation), + orientation_covariance_(orientation_covariance), + angular_velocity_(angular_velocity), + angular_velocity_covariance_(angular_velocity_covariance), + linear_acceleration_(linear_acceleration), + linear_acceleration_covariance_(linear_acceleration_covariance) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::Quaternion_& orientation() const { return this->orientation_; } + ::geometry_msgs::msg::dds_::Quaternion_& orientation() { return this->orientation_; } + void orientation(const ::geometry_msgs::msg::dds_::Quaternion_& _val_) { this->orientation_ = _val_; } + void orientation(::geometry_msgs::msg::dds_::Quaternion_&& _val_) { this->orientation_ = _val_; } + const std::array& orientation_covariance() const { return this->orientation_covariance_; } + std::array& orientation_covariance() { return this->orientation_covariance_; } + void orientation_covariance(const std::array& _val_) { this->orientation_covariance_ = _val_; } + void orientation_covariance(std::array&& _val_) { this->orientation_covariance_ = _val_; } + const ::geometry_msgs::msg::dds_::Vector3_& angular_velocity() const { return this->angular_velocity_; } + ::geometry_msgs::msg::dds_::Vector3_& angular_velocity() { return this->angular_velocity_; } + void angular_velocity(const ::geometry_msgs::msg::dds_::Vector3_& _val_) { this->angular_velocity_ = _val_; } + void angular_velocity(::geometry_msgs::msg::dds_::Vector3_&& _val_) { this->angular_velocity_ = _val_; } + const std::array& angular_velocity_covariance() const { return this->angular_velocity_covariance_; } + std::array& angular_velocity_covariance() { return this->angular_velocity_covariance_; } + void angular_velocity_covariance(const std::array& _val_) { this->angular_velocity_covariance_ = _val_; } + void angular_velocity_covariance(std::array&& _val_) { this->angular_velocity_covariance_ = _val_; } + const ::geometry_msgs::msg::dds_::Vector3_& linear_acceleration() const { return this->linear_acceleration_; } + ::geometry_msgs::msg::dds_::Vector3_& linear_acceleration() { return this->linear_acceleration_; } + void linear_acceleration(const ::geometry_msgs::msg::dds_::Vector3_& _val_) { this->linear_acceleration_ = _val_; } + void linear_acceleration(::geometry_msgs::msg::dds_::Vector3_&& _val_) { this->linear_acceleration_ = _val_; } + const std::array& linear_acceleration_covariance() const { return this->linear_acceleration_covariance_; } + std::array& linear_acceleration_covariance() { return this->linear_acceleration_covariance_; } + void linear_acceleration_covariance(const std::array& _val_) { this->linear_acceleration_covariance_ = _val_; } + void linear_acceleration_covariance(std::array&& _val_) { this->linear_acceleration_covariance_ = _val_; } + + bool operator==(const Imu_& _other) const + { + (void) _other; + return header_ == _other.header_ && + orientation_ == _other.orientation_ && + orientation_covariance_ == _other.orientation_covariance_ && + angular_velocity_ == _other.angular_velocity_ && + angular_velocity_covariance_ == _other.angular_velocity_covariance_ && + linear_acceleration_ == _other.linear_acceleration_ && + linear_acceleration_covariance_ == _other.linear_acceleration_covariance_; + } + + bool operator!=(const Imu_& _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<::sensor_msgs::msg::dds_::Imu_>::getTypeName() +{ + return "sensor_msgs::msg::dds_::Imu_"; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::Imu_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::Imu_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::Imu_>::type_map_blob_sz() { return 1814; } +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::Imu_>::type_info_blob_sz() { return 292; } +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::Imu_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5f, 0x02, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0xf1, 0xd4, 0xf9, 0x81, 0x03, 0x5a, 0x0e, 0xd7, + 0x22, 0x6a, 0xd9, 0xb4, 0x81, 0xee, 0xcf, 0x00, 0xe6, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd6, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, + 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0xda, 0x16, 0x39, 0x42, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x09, 0x0a, 0x77, 0xf3, 0x0b, 0x71, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, + 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x58, 0x1e, 0xf3, 0x6e, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x09, 0x0a, 0xe6, 0x5c, 0x0b, 0xa5, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, + 0xbc, 0x1c, 0x0c, 0x95, 0xca, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x09, 0x0a, 0xcb, 0x0e, + 0x14, 0xbf, 0xf1, 0xdc, 0xf1, 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0x3a, 0x3a, 0x6d, + 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x56, 0x65, 0x63, 0x74, 0x6f, 0x72, + 0x33, 0x5f, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x9a, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0xf2, 0x29, 0xbf, 0xf9, 0x05, 0xfe, 0xca, 0x04, 0x21, 0xfc, 0x4f, 0x4e, 0x24, 0x64, 0xd8, 0xf1, + 0xd4, 0xf9, 0x81, 0x03, 0x5a, 0x0e, 0xd7, 0x22, 0x6a, 0xd9, 0xb4, 0x81, 0xee, 0xcf, 0xf2, 0xe5, + 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, + 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, + 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, + 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, + 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, + 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, + 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::Imu_>::type_info_blob() { + static const uint8_t blob[] = { + 0x20, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xd4, 0xf9, 0x81, 0x03, 0x5a, 0x0e, 0xd7, 0x22, 0x6a, 0xd9, 0xb4, + 0x81, 0xee, 0xcf, 0x00, 0xea, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, + 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, 0x57, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, + 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x29, 0xbf, 0xf9, 0x05, 0xfe, 0xca, 0x04, 0x21, 0xfc, 0x4f, 0x4e, + 0x24, 0x64, 0xd8, 0x00, 0xb5, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, + 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, + 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, 0x94, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, + 0x7c, 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<::sensor_msgs::msg::dds_::Imu_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::sensor_msgs::msg::dds_::Imu_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::sensor_msgs::msg::dds_::Imu_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::sensor_msgs::msg::dds_::Imu_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::sensor_msgs::msg::dds_::Imu_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.orientation_covariance()[0], instance.orientation_covariance().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.angular_velocity(), prop)) + 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.angular_velocity_covariance()[0], instance.angular_velocity_covariance().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.linear_acceleration(), prop)) + 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.linear_acceleration_covariance()[0], instance.linear_acceleration_covariance().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::value, bool> = true > +bool write(S& str, const ::sensor_msgs::msg::dds_::Imu_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::Imu_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::sensor_msgs::msg::dds_::Imu_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.orientation_covariance()[0], instance.orientation_covariance().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.angular_velocity(), prop)) + 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.angular_velocity_covariance()[0], instance.angular_velocity_covariance().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.linear_acceleration(), prop)) + 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.linear_acceleration_covariance()[0], instance.linear_acceleration_covariance().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::value, bool> = true > +bool read(S& str, ::sensor_msgs::msg::dds_::Imu_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::Imu_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::sensor_msgs::msg::dds_::Imu_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.orientation_covariance()[0], instance.orientation_covariance().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.angular_velocity(), prop)) + 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.angular_velocity_covariance()[0], instance.angular_velocity_covariance().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.linear_acceleration(), prop)) + 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.linear_acceleration_covariance()[0], instance.linear_acceleration_covariance().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::value, bool> = true > +bool move(S& str, const ::sensor_msgs::msg::dds_::Imu_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::Imu_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::sensor_msgs::msg::dds_::Imu_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.orientation_covariance()[0], instance.orientation_covariance().size())) + return false; + if (!streamer.finish_consecutive()) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.angular_velocity(), prop)) + 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.angular_velocity_covariance()[0], instance.angular_velocity_covariance().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.linear_acceleration(), prop)) + 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.linear_acceleration_covariance()[0], instance.linear_acceleration_covariance().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::value, bool> = true > +bool max(S& str, const ::sensor_msgs::msg::dds_::Imu_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::Imu_>(); + 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_ROS2_IMU__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/MapMetaData_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/MapMetaData_.hpp new file mode 100644 index 0000000..45b908b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/MapMetaData_.hpp @@ -0,0 +1,517 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: MapMetaData_.idl + Source: MapMetaData_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_MAPMETADATA__HPP +#define DDSCXX_UNITREE_IDL_ROS2_MAPMETADATA__HPP + +#include "unitree/idl/ros2/Time_.hpp" + +#include "unitree/idl/ros2/Pose_.hpp" + +#include + +namespace nav_msgs +{ +namespace msg +{ +namespace dds_ +{ +class MapMetaData_ +{ +private: + ::builtin_interfaces::msg::dds_::Time_ map_load_time_; + float resolution_ = 0.0f; + uint32_t width_ = 0; + uint32_t height_ = 0; + ::geometry_msgs::msg::dds_::Pose_ origin_; + +public: + MapMetaData_() = default; + + explicit MapMetaData_( + const ::builtin_interfaces::msg::dds_::Time_& map_load_time, + float resolution, + uint32_t width, + uint32_t height, + const ::geometry_msgs::msg::dds_::Pose_& origin) : + map_load_time_(map_load_time), + resolution_(resolution), + width_(width), + height_(height), + origin_(origin) { } + + const ::builtin_interfaces::msg::dds_::Time_& map_load_time() const { return this->map_load_time_; } + ::builtin_interfaces::msg::dds_::Time_& map_load_time() { return this->map_load_time_; } + void map_load_time(const ::builtin_interfaces::msg::dds_::Time_& _val_) { this->map_load_time_ = _val_; } + void map_load_time(::builtin_interfaces::msg::dds_::Time_&& _val_) { this->map_load_time_ = _val_; } + float resolution() const { return this->resolution_; } + float& resolution() { return this->resolution_; } + void resolution(float _val_) { this->resolution_ = _val_; } + uint32_t width() const { return this->width_; } + uint32_t& width() { return this->width_; } + void width(uint32_t _val_) { this->width_ = _val_; } + uint32_t height() const { return this->height_; } + uint32_t& height() { return this->height_; } + void height(uint32_t _val_) { this->height_ = _val_; } + const ::geometry_msgs::msg::dds_::Pose_& origin() const { return this->origin_; } + ::geometry_msgs::msg::dds_::Pose_& origin() { return this->origin_; } + void origin(const ::geometry_msgs::msg::dds_::Pose_& _val_) { this->origin_ = _val_; } + void origin(::geometry_msgs::msg::dds_::Pose_&& _val_) { this->origin_ = _val_; } + + bool operator==(const MapMetaData_& _other) const + { + (void) _other; + return map_load_time_ == _other.map_load_time_ && + resolution_ == _other.resolution_ && + width_ == _other.width_ && + height_ == _other.height_ && + origin_ == _other.origin_; + } + + bool operator!=(const MapMetaData_& _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<::nav_msgs::msg::dds_::MapMetaData_>::getTypeName() +{ + return "nav_msgs::msg::dds_::MapMetaData_"; +} + +template <> constexpr bool TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::type_map_blob_sz() { return 1546; } +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::type_info_blob_sz() { return 292; } +template<> inline const uint8_t * TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::type_map_blob() { + static const uint8_t blob[] = { + 0x03, 0x02, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, 0x5c, 0x8d, + 0x18, 0x8f, 0x00, 0x60, 0x94, 0x68, 0x47, 0x00, 0x81, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, + 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x66, 0x5b, 0xc6, 0xd3, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xb7, 0xe1, 0x64, 0xb3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xea, 0xae, 0x26, 0xa6, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xb4, 0x35, 0xe2, 0x27, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, + 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x7c, 0x49, 0xb1, 0x53, 0xf1, 0x56, 0x7c, + 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x33, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, + 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, + 0x04, 0x64, 0xd5, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, + 0x17, 0xeb, 0x00, 0x00, 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blob; +} +template<> inline const uint8_t * TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::type_info_blob() { + static const uint8_t blob[] = { + 0x20, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, 0x5c, 0x8d, 0x18, 0x8f, 0x00, 0x60, + 0x94, 0x68, 0x47, 0x00, 0x85, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, + 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, + 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xaf, 0xf2, 0xbe, 0x67, 0xdd, 0x8e, 0x1b, 0x5c, 0x8c, 0x51, 0x02, + 0x52, 0xab, 0x2d, 0x00, 0xed, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::nav_msgs::msg::dds_::MapMetaData_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::nav_msgs::msg::dds_::MapMetaData_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::nav_msgs::msg::dds_::MapMetaData_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::nav_msgs::msg::dds_::MapMetaData_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::nav_msgs::msg::dds_::MapMetaData_& 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.map_load_time(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.origin(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::nav_msgs::msg::dds_::MapMetaData_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::MapMetaData_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::nav_msgs::msg::dds_::MapMetaData_& 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.map_load_time(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.origin(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::nav_msgs::msg::dds_::MapMetaData_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::MapMetaData_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::nav_msgs::msg::dds_::MapMetaData_& 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.map_load_time(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.origin(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::nav_msgs::msg::dds_::MapMetaData_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::MapMetaData_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::nav_msgs::msg::dds_::MapMetaData_& 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.map_load_time(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.resolution())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.origin(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::nav_msgs::msg::dds_::MapMetaData_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::MapMetaData_>(); + 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_ROS2_MAPMETADATA__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/OccupancyGrid_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/OccupancyGrid_.hpp new file mode 100644 index 0000000..d3e7360 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/OccupancyGrid_.hpp @@ -0,0 +1,532 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: OccupancyGrid_.idl + Source: OccupancyGrid_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_OCCUPANCYGRID__HPP +#define DDSCXX_UNITREE_IDL_ROS2_OCCUPANCYGRID__HPP + +#include "unitree/idl/ros2/MapMetaData_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + +#include +#include + +namespace nav_msgs +{ +namespace msg +{ +namespace dds_ +{ +class OccupancyGrid_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::nav_msgs::msg::dds_::MapMetaData_ info_; + std::vector data_; + +public: + OccupancyGrid_() = default; + + explicit OccupancyGrid_( + const ::std_msgs::msg::dds_::Header_& header, + const ::nav_msgs::msg::dds_::MapMetaData_& info, + const std::vector& data) : + header_(header), + info_(info), + data_(data) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::nav_msgs::msg::dds_::MapMetaData_& info() const { return this->info_; } + ::nav_msgs::msg::dds_::MapMetaData_& info() { return this->info_; } + void info(const ::nav_msgs::msg::dds_::MapMetaData_& _val_) { this->info_ = _val_; } + void info(::nav_msgs::msg::dds_::MapMetaData_&& _val_) { this->info_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + + bool operator==(const OccupancyGrid_& _other) const + { + (void) _other; + return header_ == _other.header_ && + info_ == _other.info_ && + data_ == _other.data_; + } + + bool operator!=(const OccupancyGrid_& _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<::nav_msgs::msg::dds_::OccupancyGrid_>::getTypeName() +{ + return "nav_msgs::msg::dds_::OccupancyGrid_"; +} + +template <> constexpr bool TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::type_map_blob_sz() { return 2154; } +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::type_info_blob_sz() { return 388; } +template<> inline const uint8_t * TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::type_map_blob() { + static const uint8_t blob[] = { + 0xd7, 0x02, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0xf1, 0xa6, 0x7a, 0x91, 0x75, 0x57, 0xcb, 0x8b, + 0xe9, 0x7b, 0x12, 0x9d, 0x77, 0xb3, 0xfd, 0x00, 0x68, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x58, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, + 0x5c, 0x8d, 0x18, 0x8f, 0x00, 0x60, 0x94, 0x68, 0x47, 0xca, 0xf9, 0xb6, 0xb9, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0x8d, 0x77, 0x7f, 0x38, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, + 0x1f, 0xa3, 0xf2, 0x00, 0x44, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, + 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, 0x8d, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c, 0xf1, 0x56, 0x7c, 0x5a, + 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, + 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, + 0x04, 0x64, 0xd5, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, 0x5c, 0x8d, 0x18, 0x8f, 0x00, 0x60, 0x94, + 0x68, 0x47, 0x00, 0x00, 0x81, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, + 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x66, 0x5b, 0xc6, 0xd3, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 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0x69, 0x6f, 0x6e, 0x5f, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, + 0xd6, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0xf2, 0x9b, 0xfe, 0xf8, 0xd1, 0x93, 0x3f, 0x26, + 0x1c, 0xef, 0x1f, 0x33, 0xfd, 0x62, 0x89, 0xf1, 0xa6, 0x7a, 0x91, 0x75, 0x57, 0xcb, 0x8b, 0xe9, + 0x7b, 0x12, 0x9d, 0x77, 0xb3, 0xfd, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, + 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, + 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, + 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, + 0xf9, 0x8d, 0xf2, 0xaf, 0xf2, 0xbe, 0x67, 0xdd, 0x8e, 0x1b, 0x5c, 0x8c, 0x51, 0x02, 0x52, 0xab, + 0x2d, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, 0x5c, 0x8d, 0x18, 0x8f, 0x00, 0x60, 0x94, 0x68, 0x47, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0xf1, + 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0xf2, 0x04, + 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0xf1, 0x5e, 0x73, + 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xf2, 0x6f, 0x01, 0xea, + 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, + 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::type_info_blob() { + static const uint8_t blob[] = { + 0x80, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0xb8, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xa6, 0x7a, 0x91, 0x75, 0x57, 0xcb, 0x8b, 0xe9, 0x7b, 0x12, 0x9d, + 0x77, 0xb3, 0xfd, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x07, 0x57, 0xb7, 0x09, 0xbd, 0x5c, 0x8d, + 0x18, 0x8f, 0x00, 0x60, 0x94, 0x68, 0x47, 0x00, 0x85, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, + 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0xb8, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x9b, 0xfe, 0xf8, 0xd1, 0x93, 0x3f, 0x26, 0x1c, 0xef, 0x1f, 0x33, + 0xfd, 0x62, 0x89, 0x00, 0xaf, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, + 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xaf, 0xf2, 0xbe, 0x67, 0xdd, 0x8e, 0x1b, + 0x5c, 0x8c, 0x51, 0x02, 0x52, 0xab, 0x2d, 0x00, 0xed, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::nav_msgs::msg::dds_::OccupancyGrid_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::nav_msgs::msg::dds_::OccupancyGrid_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::nav_msgs::msg::dds_::OccupancyGrid_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::nav_msgs::msg::dds_::OccupancyGrid_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::nav_msgs::msg::dds_::OccupancyGrid_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.info(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::nav_msgs::msg::dds_::OccupancyGrid_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::OccupancyGrid_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::nav_msgs::msg::dds_::OccupancyGrid_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.info(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::nav_msgs::msg::dds_::OccupancyGrid_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::OccupancyGrid_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::nav_msgs::msg::dds_::OccupancyGrid_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.info(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::nav_msgs::msg::dds_::OccupancyGrid_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::OccupancyGrid_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::nav_msgs::msg::dds_::OccupancyGrid_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.info(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::nav_msgs::msg::dds_::OccupancyGrid_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::OccupancyGrid_>(); + 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_ROS2_OCCUPANCYGRID__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Odometry_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Odometry_.hpp new file mode 100644 index 0000000..f60aff0 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Odometry_.hpp @@ -0,0 +1,588 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Odometry_.idl + Source: Odometry_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_ODOMETRY__HPP +#define DDSCXX_UNITREE_IDL_ROS2_ODOMETRY__HPP + +#include "unitree/idl/ros2/PoseWithCovariance_.hpp" + +#include "unitree/idl/ros2/TwistWithCovariance_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + +#include + +namespace nav_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Odometry_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + std::string child_frame_id_; + ::geometry_msgs::msg::dds_::PoseWithCovariance_ pose_; + ::geometry_msgs::msg::dds_::TwistWithCovariance_ twist_; + +public: + Odometry_() = default; + + explicit Odometry_( + const ::std_msgs::msg::dds_::Header_& header, + const std::string& child_frame_id, + const ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose, + const ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist) : + header_(header), + child_frame_id_(child_frame_id), + pose_(pose), + twist_(twist) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const std::string& child_frame_id() const { return this->child_frame_id_; } + std::string& child_frame_id() { return this->child_frame_id_; } + void child_frame_id(const std::string& _val_) { this->child_frame_id_ = _val_; } + void child_frame_id(std::string&& _val_) { this->child_frame_id_ = _val_; } + const ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose() const { return this->pose_; } + ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose() { return this->pose_; } + void pose(const ::geometry_msgs::msg::dds_::PoseWithCovariance_& _val_) { this->pose_ = _val_; } + void pose(::geometry_msgs::msg::dds_::PoseWithCovariance_&& _val_) { this->pose_ = _val_; } + const ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist() const { return this->twist_; } + ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist() { return this->twist_; } + void twist(const ::geometry_msgs::msg::dds_::TwistWithCovariance_& _val_) { this->twist_ = _val_; } + void twist(::geometry_msgs::msg::dds_::TwistWithCovariance_&& _val_) { this->twist_ = _val_; } + + bool operator==(const Odometry_& _other) const + { + (void) _other; + return header_ == _other.header_ && + child_frame_id_ == _other.child_frame_id_ && + pose_ == _other.pose_ && + twist_ == _other.twist_; + } + + bool operator!=(const Odometry_& _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<::nav_msgs::msg::dds_::Odometry_>::getTypeName() +{ + return "nav_msgs::msg::dds_::Odometry_"; +} + +template <> constexpr bool TopicTraits<::nav_msgs::msg::dds_::Odometry_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::nav_msgs::msg::dds_::Odometry_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::Odometry_>::type_map_blob_sz() { return 2952; } +template<> constexpr unsigned int TopicTraits<::nav_msgs::msg::dds_::Odometry_>::type_info_blob_sz() { return 508; } +template<> inline const uint8_t * TopicTraits<::nav_msgs::msg::dds_::Odometry_>::type_map_blob() { + static const uint8_t blob[] = { + 0xdf, 0x03, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0xf1, 0x09, 0x05, 0x85, 0xef, 0x1f, 0x33, 0xdc, + 0x43, 0x45, 0xaf, 0xc8, 0x7d, 0x2b, 0x18, 0x00, 0x81, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x8d, 0x9f, 0x65, 0x1d, + 0x19, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xb7, 0xb7, 0x26, 0xac, 0x8e, + 0x3d, 0x19, 0x1d, 0xc5, 0x32, 0xa3, 0x3c, 0x52, 0xc9, 0x2d, 0x5f, 0x8a, 0xe9, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, + 0x44, 0x45, 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0xeb, 0x3b, 0xac, 0x16, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x44, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, + 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, + 0x8d, 0x00, 0x00, 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0xf1, 0x09, 0x05, 0x85, 0xef, 0x1f, 0x33, 0xdc, 0x43, 0x45, 0xaf, 0xc8, + 0x7d, 0x2b, 0x18, 0x00, 0x85, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0xc4, 0x00, 0x00, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xb7, 0xb7, 0x26, 0xac, 0x8e, 0x3d, 0x19, + 0x1d, 0xc5, 0x32, 0xa3, 0x3c, 0x52, 0xc9, 0x00, 0x52, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, + 0x57, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, 0x44, 0x45, + 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0x00, 0x52, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x00, 0x01, 0x00, 0x00, 0xfc, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc9, 0xe4, 0x81, 0x30, 0x36, 0xe7, 0x83, 0xf6, 0x0b, 0x54, 0x7c, + 0xee, 0x4e, 0x2f, 0x00, 0xdc, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0xdc, 0x00, 0x00, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, + 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x19, 0x12, 0x04, 0x8a, 0x82, 0xed, 0x6f, + 0x0a, 0x49, 0x06, 0x5e, 0x94, 0xe7, 0x0c, 0x00, 0x9d, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf5, 0xc6, 0x39, 0xf6, 0x33, 0xf1, 0x5a, + 0x6d, 0x7b, 0xe3, 0xa4, 0x7b, 0x7e, 0x15, 0x00, 0x9d, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, + 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, 0x7c, 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<::nav_msgs::msg::dds_::Odometry_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::nav_msgs::msg::dds_::Odometry_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::nav_msgs::msg::dds_::Odometry_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::nav_msgs::msg::dds_::Odometry_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::nav_msgs::msg::dds_::Odometry_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.child_frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::nav_msgs::msg::dds_::Odometry_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::Odometry_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::nav_msgs::msg::dds_::Odometry_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.child_frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::nav_msgs::msg::dds_::Odometry_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::Odometry_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::nav_msgs::msg::dds_::Odometry_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.child_frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::nav_msgs::msg::dds_::Odometry_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::Odometry_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::nav_msgs::msg::dds_::Odometry_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.child_frame_id(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::nav_msgs::msg::dds_::Odometry_& instance, bool as_key) { + auto &props = get_type_props<::nav_msgs::msg::dds_::Odometry_>(); + 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_ROS2_ODOMETRY__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Point32_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Point32_.hpp new file mode 100644 index 0000000..7343187 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Point32_.hpp @@ -0,0 +1,341 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Point32_.idl + Source: Point32_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POINT32__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POINT32__HPP + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Point32_ +{ +private: + float x_ = 0.0f; + float y_ = 0.0f; + float z_ = 0.0f; + +public: + Point32_() = default; + + explicit Point32_( + float x, + float y, + float z) : + x_(x), + y_(y), + z_(z) { } + + float x() const { return this->x_; } + float& x() { return this->x_; } + void x(float _val_) { this->x_ = _val_; } + float y() const { return this->y_; } + float& y() { return this->y_; } + void y(float _val_) { this->y_ = _val_; } + float z() const { return this->z_; } + float& z() { return this->z_; } + void z(float _val_) { this->z_ = _val_; } + + bool operator==(const Point32_& _other) const + { + (void) _other; + return x_ == _other.x_ && + y_ == _other.y_ && + z_ == _other.z_; + } + + bool operator!=(const Point32_& _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<::geometry_msgs::msg::dds_::Point32_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Point32_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Point32_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Point32_>::type_map_blob_sz() { return 282; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Point32_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Point32_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xbd, 0xb3, 0x4b, 0x07, 0x97, 0x70, 0xd5, + 0x44, 0x4c, 0xda, 0x2d, 0x20, 0xb7, 0x83, 0x00, 0x43, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xfb, 0xad, 0xe9, 0xe3, 0x00, + 0x90, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xc0, 0x1f, 0x51, 0xb0, 0x99, 0xa4, + 0x54, 0xb3, 0xb8, 0xff, 0x68, 0x29, 0xe5, 0x00, 0x78, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x33, 0x32, 0x5f, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x7a, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xc0, 0x1f, + 0x51, 0xb0, 0x99, 0xa4, 0x54, 0xb3, 0xb8, 0xff, 0x68, 0x29, 0xe5, 0xf1, 0xbd, 0xb3, 0x4b, 0x07, + 0x97, 0x70, 0xd5, 0x44, 0x4c, 0xda, 0x2d, 0x20, 0xb7, 0x83, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Point32_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xbd, 0xb3, 0x4b, 0x07, 0x97, 0x70, 0xd5, 0x44, 0x4c, 0xda, 0x2d, + 0x20, 0xb7, 0x83, 0x00, 0x47, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xc0, 0x1f, 0x51, 0xb0, 0x99, 0xa4, 0x54, 0xb3, 0xb8, 0xff, + 0x68, 0x29, 0xe5, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::geometry_msgs::msg::dds_::Point32_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Point32_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Point32_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Point32_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Point32_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Point32_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point32_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Point32_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Point32_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point32_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Point32_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Point32_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point32_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Point32_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Point32_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point32_>(); + 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_ROS2_POINT32__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PointCloud2_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PointCloud2_.hpp new file mode 100644 index 0000000..fea5360 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PointCloud2_.hpp @@ -0,0 +1,761 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PointCloud2_.idl + Source: PointCloud2_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POINTCLOUD2__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POINTCLOUD2__HPP + +#include "unitree/idl/ros2/PointField_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + +#include +#include + +namespace sensor_msgs +{ +namespace msg +{ +namespace dds_ +{ +class PointCloud2_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + uint32_t height_ = 0; + uint32_t width_ = 0; + std::vector<::sensor_msgs::msg::dds_::PointField_> fields_; + bool is_bigendian_ = false; + uint32_t point_step_ = 0; + uint32_t row_step_ = 0; + std::vector data_; + bool is_dense_ = false; + +public: + PointCloud2_() = default; + + explicit PointCloud2_( + const ::std_msgs::msg::dds_::Header_& header, + uint32_t height, + uint32_t width, + const std::vector<::sensor_msgs::msg::dds_::PointField_>& fields, + bool is_bigendian, + uint32_t point_step, + uint32_t row_step, + const std::vector& data, + bool is_dense) : + header_(header), + height_(height), + width_(width), + fields_(fields), + is_bigendian_(is_bigendian), + point_step_(point_step), + row_step_(row_step), + data_(data), + is_dense_(is_dense) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + uint32_t height() const { return this->height_; } + uint32_t& height() { return this->height_; } + void height(uint32_t _val_) { this->height_ = _val_; } + uint32_t width() const { return this->width_; } + uint32_t& width() { return this->width_; } + void width(uint32_t _val_) { this->width_ = _val_; } + const std::vector<::sensor_msgs::msg::dds_::PointField_>& fields() const { return this->fields_; } + std::vector<::sensor_msgs::msg::dds_::PointField_>& fields() { return this->fields_; } + void fields(const std::vector<::sensor_msgs::msg::dds_::PointField_>& _val_) { this->fields_ = _val_; } + void fields(std::vector<::sensor_msgs::msg::dds_::PointField_>&& _val_) { this->fields_ = _val_; } + bool is_bigendian() const { return this->is_bigendian_; } + bool& is_bigendian() { return this->is_bigendian_; } + void is_bigendian(bool _val_) { this->is_bigendian_ = _val_; } + uint32_t point_step() const { return this->point_step_; } + uint32_t& point_step() { return this->point_step_; } + void point_step(uint32_t _val_) { this->point_step_ = _val_; } + uint32_t row_step() const { return this->row_step_; } + uint32_t& row_step() { return this->row_step_; } + void row_step(uint32_t _val_) { this->row_step_ = _val_; } + const std::vector& data() const { return this->data_; } + std::vector& data() { return this->data_; } + void data(const std::vector& _val_) { this->data_ = _val_; } + void data(std::vector&& _val_) { this->data_ = _val_; } + bool is_dense() const { return this->is_dense_; } + bool& is_dense() { return this->is_dense_; } + void is_dense(bool _val_) { this->is_dense_ = _val_; } + + bool operator==(const PointCloud2_& _other) const + { + (void) _other; + return header_ == _other.header_ && + height_ == _other.height_ && + width_ == _other.width_ && + fields_ == _other.fields_ && + is_bigendian_ == _other.is_bigendian_ && + point_step_ == _other.point_step_ && + row_step_ == _other.row_step_ && + data_ == _other.data_ && + is_dense_ == _other.is_dense_; + } + + bool operator!=(const PointCloud2_& _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<::sensor_msgs::msg::dds_::PointCloud2_>::getTypeName() +{ + return "sensor_msgs::msg::dds_::PointCloud2_"; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_map_blob_sz() { return 1472; } +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_map_blob() { + static const uint8_t blob[] = { + 0xeb, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x7f, 0x62, 0xa4, 0x8e, 0xfc, 0x63, 0xa8, + 0xa6, 0xfe, 0x5f, 0x9e, 0xda, 0x06, 0xd7, 0x00, 0xcb, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xbb, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xb4, 0x35, 0xe2, 0x27, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x15, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x6f, 0x66, 0x66, 0x73, 0x65, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x09, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61, + 0x74, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x75, 0x6e, 0x74, 0x00, 0x00, 0x00, + 0x7c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0xf1, 0xa7, 0xb4, 0x13, 0x2f, 0x17, + 0xb4, 0xae, 0x1d, 0x73, 0x77, 0xc5, 0xbc, 0xf1, 0x7f, 0x62, 0xa4, 0x8e, 0xfc, 0x63, 0xa8, 0xa6, + 0xfe, 0x5f, 0x9e, 0xda, 0x06, 0xd7, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, + 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, + 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, + 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, + 0xf9, 0x8d, 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1, + 0x08, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, 0x2b, 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b, +}; + return blob; +} +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::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, 0x7f, 0x62, 0xa4, 0x8e, 0xfc, 0x63, 0xa8, 0xa6, 0xfe, 0x5f, 0x9e, + 0xda, 0x06, 0xd7, 0x00, 0xcf, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, + 0x2b, 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b, 0x00, 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0xf1, 0xa7, + 0xb4, 0x13, 0x2f, 0x17, 0xb4, 0xae, 0x1d, 0x73, 0x77, 0xc5, 0xbc, 0x00, 0x67, 0x01, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1, 0x08, 0x00, + 0xa8, 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<::sensor_msgs::msg::dds_::PointCloud2_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::sensor_msgs::msg::dds_::PointCloud2_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.fields().size()); + if (!write(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!write(streamer, instance.fields()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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(streamer, instance.is_bigendian())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.point_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.row_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 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.is_dense())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::sensor_msgs::msg::dds_::PointCloud2_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.fields().size()); + if (!read(streamer, se_1)) + return false; + instance.fields().resize(se_1); + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!read(streamer, instance.fields()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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(streamer, instance.is_bigendian())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.point_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.row_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!read(streamer, se_1)) + return false; + instance.data().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.data()[0], se_1)) + return false; + } //end sequence 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.is_dense())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = uint32_t(instance.fields().size()); + if (!move(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!move(streamer, instance.fields()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + 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(streamer, instance.is_bigendian())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.point_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.row_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.data().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 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.is_dense())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.height())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.width())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, false)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + for (uint32_t i_1 = 0; i_1 < se_1; i_1++) { + if (!max(streamer, instance.fields()[i_1], prop)) + return false; + } //i_1 + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 4: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.is_bigendian())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 5: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.point_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 6: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.row_step())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 7: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + case 8: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.is_dense())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>(); + 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_ROS2_POINTCLOUD2__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PointField_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PointField_.hpp new file mode 100644 index 0000000..3fab88f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PointField_.hpp @@ -0,0 +1,412 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PointField_.idl + Source: PointField_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POINTFIELD__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POINTFIELD__HPP + +#include +#include + +namespace sensor_msgs +{ +namespace msg +{ +namespace dds_ +{ +namespace PointField_Constants +{ +const uint8_t INT8_ = 1; + +const uint8_t UINT8_ = 2; + +const uint8_t INT16_ = 3; + +const uint8_t UINT16_ = 4; + +const uint8_t INT32_ = 5; + +const uint8_t UINT32_ = 6; + +const uint8_t FLOAT32_ = 7; + +const uint8_t FLOAT64_ = 8; + +} + +class PointField_ +{ +private: + std::string name_; + uint32_t offset_ = 0; + uint8_t datatype_ = 0; + uint32_t count_ = 0; + +public: + PointField_() = default; + + explicit PointField_( + const std::string& name, + uint32_t offset, + uint8_t datatype, + uint32_t count) : + name_(name), + offset_(offset), + datatype_(datatype), + count_(count) { } + + const std::string& name() const { return this->name_; } + std::string& name() { return this->name_; } + void name(const std::string& _val_) { this->name_ = _val_; } + void name(std::string&& _val_) { this->name_ = _val_; } + uint32_t offset() const { return this->offset_; } + uint32_t& offset() { return this->offset_; } + void offset(uint32_t _val_) { this->offset_ = _val_; } + uint8_t datatype() const { return this->datatype_; } + uint8_t& datatype() { return this->datatype_; } + void datatype(uint8_t _val_) { this->datatype_ = _val_; } + uint32_t count() const { return this->count_; } + uint32_t& count() { return this->count_; } + void count(uint32_t _val_) { this->count_ = _val_; } + + bool operator==(const PointField_& _other) const + { + (void) _other; + return name_ == _other.name_ && + offset_ == _other.offset_ && + datatype_ == _other.datatype_ && + count_ == _other.count_; + } + + bool operator!=(const PointField_& _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<::sensor_msgs::msg::dds_::PointField_>::getTypeName() +{ + return "sensor_msgs::msg::dds_::PointField_"; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointField_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointField_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointField_>::type_map_blob_sz() { return 342; } +template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointField_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointField_>::type_map_blob() { + static const uint8_t blob[] = { + 0x6b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, + 0x2b, 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b, 0x00, 0x53, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xb0, 0x68, 0x93, 0x1c, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x7a, 0x86, 0xc1, 0x57, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x39, 0x31, 0x10, 0x8d, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x94, 0x2a, 0x04, 0x00, + 0xbc, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, + 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1, 0x08, 0x00, 0xa4, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x73, 0x65, 0x6e, 0x73, + 0x6f, 0x72, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, + 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x46, 0x69, 0x65, 0x6c, 0x64, 0x5f, 0x00, + 0x6c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x15, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x07, 0x00, 0x00, 0x00, + 0x6f, 0x66, 0x66, 0x73, 0x65, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x09, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61, + 0x74, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x75, 0x6e, 0x74, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, + 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1, 0x08, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, 0x2b, + 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointField_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, 0x2b, 0xa8, 0x4e, 0xb5, + 0xeb, 0x0e, 0x0b, 0x00, 0x57, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, 0xab, 0x7a, 0x36, 0x56, + 0x16, 0xf1, 0x08, 0x00, 0xa8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::sensor_msgs::msg::dds_::PointField_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::sensor_msgs::msg::dds_::PointField_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::sensor_msgs::msg::dds_::PointField_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::sensor_msgs::msg::dds_::PointField_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::sensor_msgs::msg::dds_::PointField_& 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_string(streamer, instance.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.offset())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.datatype())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.count())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::sensor_msgs::msg::dds_::PointField_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointField_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::sensor_msgs::msg::dds_::PointField_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.offset())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.datatype())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.count())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::sensor_msgs::msg::dds_::PointField_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointField_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::sensor_msgs::msg::dds_::PointField_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.offset())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.datatype())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.count())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::sensor_msgs::msg::dds_::PointField_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointField_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::sensor_msgs::msg::dds_::PointField_& 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.name(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.offset())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.datatype())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.count())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::sensor_msgs::msg::dds_::PointField_& instance, bool as_key) { + auto &props = get_type_props<::sensor_msgs::msg::dds_::PointField_>(); + 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_ROS2_POINTFIELD__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PointStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PointStamped_.hpp new file mode 100644 index 0000000..4368725 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PointStamped_.hpp @@ -0,0 +1,372 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PointStamped_.idl + Source: PointStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POINTSTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POINTSTAMPED__HPP + +#include "unitree/idl/ros2/Point_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class PointStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::Point_ point_; + +public: + PointStamped_() = default; + + explicit PointStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::Point_& point) : + header_(header), + point_(point) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::Point_& point() const { return this->point_; } + ::geometry_msgs::msg::dds_::Point_& point() { return this->point_; } + void point(const ::geometry_msgs::msg::dds_::Point_& _val_) { this->point_ = _val_; } + void point(::geometry_msgs::msg::dds_::Point_&& _val_) { this->point_ = _val_; } + + bool operator==(const PointStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + point_ == _other.point_; + } + + bool operator!=(const PointStamped_& _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<::geometry_msgs::msg::dds_::PointStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::PointStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::type_map_blob_sz() { return 1080; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5f, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0xbc, 0x24, 0xf4, 0xb3, 0xd4, 0xb8, 0xc5, + 0x25, 0x31, 0xec, 0x3b, 0xeb, 0x9c, 0x24, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, + 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x78, 0xee, 0x54, 0xaa, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x44, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, + 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, + 0x8d, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x4b, 0xb3, 0x9c, 0x5c, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, + 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0xf1, 0x5e, 0x73, 0x97, 0xe7, + 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, + 0xd4, 0xe4, 0x61, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, + 0x52, 0x90, 0x76, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, + 0xad, 0xe9, 0xe3, 0x00, 0x50, 0x02, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf2, 0x48, 0xc5, 0xdf, + 0xc4, 0x35, 0xf9, 0x84, 0x49, 0xf9, 0x9e, 0x53, 0x04, 0x09, 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0x57, 0xf3, 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, + 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, + 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, + 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::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, 0xbc, 0x24, 0xf4, 0xb3, 0xd4, 0xb8, 0xc5, 0x25, 0x31, 0xec, 0x3b, + 0xeb, 0x9c, 0x24, 0x00, 0x55, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x48, 0xc5, 0xdf, + 0xc4, 0x35, 0xf9, 0x84, 0x49, 0xf9, 0x9e, 0x53, 0x04, 0x09, 0xd0, 0x00, 0x98, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, + 0x7c, 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<::geometry_msgs::msg::dds_::PointStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::PointStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::PointStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::PointStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::PointStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.point(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::PointStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PointStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::PointStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.point(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::PointStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PointStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::PointStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.point(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::PointStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PointStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::PointStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.point(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::PointStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PointStamped_>(); + 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_ROS2_POINTSTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Point_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Point_.hpp new file mode 100644 index 0000000..22ca13c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Point_.hpp @@ -0,0 +1,341 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Point_.idl + Source: Point_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POINT__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POINT__HPP + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Point_ +{ +private: + double x_ = 0.0; + double y_ = 0.0; + double z_ = 0.0; + +public: + Point_() = default; + + explicit Point_( + double x, + double y, + double z) : + x_(x), + y_(y), + z_(z) { } + + double x() const { return this->x_; } + double& x() { return this->x_; } + void x(double _val_) { this->x_ = _val_; } + double y() const { return this->y_; } + double& y() { return this->y_; } + void y(double _val_) { this->y_ = _val_; } + double z() const { return this->z_; } + double& z() { return this->z_; } + void z(double _val_) { this->z_ = _val_; } + + bool operator==(const Point_& _other) const + { + (void) _other; + return x_ == _other.x_ && + y_ == _other.y_ && + z_ == _other.z_; + } + + bool operator!=(const Point_& _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<::geometry_msgs::msg::dds_::Point_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Point_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Point_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Point_>::type_map_blob_sz() { return 282; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Point_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Point_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x43, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, 0xad, 0xe9, 0xe3, 0x00, + 0x90, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x78, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x5f, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x7a, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, + 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0xf1, 0x5e, 0x73, 0x97, 0xe7, + 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Point_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, + 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, + 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::geometry_msgs::msg::dds_::Point_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Point_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Point_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Point_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Point_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Point_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Point_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Point_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Point_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Point_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Point_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Point_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Point_>(); + 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_ROS2_POINT__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Pose2D_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Pose2D_.hpp new file mode 100644 index 0000000..1e5ee41 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Pose2D_.hpp @@ -0,0 +1,341 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Pose2D_.idl + Source: Pose2D_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POSE2D__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POSE2D__HPP + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Pose2D_ +{ +private: + double x_ = 0.0; + double y_ = 0.0; + double theta_ = 0.0; + +public: + Pose2D_() = default; + + explicit Pose2D_( + double x, + double y, + double theta) : + x_(x), + y_(y), + theta_(theta) { } + + double x() const { return this->x_; } + double& x() { return this->x_; } + void x(double _val_) { this->x_ = _val_; } + double y() const { return this->y_; } + double& y() { return this->y_; } + void y(double _val_) { this->y_ = _val_; } + double theta() const { return this->theta_; } + double& theta() { return this->theta_; } + void theta(double _val_) { this->theta_ = _val_; } + + bool operator==(const Pose2D_& _other) const + { + (void) _other; + return x_ == _other.x_ && + y_ == _other.y_ && + theta_ == _other.theta_; + } + + bool operator!=(const Pose2D_& _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<::geometry_msgs::msg::dds_::Pose2D_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Pose2D_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::type_map_blob_sz() { return 286; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xe6, 0x4d, 0xe9, 0xc3, 0xbd, 0x87, 0xa5, + 0x1f, 0x57, 0xf7, 0x59, 0xf0, 0x59, 0x77, 0x00, 0x43, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x61, 0xa7, 0x4b, 0xe6, 0x00, + 0x94, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc6, 0x23, 0x0c, 0x9d, 0x1e, 0x0d, 0x38, + 0x95, 0xf0, 0x39, 0x06, 0x50, 0x19, 0xc5, 0x00, 0x7c, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x73, 0x65, 0x32, 0x44, 0x5f, 0x00, 0x00, 0x00, + 0x44, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x06, 0x00, 0x00, 0x00, + 0x74, 0x68, 0x65, 0x74, 0x61, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0xf2, 0xc6, 0x23, 0x0c, 0x9d, 0x1e, 0x0d, 0x38, 0x95, 0xf0, 0x39, 0x06, 0x50, 0x19, 0xc5, 0xf1, + 0xe6, 0x4d, 0xe9, 0xc3, 0xbd, 0x87, 0xa5, 0x1f, 0x57, 0xf7, 0x59, 0xf0, 0x59, 0x77, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe6, 0x4d, 0xe9, 0xc3, 0xbd, 0x87, 0xa5, 0x1f, 0x57, 0xf7, 0x59, + 0xf0, 0x59, 0x77, 0x00, 0x47, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc6, 0x23, 0x0c, 0x9d, 0x1e, 0x0d, 0x38, 0x95, 0xf0, 0x39, 0x06, + 0x50, 0x19, 0xc5, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::geometry_msgs::msg::dds_::Pose2D_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Pose2D_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Pose2D_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Pose2D_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Pose2D_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.theta())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Pose2D_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose2D_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Pose2D_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.theta())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Pose2D_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose2D_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Pose2D_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.theta())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Pose2D_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose2D_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Pose2D_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.theta())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Pose2D_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose2D_>(); + 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_ROS2_POSE2D__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PoseStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseStamped_.hpp new file mode 100644 index 0000000..6b0935a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseStamped_.hpp @@ -0,0 +1,415 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PoseStamped_.idl + Source: PoseStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POSESTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POSESTAMPED__HPP + +#include "unitree/idl/ros2/Pose_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class PoseStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::Pose_ pose_; + +public: + PoseStamped_() = default; + + explicit PoseStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::Pose_& pose) : + header_(header), + pose_(pose) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::Pose_& pose() const { return this->pose_; } + ::geometry_msgs::msg::dds_::Pose_& pose() { return this->pose_; } + void pose(const ::geometry_msgs::msg::dds_::Pose_& _val_) { this->pose_ = _val_; } + void pose(::geometry_msgs::msg::dds_::Pose_&& _val_) { this->pose_ = _val_; } + + bool operator==(const PoseStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + pose_ == _other.pose_; + } + + bool operator!=(const PoseStamped_& _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<::geometry_msgs::msg::dds_::PoseStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::PoseStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::type_map_blob_sz() { return 1676; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::type_info_blob_sz() { return 340; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0x2b, 0x02, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0xf1, 0xcb, 0xe6, 0x9d, 0x4c, 0xd6, 0x91, 0x76, + 0x9e, 0xaf, 0x8f, 0xf6, 0xd5, 0x5c, 0x6f, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 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0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, + 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x51, 0x75, 0x61, 0x74, 0x65, 0x72, + 0x6e, 0x69, 0x6f, 0x6e, 0x5f, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, + 0xb8, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0xf2, 0x80, 0x17, 0x7b, 0xda, 0x5a, 0x70, 0x7b, + 0x8b, 0x87, 0xbc, 0x32, 0x31, 0x6b, 0x6a, 0xf1, 0xcb, 0xe6, 0x9d, 0x4c, 0xd6, 0x91, 0x76, 0x9e, + 0xaf, 0x8f, 0xf6, 0xd5, 0x5c, 0x6f, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, + 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, + 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, + 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, + 0xf9, 0x8d, 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, + 0x7d, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, + 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0xf1, + 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xf2, 0x6f, + 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, + 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::type_info_blob() { + static const uint8_t blob[] = { + 0x50, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x00, 0x9c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xcb, 0xe6, 0x9d, 0x4c, 0xd6, 0x91, 0x76, 0x9e, 0xaf, 0x8f, 0xf6, + 0xd5, 0x5c, 0x6f, 0x00, 0x55, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, + 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, + 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, + 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0xa0, 0x00, 0x00, 0x00, 0x9c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x80, 0x17, 0x7b, + 0xda, 0x5a, 0x70, 0x7b, 0x8b, 0x87, 0xbc, 0x32, 0x31, 0x6b, 0x6a, 0x00, 0x97, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::geometry_msgs::msg::dds_::PoseStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::PoseStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::PoseStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::PoseStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::PoseStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::PoseStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::PoseStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::PoseStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::PoseStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::PoseStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::PoseStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::PoseStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseStamped_>(); + 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_ROS2_POSESTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp new file mode 100644 index 0000000..a1f2523 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp @@ -0,0 +1,438 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PoseWithCovarianceStamped_.idl + Source: PoseWithCovarianceStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCESTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCESTAMPED__HPP + +#include "unitree/idl/ros2/PoseWithCovariance_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class PoseWithCovarianceStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::PoseWithCovariance_ pose_; + +public: + PoseWithCovarianceStamped_() = default; + + explicit PoseWithCovarianceStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose) : + header_(header), + pose_(pose) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose() const { return this->pose_; } + ::geometry_msgs::msg::dds_::PoseWithCovariance_& pose() { return this->pose_; } + void pose(const ::geometry_msgs::msg::dds_::PoseWithCovariance_& _val_) { this->pose_ = _val_; } + void pose(::geometry_msgs::msg::dds_::PoseWithCovariance_&& _val_) { this->pose_ = _val_; } + + bool operator==(const PoseWithCovarianceStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + pose_ == _other.pose_; + } + + bool operator!=(const PoseWithCovarianceStamped_& _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<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::PoseWithCovarianceStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::type_map_blob_sz() { return 1994; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::type_info_blob_sz() { return 388; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0x8f, 0x02, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0xf1, 0x3d, 0xeb, 0xb5, 0x11, 0xcc, 0xa4, 0xdc, + 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0xba, 0x83, 0xde, 0x11, 0x70, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, + 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, + 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, + 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, + 0xf9, 0x8d, 0xf2, 0x19, 0x12, 0x04, 0x8a, 0x82, 0xed, 0x6f, 0x0a, 0x49, 0x06, 0x5e, 0x94, 0xe7, + 0x0c, 0xf1, 0xb7, 0xb7, 0x26, 0xac, 0x8e, 0x3d, 0x19, 0x1d, 0xc5, 0x32, 0xa3, 0x3c, 0x52, 0xc9, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0xf1, + 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0xf2, 0x04, + 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0xf1, 0x5e, 0x73, + 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xf2, 0x6f, 0x01, 0xea, + 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, + 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::type_info_blob() { + static const uint8_t blob[] = { + 0x80, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0xb8, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3d, 0xeb, 0xb5, 0x11, 0xcc, 0xa4, 0xdc, 0x63, 0xf4, 0xba, 0x83, + 0xde, 0x11, 0x70, 0x00, 0x55, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xb7, 0xb7, 0x26, 0xac, 0x8e, 0x3d, 0x19, + 0x1d, 0xc5, 0x32, 0xa3, 0x3c, 0x52, 0xc9, 0x00, 0x52, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, + 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0xb8, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x24, 0x77, 0x5a, 0x9f, 0x85, 0xf9, 0x7b, 0x5b, 0xeb, 0x5a, 0x31, + 0xb0, 0x0c, 0x05, 0x00, 0xa7, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, + 0x06, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, + 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x19, 0x12, 0x04, 0x8a, 0x82, 0xed, 0x6f, + 0x0a, 0x49, 0x06, 0x5e, 0x94, 0xe7, 0x0c, 0x00, 0x9d, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovarianceStamped_>(); + 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_ROS2_POSEWITHCOVARIANCESTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovariance_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovariance_.hpp new file mode 100644 index 0000000..724ce6c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/PoseWithCovariance_.hpp @@ -0,0 +1,388 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: PoseWithCovariance_.idl + Source: PoseWithCovariance_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCE__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCE__HPP + +#include "unitree/idl/ros2/Pose_.hpp" + +#include + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class PoseWithCovariance_ +{ +private: + ::geometry_msgs::msg::dds_::Pose_ pose_; + std::array covariance_ = { }; + +public: + PoseWithCovariance_() = default; + + explicit PoseWithCovariance_( + const ::geometry_msgs::msg::dds_::Pose_& pose, + const std::array& covariance) : + pose_(pose), + covariance_(covariance) { } + + const ::geometry_msgs::msg::dds_::Pose_& pose() const { return this->pose_; } + ::geometry_msgs::msg::dds_::Pose_& pose() { return this->pose_; } + void pose(const ::geometry_msgs::msg::dds_::Pose_& _val_) { this->pose_ = _val_; } + void pose(::geometry_msgs::msg::dds_::Pose_&& _val_) { this->pose_ = _val_; } + const std::array& covariance() const { return this->covariance_; } + std::array& covariance() { return this->covariance_; } + void covariance(const std::array& _val_) { this->covariance_ = _val_; } + void covariance(std::array&& _val_) { this->covariance_ = _val_; } + + bool operator==(const PoseWithCovariance_& _other) const + { + (void) _other; + return pose_ == _other.pose_ && + covariance_ == _other.covariance_; + } + + bool operator!=(const PoseWithCovariance_& _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<::geometry_msgs::msg::dds_::PoseWithCovariance_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::PoseWithCovariance_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_map_blob_sz() { return 1180; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_map_blob() { + static const uint8_t blob[] = { + 0x8b, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0xb7, 0xb7, 0x26, 0xac, 0x8e, 0x3d, 0x19, + 0x1d, 0xc5, 0x32, 0xa3, 0x3c, 0x52, 0xc9, 0x00, 0x4e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, + 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x2d, 0x5f, 0x8a, 0xe9, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x24, 0x0a, 0xac, 0xdb, 0x06, 0x55, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, + 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, 0x00, 0x00, 0x51, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 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0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xf2, 0x6f, + 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, + 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::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, 0xb7, 0xb7, 0x26, 0xac, 0x8e, 0x3d, 0x19, 0x1d, 0xc5, 0x32, 0xa3, + 0x3c, 0x52, 0xc9, 0x00, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, + 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, + 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, + 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x19, 0x12, 0x04, + 0x8a, 0x82, 0xed, 0x6f, 0x0a, 0x49, 0x06, 0x5e, 0x94, 0xe7, 0x0c, 0x00, 0x9d, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, 0xf3, 0x2f, 0x7d, 0x00, + 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::geometry_msgs::msg::dds_::PoseWithCovariance_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::PoseWithCovariance_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>(); + 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_ROS2_POSEWITHCOVARIANCE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Pose_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Pose_.hpp new file mode 100644 index 0000000..5a49edd --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Pose_.hpp @@ -0,0 +1,351 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Pose_.idl + Source: Pose_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_POSE__HPP +#define DDSCXX_UNITREE_IDL_ROS2_POSE__HPP + +#include "unitree/idl/ros2/Point_.hpp" + +#include "unitree/idl/ros2/Quaternion_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Pose_ +{ +private: + ::geometry_msgs::msg::dds_::Point_ position_; + ::geometry_msgs::msg::dds_::Quaternion_ orientation_; + +public: + Pose_() = default; + + explicit Pose_( + const ::geometry_msgs::msg::dds_::Point_& position, + const ::geometry_msgs::msg::dds_::Quaternion_& orientation) : + position_(position), + orientation_(orientation) { } + + const ::geometry_msgs::msg::dds_::Point_& position() const { return this->position_; } + ::geometry_msgs::msg::dds_::Point_& position() { return this->position_; } + void position(const ::geometry_msgs::msg::dds_::Point_& _val_) { this->position_ = _val_; } + void position(::geometry_msgs::msg::dds_::Point_&& _val_) { this->position_ = _val_; } + const ::geometry_msgs::msg::dds_::Quaternion_& orientation() const { return this->orientation_; } + ::geometry_msgs::msg::dds_::Quaternion_& orientation() { return this->orientation_; } + void orientation(const ::geometry_msgs::msg::dds_::Quaternion_& _val_) { this->orientation_ = _val_; } + void orientation(::geometry_msgs::msg::dds_::Quaternion_&& _val_) { this->orientation_ = _val_; } + + bool operator==(const Pose_& _other) const + { + (void) _other; + return position_ == _other.position_ && + orientation_ == _other.orientation_; + } + + bool operator!=(const Pose_& _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<::geometry_msgs::msg::dds_::Pose_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Pose_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Pose_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Pose_>::type_map_blob_sz() { return 878; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Pose_>::type_info_blob_sz() { return 196; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Pose_>::type_map_blob() { + static const uint8_t blob[] = { + 0x27, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, + 0x11, 0x90, 0x31, 0xc4, 0x88, 0x17, 0xeb, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, + 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x47, 0x57, 0xfe, 0x07, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, + 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0xda, 0x16, 0x39, 0x42, 0xf1, 0x5e, 0x73, + 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x43, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, + 0xd4, 0xe4, 0x61, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, + 0x52, 0x90, 0x76, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, + 0xad, 0xe9, 0xe3, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, + 0x62, 0xa1, 0x00, 0x00, 0x53, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, 0xad, 0xe9, 0xe3, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xf1, 0x29, 0x01, 0x86, 0x00, 0xdc, 0x01, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, + 0xf3, 0x2f, 0x7d, 0x00, 0x92, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x28, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, + 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, + 0x3a, 0x3a, 0x50, 0x6f, 0x73, 0x65, 0x5f, 0x00, 0x5e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, + 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x70, 0x6f, 0x73, 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, + 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x6f, 0x72, 0x69, 0x65, + 0x6e, 0x74, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, + 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, + 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, + 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, + 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, 0x90, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x51, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, + 0x5f, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, + 0xf3, 0x2f, 0x7d, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, 0x88, + 0x17, 0xeb, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, + 0xdf, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0xf1, + 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Pose_>::type_info_blob() { + static const uint8_t blob[] = { + 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x93, 0xf0, 0x5b, 0x8c, 0xef, 0xbe, 0x11, 0x90, 0x31, 0xc4, + 0x88, 0x17, 0xeb, 0x00, 0x55, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, + 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0d, 0x47, 0x26, 0x4b, 0x4a, 0x66, 0xfa, 0x94, 0xbb, 0xfe, 0x34, + 0xf3, 0x2f, 0x7d, 0x00, 0x96, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x04, 0xac, 0x28, 0xf9, 0x19, 0x64, 0x23, + 0x5d, 0xc9, 0x81, 0xe3, 0xf8, 0xfa, 0xdf, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::geometry_msgs::msg::dds_::Pose_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Pose_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Pose_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Pose_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Pose_& 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.position(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Pose_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Pose_& 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.position(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Pose_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Pose_& 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.position(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Pose_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Pose_& 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.position(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.orientation(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Pose_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Pose_>(); + 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_ROS2_POSE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/QuaternionStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/QuaternionStamped_.hpp new file mode 100644 index 0000000..2aff191 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/QuaternionStamped_.hpp @@ -0,0 +1,375 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: QuaternionStamped_.idl + Source: QuaternionStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_QUATERNIONSTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_QUATERNIONSTAMPED__HPP + +#include "unitree/idl/ros2/Quaternion_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class QuaternionStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::Quaternion_ quaternion_; + +public: + QuaternionStamped_() = default; + + explicit QuaternionStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::Quaternion_& quaternion) : + header_(header), + quaternion_(quaternion) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::Quaternion_& quaternion() const { return this->quaternion_; } + ::geometry_msgs::msg::dds_::Quaternion_& quaternion() { return this->quaternion_; } + void quaternion(const ::geometry_msgs::msg::dds_::Quaternion_& _val_) { this->quaternion_ = _val_; } + void quaternion(::geometry_msgs::msg::dds_::Quaternion_&& _val_) { this->quaternion_ = _val_; } + + bool operator==(const QuaternionStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + quaternion_ == _other.quaternion_; + } + + bool operator!=(const QuaternionStamped_& _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<::geometry_msgs::msg::dds_::QuaternionStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::QuaternionStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::type_map_blob_sz() { return 1132; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0x6f, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x48, 0xbf, 0x6a, 0x4a, 0x49, 0x9d, 0x11, + 0xb6, 0x78, 0xe7, 0xaa, 0xeb, 0xe0, 0xd8, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, + 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x75, 0xb9, 0xaa, 0xa0, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x44, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, + 0x7c, 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uint8_t * TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::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, 0x48, 0xbf, 0x6a, 0x4a, 0x49, 0x9d, 0x11, 0xb6, 0x78, 0xe7, 0xaa, + 0xeb, 0xe0, 0xd8, 0x00, 0x55, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, + 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x08, 0x9d, 0x5a, + 0xed, 0x58, 0xa4, 0x0f, 0x87, 0xb3, 0x3b, 0xf3, 0x76, 0x5e, 0x82, 0x00, 0xa5, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, + 0x94, 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<::geometry_msgs::msg::dds_::QuaternionStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::QuaternionStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::QuaternionStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::QuaternionStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::QuaternionStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.quaternion(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::QuaternionStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::QuaternionStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::QuaternionStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.quaternion(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::QuaternionStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::QuaternionStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::QuaternionStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.quaternion(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::QuaternionStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::QuaternionStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::QuaternionStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.quaternion(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::QuaternionStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::QuaternionStamped_>(); + 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_ROS2_QUATERNIONSTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Quaternion_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Quaternion_.hpp new file mode 100644 index 0000000..1ab2559 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Quaternion_.hpp @@ -0,0 +1,383 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Quaternion_.idl + Source: Quaternion_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_QUATERNION__HPP +#define DDSCXX_UNITREE_IDL_ROS2_QUATERNION__HPP + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Quaternion_ +{ +private: + double x_ = 0.0; + double y_ = 0.0; + double z_ = 0.0; + double w_ = 0.0; + +public: + Quaternion_() = default; + + explicit Quaternion_( + double x, + double y, + double z, + double w) : + x_(x), + y_(y), + z_(z), + w_(w) { } + + double x() const { return this->x_; } + double& x() { return this->x_; } + void x(double _val_) { this->x_ = _val_; } + double y() const { return this->y_; } + double& y() { return this->y_; } + void y(double _val_) { this->y_ = _val_; } + double z() const { return this->z_; } + double& z() { return this->z_; } + void z(double _val_) { this->z_ = _val_; } + double w() const { return this->w_; } + double& w() { return this->w_; } + void w(double _val_) { this->w_ = _val_; } + + bool operator==(const Quaternion_& _other) const + { + (void) _other; + return x_ == _other.x_ && + y_ == _other.y_ && + z_ == _other.z_ && + w_ == _other.w_; + } + + bool operator!=(const Quaternion_& _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<::geometry_msgs::msg::dds_::Quaternion_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Quaternion_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::type_map_blob_sz() { return 322; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::type_map_blob() { + static const uint8_t blob[] = { + 0x6b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, + 0x4b, 0x34, 0x86, 0x46, 0xa9, 0x62, 0xa1, 0x00, 0x53, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, 0xad, 0xe9, 0xe3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xf1, 0x29, 0x01, 0x86, 0x00, + 0xa8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, + 0x80, 0x58, 0xc3, 0xa8, 0xda, 0xe3, 0x52, 0x00, 0x90, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x51, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, + 0x5f, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, + 0xda, 0xe3, 0x52, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, 0xa9, + 0x62, 0xa1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x2e, 0xd7, 0x30, 0x7b, 0x8e, 0xc5, 0x7c, 0x4b, 0x34, 0x86, 0x46, + 0xa9, 0x62, 0xa1, 0x00, 0x57, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x6f, 0x01, 0xea, 0x49, 0x00, 0xbc, 0x02, 0x80, 0x58, 0xc3, 0xa8, + 0xda, 0xe3, 0x52, 0x00, 0x94, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::geometry_msgs::msg::dds_::Quaternion_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Quaternion_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Quaternion_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Quaternion_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Quaternion_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.w())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Quaternion_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Quaternion_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Quaternion_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.w())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Quaternion_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Quaternion_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Quaternion_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.w())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Quaternion_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Quaternion_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Quaternion_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 3: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.w())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Quaternion_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Quaternion_>(); + 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_ROS2_QUATERNION__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/String_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/String_.hpp new file mode 100644 index 0000000..b85ca71 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/String_.hpp @@ -0,0 +1,266 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: String_.idl + Source: String_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_STRING__HPP +#define DDSCXX_UNITREE_IDL_ROS2_STRING__HPP + +#include + +namespace std_msgs +{ +namespace msg +{ +namespace dds_ +{ +class String_ +{ +private: + std::string data_; + +public: + String_() = default; + + explicit String_( + const std::string& data) : + data_(data) { } + + const std::string& data() const { return this->data_; } + std::string& data() { return this->data_; } + void data(const std::string& _val_) { this->data_ = _val_; } + void data(std::string&& _val_) { this->data_ = _val_; } + + bool operator==(const String_& _other) const + { + (void) _other; + return data_ == _other.data_; + } + + bool operator!=(const String_& _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<::std_msgs::msg::dds_::String_>::getTypeName() +{ + return "std_msgs::msg::dds_::String_"; +} + +template <> constexpr bool TopicTraits<::std_msgs::msg::dds_::String_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::std_msgs::msg::dds_::String_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::std_msgs::msg::dds_::String_>::type_map_blob_sz() { return 210; } +template<> constexpr unsigned int TopicTraits<::std_msgs::msg::dds_::String_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::std_msgs::msg::dds_::String_>::type_map_blob() { + static const uint8_t blob[] = { + 0x3c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x59, 0x65, 0x6d, 0x08, 0x0a, 0xb9, 0x26, + 0xa3, 0x33, 0xa6, 0x9d, 0x26, 0x9c, 0xb1, 0x00, 0x24, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x8d, 0x77, 0x7f, 0x38, + 0x67, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc3, 0xda, 0x80, 0xd6, 0x38, 0xe9, 0x1b, + 0x9f, 0xad, 0x0a, 0x6b, 0x76, 0x5c, 0xc2, 0x00, 0x4f, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x00, 0x00, 0x73, 0x74, 0x64, 0x5f, + 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, + 0x3a, 0x53, 0x74, 0x72, 0x69, 0x6e, 0x67, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc3, 0xda, 0x80, 0xd6, 0x38, 0xe9, 0x1b, 0x9f, 0xad, 0x0a, 0x6b, + 0x76, 0x5c, 0xc2, 0xf1, 0x59, 0x65, 0x6d, 0x08, 0x0a, 0xb9, 0x26, 0xa3, 0x33, 0xa6, 0x9d, 0x26, + 0x9c, 0xb1, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::std_msgs::msg::dds_::String_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x59, 0x65, 0x6d, 0x08, 0x0a, 0xb9, 0x26, 0xa3, 0x33, 0xa6, 0x9d, + 0x26, 0x9c, 0xb1, 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc3, 0xda, 0x80, 0xd6, 0x38, 0xe9, 0x1b, 0x9f, 0xad, 0x0a, 0x6b, + 0x76, 0x5c, 0xc2, 0x00, 0x53, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::std_msgs::msg::dds_::String_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::std_msgs::msg::dds_::String_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::std_msgs::msg::dds_::String_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::std_msgs::msg::dds_::String_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::std_msgs::msg::dds_::String_& 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_string(streamer, instance.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::std_msgs::msg::dds_::String_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::String_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::std_msgs::msg::dds_::String_& 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.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::std_msgs::msg::dds_::String_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::String_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::std_msgs::msg::dds_::String_& 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.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::std_msgs::msg::dds_::String_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::String_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::std_msgs::msg::dds_::String_& 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.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::std_msgs::msg::dds_::String_& instance, bool as_key) { + auto &props = get_type_props<::std_msgs::msg::dds_::String_>(); + 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_ROS2_STRING__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Time_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Time_.hpp new file mode 100644 index 0000000..2489c5e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Time_.hpp @@ -0,0 +1,302 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Time_.idl + Source: Time_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_TIME__HPP +#define DDSCXX_UNITREE_IDL_ROS2_TIME__HPP + +#include + +namespace builtin_interfaces +{ +namespace msg +{ +namespace dds_ +{ +class Time_ +{ +private: + int32_t sec_ = 0; + uint32_t nanosec_ = 0; + +public: + Time_() = default; + + explicit Time_( + int32_t sec, + uint32_t nanosec) : + sec_(sec), + nanosec_(nanosec) { } + + int32_t sec() const { return this->sec_; } + int32_t& sec() { return this->sec_; } + void sec(int32_t _val_) { this->sec_ = _val_; } + uint32_t nanosec() const { return this->nanosec_; } + uint32_t& nanosec() { return this->nanosec_; } + void nanosec(uint32_t _val_) { this->nanosec_ = _val_; } + + bool operator==(const Time_& _other) const + { + (void) _other; + return sec_ == _other.sec_ && + nanosec_ == _other.nanosec_; + } + + bool operator!=(const Time_& _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<::builtin_interfaces::msg::dds_::Time_>::getTypeName() +{ + return "builtin_interfaces::msg::dds_::Time_"; +} + +template <> constexpr bool TopicTraits<::builtin_interfaces::msg::dds_::Time_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::builtin_interfaces::msg::dds_::Time_>::type_map_blob_sz() { return 262; } +template<> constexpr unsigned int TopicTraits<::builtin_interfaces::msg::dds_::Time_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::builtin_interfaces::msg::dds_::Time_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, + 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00, + 0x8a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x72, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x62, 0x75, 0x69, 0x6c, + 0x74, 0x69, 0x6e, 0x5f, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x73, 0x3a, 0x3a, + 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x54, 0x69, 0x6d, 0x65, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x73, 0x65, 0x63, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, + 0x08, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6e, 0x6f, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, + 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::builtin_interfaces::msg::dds_::Time_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, + 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, + 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::builtin_interfaces::msg::dds_::Time_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::builtin_interfaces::msg::dds_::Time_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::builtin_interfaces::msg::dds_::Time_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::builtin_interfaces::msg::dds_::Time_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::builtin_interfaces::msg::dds_::Time_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::builtin_interfaces::msg::dds_::Time_& instance, bool as_key) { + auto &props = get_type_props<::builtin_interfaces::msg::dds_::Time_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::builtin_interfaces::msg::dds_::Time_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::builtin_interfaces::msg::dds_::Time_& instance, bool as_key) { + auto &props = get_type_props<::builtin_interfaces::msg::dds_::Time_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::builtin_interfaces::msg::dds_::Time_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::builtin_interfaces::msg::dds_::Time_& instance, bool as_key) { + auto &props = get_type_props<::builtin_interfaces::msg::dds_::Time_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::builtin_interfaces::msg::dds_::Time_& 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.sec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.nanosec())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::builtin_interfaces::msg::dds_::Time_& instance, bool as_key) { + auto &props = get_type_props<::builtin_interfaces::msg::dds_::Time_>(); + 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_ROS2_TIME__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/TwistStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistStamped_.hpp new file mode 100644 index 0000000..3e351e5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistStamped_.hpp @@ -0,0 +1,394 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: TwistStamped_.idl + Source: TwistStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_TWISTSTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_TWISTSTAMPED__HPP + +#include "unitree/idl/ros2/Twist_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class TwistStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::Twist_ twist_; + +public: + TwistStamped_() = default; + + explicit TwistStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::Twist_& twist) : + header_(header), + twist_(twist) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::Twist_& twist() const { return this->twist_; } + ::geometry_msgs::msg::dds_::Twist_& twist() { return this->twist_; } + void twist(const ::geometry_msgs::msg::dds_::Twist_& _val_) { this->twist_ = _val_; } + void twist(::geometry_msgs::msg::dds_::Twist_&& _val_) { this->twist_ = _val_; } + + bool operator==(const TwistStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + twist_ == _other.twist_; + } + + bool operator!=(const TwistStamped_& _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<::geometry_msgs::msg::dds_::TwistStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::TwistStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::type_map_blob_sz() { return 1378; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::type_info_blob_sz() { return 292; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0xc3, 0x01, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0xf1, 0x73, 0xe5, 0x49, 0xa3, 0xc7, 0xc7, 0x09, + 0x40, 0xe3, 0xe7, 0xba, 0xfb, 0x9f, 0x5d, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, + 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0xeb, 0x3b, 0xac, 0x16, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x44, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, + 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, + 0x8d, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x4b, 0xb3, 0x9c, 0x5c, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, + 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 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0xbe, 0x2e, 0x36, 0xde, 0xf1, 0x73, 0xe5, 0x49, 0xa3, + 0xc7, 0xc7, 0x09, 0x40, 0xe3, 0xe7, 0xba, 0xfb, 0x9f, 0x5d, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, + 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, + 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, + 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, + 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, + 0x3c, 0xfb, 0x2b, 0x52, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, + 0x78, 0xfd, 0x32, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, + 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::type_info_blob() { + static const uint8_t blob[] = { + 0x20, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x73, 0xe5, 0x49, 0xa3, 0xc7, 0xc7, 0x09, 0x40, 0xe3, 0xe7, 0xba, + 0xfb, 0x9f, 0x5d, 0x00, 0x55, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, + 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, + 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x47, 0x67, 0x84, 0x3d, 0x44, 0x90, 0x86, 0x2d, 0xa2, 0x41, 0xbe, + 0x2e, 0x36, 0xde, 0x00, 0x98, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, + 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, + 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, + 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, + 0x7c, 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<::geometry_msgs::msg::dds_::TwistStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::TwistStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::TwistStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::TwistStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::TwistStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::TwistStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::TwistStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::TwistStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::TwistStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::TwistStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::TwistStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::TwistStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistStamped_>(); + 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_ROS2_TWISTSTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp new file mode 100644 index 0000000..a1b1384 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp @@ -0,0 +1,417 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: TwistWithCovarianceStamped_.idl + Source: TwistWithCovarianceStamped_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_TWISTWITHCOVARIANCESTAMPED__HPP +#define DDSCXX_UNITREE_IDL_ROS2_TWISTWITHCOVARIANCESTAMPED__HPP + +#include "unitree/idl/ros2/TwistWithCovariance_.hpp" + +#include "unitree/idl/ros2/Header_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class TwistWithCovarianceStamped_ +{ +private: + ::std_msgs::msg::dds_::Header_ header_; + ::geometry_msgs::msg::dds_::TwistWithCovariance_ twist_; + +public: + TwistWithCovarianceStamped_() = default; + + explicit TwistWithCovarianceStamped_( + const ::std_msgs::msg::dds_::Header_& header, + const ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist) : + header_(header), + twist_(twist) { } + + const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; } + ::std_msgs::msg::dds_::Header_& header() { return this->header_; } + void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; } + void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; } + const ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist() const { return this->twist_; } + ::geometry_msgs::msg::dds_::TwistWithCovariance_& twist() { return this->twist_; } + void twist(const ::geometry_msgs::msg::dds_::TwistWithCovariance_& _val_) { this->twist_ = _val_; } + void twist(::geometry_msgs::msg::dds_::TwistWithCovariance_&& _val_) { this->twist_ = _val_; } + + bool operator==(const TwistWithCovarianceStamped_& _other) const + { + (void) _other; + return header_ == _other.header_ && + twist_ == _other.twist_; + } + + bool operator!=(const TwistWithCovarianceStamped_& _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<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::TwistWithCovarianceStamped_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::type_map_blob_sz() { return 1696; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::type_info_blob_sz() { return 340; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::type_map_blob() { + static const uint8_t blob[] = { + 0x27, 0x02, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0xf1, 0x6b, 0x99, 0xff, 0x52, 0x31, 0x98, 0x5f, + 0xa5, 0x4d, 0x78, 0x46, 0x89, 0xff, 0xf4, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, + 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, + 0x44, 0x45, 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0xeb, 0x3b, 0xac, 0x16, 0xf1, 0xdc, 0xf1, + 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x44, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x56, + 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x96, 0xb8, 0xc7, + 0x8d, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, + 0x4b, 0xb3, 0x9c, 0x5c, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, + 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0xf1, 0x40, 0xaa, 0x70, 0xe1, + 0xf7, 0x44, 0x45, 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0x00, 0x00, 0x4e, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x28, + 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0xeb, 0x3b, 0xac, + 0x16, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x24, 0x0a, 0xac, 0xdb, 0x06, 0x55, 0xf1, 0x28, + 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, 0x00, 0x00, + 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 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const uint8_t blob[] = { + 0x50, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x00, 0x9c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x6b, 0x99, 0xff, 0x52, 0x31, 0x98, 0x5f, 0xa5, 0x4d, 0x78, 0x46, + 0x89, 0xff, 0xf4, 0x00, 0x55, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, + 0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, 0x44, 0x45, + 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0x00, 0x52, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, + 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0xa0, 0x00, 0x00, 0x00, 0x9c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x4d, 0x3f, 0xc8, + 0x81, 0x9c, 0xdd, 0x5f, 0x9e, 0x68, 0x92, 0x3d, 0xe6, 0x2d, 0xf3, 0x00, 0xa8, 0x00, 0x00, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00, + 0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, + 0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xf5, 0xc6, 0x39, 0xf6, 0x33, 0xf1, 0x5a, 0x6d, 0x7b, 0xe3, 0xa4, 0x7b, 0x7e, 0x15, 0x00, + 0x9d, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, + 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, + 0x7c, 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<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovarianceStamped_>(); + 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_ROS2_TWISTWITHCOVARIANCESTAMPED__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovariance_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovariance_.hpp new file mode 100644 index 0000000..35660f9 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/TwistWithCovariance_.hpp @@ -0,0 +1,367 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: TwistWithCovariance_.idl + Source: TwistWithCovariance_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_TWISTWITHCOVARIANCE__HPP +#define DDSCXX_UNITREE_IDL_ROS2_TWISTWITHCOVARIANCE__HPP + +#include "unitree/idl/ros2/Twist_.hpp" + +#include + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class TwistWithCovariance_ +{ +private: + ::geometry_msgs::msg::dds_::Twist_ twist_; + std::array covariance_ = { }; + +public: + TwistWithCovariance_() = default; + + explicit TwistWithCovariance_( + const ::geometry_msgs::msg::dds_::Twist_& twist, + const std::array& covariance) : + twist_(twist), + covariance_(covariance) { } + + const ::geometry_msgs::msg::dds_::Twist_& twist() const { return this->twist_; } + ::geometry_msgs::msg::dds_::Twist_& twist() { return this->twist_; } + void twist(const ::geometry_msgs::msg::dds_::Twist_& _val_) { this->twist_ = _val_; } + void twist(::geometry_msgs::msg::dds_::Twist_&& _val_) { this->twist_ = _val_; } + const std::array& covariance() const { return this->covariance_; } + std::array& covariance() { return this->covariance_; } + void covariance(const std::array& _val_) { this->covariance_ = _val_; } + void covariance(std::array&& _val_) { this->covariance_ = _val_; } + + bool operator==(const TwistWithCovariance_& _other) const + { + (void) _other; + return twist_ == _other.twist_ && + covariance_ == _other.covariance_; + } + + bool operator!=(const TwistWithCovariance_& _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<::geometry_msgs::msg::dds_::TwistWithCovariance_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::TwistWithCovariance_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::type_map_blob_sz() { return 882; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::type_info_blob_sz() { return 196; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::type_map_blob() { + static const uint8_t blob[] = { + 0x23, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, 0x44, 0x45, + 0x66, 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0x00, 0x4e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, + 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0xeb, 0x3b, 0xac, 0x16, 0x00, 0x00, 0x00, + 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x24, 0x0a, 0xac, 0xdb, 0x06, 0x55, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, + 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, 0x00, 0x00, 0x51, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, + 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x9a, 0x93, 0x2b, + 0x3c, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, + 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xd1, 0x8b, 0x86, + 0x24, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, + 0x43, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x33, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0xfb, 0xad, 0xe9, 0xe3, 0x00, 0xe4, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0xf2, 0xf5, 0xc6, 0x39, 0xf6, 0x33, 0xf1, 0x5a, 0x6d, 0x7b, 0xe3, 0xa4, 0x7b, 0x7e, 0x15, 0x00, + 0x99, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x2f, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, + 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x54, 0x77, + 0x69, 0x73, 0x74, 0x57, 0x69, 0x74, 0x68, 0x43, 0x6f, 0x76, 0x61, 0x72, 0x69, 0x61, 0x6e, 0x63, + 0x65, 0x5f, 0x00, 0x00, 0x55, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, + 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x74, 0x77, 0x69, 0x73, + 0x74, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x24, 0x0a, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x63, 0x6f, 0x76, 0x61, 0x72, 0x69, 0x61, 0x6e, 0x63, 0x65, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, + 0xb6, 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x92, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, + 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, + 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x54, 0x77, 0x69, 0x73, 0x74, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, + 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0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, + 0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0xf5, 0xc6, 0x39, 0xf6, 0x33, 0xf1, 0x5a, + 0x6d, 0x7b, 0xe3, 0xa4, 0x7b, 0x7e, 0x15, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, 0x44, 0x45, 0x66, + 0x8e, 0xcd, 0x3e, 0x4a, 0x4b, 0xa6, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, + 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, + 0x3c, 0xfb, 0x2b, 0x52, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, + 0x78, 0xfd, 0x32, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, + 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::type_info_blob() { + static const uint8_t blob[] = { + 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x40, 0xaa, 0x70, 0xe1, 0xf7, 0x44, 0x45, 0x66, 0x8e, 0xcd, 0x3e, + 0x4a, 0x4b, 0xa6, 0x00, 0x52, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, + 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, + 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf5, 0xc6, 0x39, 0xf6, 0x33, 0xf1, 0x5a, 0x6d, 0x7b, 0xe3, 0xa4, + 0x7b, 0x7e, 0x15, 0x00, 0x9d, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, + 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x96, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, + 0x7c, 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<::geometry_msgs::msg::dds_::TwistWithCovariance_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::TwistWithCovariance_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::TwistWithCovariance_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::TwistWithCovariance_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& 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.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!write(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::TwistWithCovariance_& 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.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!read(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::TwistWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& 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.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!move(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovariance_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& 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.twist(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(true, true)) + return false; + if (!max(streamer, instance.covariance()[0], instance.covariance().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::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::TwistWithCovariance_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::TwistWithCovariance_>(); + 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_ROS2_TWISTWITHCOVARIANCE__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Twist_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Twist_.hpp new file mode 100644 index 0000000..5d63f3c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Twist_.hpp @@ -0,0 +1,328 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Twist_.idl + Source: Twist_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_TWIST__HPP +#define DDSCXX_UNITREE_IDL_ROS2_TWIST__HPP + +#include "unitree/idl/ros2/Vector3_.hpp" + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Twist_ +{ +private: + ::geometry_msgs::msg::dds_::Vector3_ linear_; + ::geometry_msgs::msg::dds_::Vector3_ angular_; + +public: + Twist_() = default; + + explicit Twist_( + const ::geometry_msgs::msg::dds_::Vector3_& linear, + const ::geometry_msgs::msg::dds_::Vector3_& angular) : + linear_(linear), + angular_(angular) { } + + const ::geometry_msgs::msg::dds_::Vector3_& linear() const { return this->linear_; } + ::geometry_msgs::msg::dds_::Vector3_& linear() { return this->linear_; } + void linear(const ::geometry_msgs::msg::dds_::Vector3_& _val_) { this->linear_ = _val_; } + void linear(::geometry_msgs::msg::dds_::Vector3_&& _val_) { this->linear_ = _val_; } + const ::geometry_msgs::msg::dds_::Vector3_& angular() const { return this->angular_; } + ::geometry_msgs::msg::dds_::Vector3_& angular() { return this->angular_; } + void angular(const ::geometry_msgs::msg::dds_::Vector3_& _val_) { this->angular_ = _val_; } + void angular(::geometry_msgs::msg::dds_::Vector3_&& _val_) { this->angular_ = _val_; } + + bool operator==(const Twist_& _other) const + { + (void) _other; + return linear_ == _other.linear_ && + angular_ == _other.angular_; + } + + bool operator!=(const Twist_& _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<::geometry_msgs::msg::dds_::Twist_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Twist_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Twist_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Twist_>::type_map_blob_sz() { return 580; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Twist_>::type_info_blob_sz() { return 148; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Twist_>::type_map_blob() { + static const uint8_t blob[] = { + 0xbf, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, + 0x84, 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, + 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x9a, 0x93, 0x2b, 0x3c, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, + 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0xd1, 0x8b, 0x86, 0x24, 0xf1, 0x5e, 0x73, + 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x43, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, + 0xd4, 0xe4, 0x61, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, + 0x52, 0x90, 0x76, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, + 0xad, 0xe9, 0xe3, 0x00, 0x38, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, + 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x92, 0x00, 0x00, 0x00, + 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, + 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, + 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x54, 0x77, 0x69, 0x73, 0x74, 0x5f, + 0x00, 0x00, 0x00, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, + 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x6c, 0x69, 0x6e, 0x65, + 0x61, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, + 0x32, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x61, 0x6e, 0x67, 0x75, 0x6c, 0x61, 0x72, 0x00, + 0x00, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, + 0x32, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, 0x65, 0x74, 0x72, 0x79, + 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, + 0x3a, 0x3a, 0x56, 0x65, 0x63, 0x74, 0x6f, 0x72, 0x33, 0x5f, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x7a, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, 0x2b, 0xd5, 0x53, 0x1f, + 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, + 0x6f, 0x1b, 0x3c, 0xfb, 0x2b, 0x52, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, + 0xda, 0xb3, 0x78, 0xfd, 0x32, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, + 0x76, 0xcd, 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Twist_>::type_info_blob() { + static const uint8_t blob[] = { + 0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x28, 0xcf, 0x21, 0x56, 0x4e, 0xbe, 0xe5, 0x84, 0x6f, 0x1b, 0x3c, + 0xfb, 0x2b, 0x52, 0x00, 0x55, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x66, 0x9d, 0xb6, + 0x2b, 0xd5, 0x53, 0x1f, 0x0b, 0xe5, 0x2c, 0x2a, 0x17, 0x6d, 0x6f, 0x00, 0x96, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, + 0x7c, 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<::geometry_msgs::msg::dds_::Twist_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Twist_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Twist_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Twist_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Twist_& 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.linear(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.angular(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Twist_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Twist_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Twist_& 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.linear(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.angular(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Twist_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Twist_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Twist_& 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.linear(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.angular(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Twist_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Twist_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Twist_& 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.linear(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.angular(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Twist_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Twist_>(); + 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_ROS2_TWIST__HPP diff --git a/deps/unitree_sdk2/include/unitree/idl/ros2/Vector3_.hpp b/deps/unitree_sdk2/include/unitree/idl/ros2/Vector3_.hpp new file mode 100644 index 0000000..d4f6633 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/idl/ros2/Vector3_.hpp @@ -0,0 +1,341 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Vector3_.idl + Source: Vector3_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_UNITREE_IDL_ROS2_VECTOR3__HPP +#define DDSCXX_UNITREE_IDL_ROS2_VECTOR3__HPP + + +namespace geometry_msgs +{ +namespace msg +{ +namespace dds_ +{ +class Vector3_ +{ +private: + double x_ = 0.0; + double y_ = 0.0; + double z_ = 0.0; + +public: + Vector3_() = default; + + explicit Vector3_( + double x, + double y, + double z) : + x_(x), + y_(y), + z_(z) { } + + double x() const { return this->x_; } + double& x() { return this->x_; } + void x(double _val_) { this->x_ = _val_; } + double y() const { return this->y_; } + double& y() { return this->y_; } + void y(double _val_) { this->y_ = _val_; } + double z() const { return this->z_; } + double& z() { return this->z_; } + void z(double _val_) { this->z_ = _val_; } + + bool operator==(const Vector3_& _other) const + { + (void) _other; + return x_ == _other.x_ && + y_ == _other.y_ && + z_ == _other.z_; + } + + bool operator!=(const Vector3_& _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<::geometry_msgs::msg::dds_::Vector3_>::getTypeName() +{ + return "geometry_msgs::msg::dds_::Vector3_"; +} + +template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::type_map_blob_sz() { return 282; } +template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::type_map_blob() { + static const uint8_t blob[] = { + 0x5b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, + 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, 0x00, 0x43, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x9d, 0xd4, 0xe4, 0x61, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x41, 0x52, 0x90, 0x76, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xfb, 0xad, 0xe9, 0xe3, 0x00, + 0x90, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, + 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0x00, 0x78, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x67, 0x65, 0x6f, 0x6d, + 0x65, 0x74, 0x72, 0x79, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, + 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x56, 0x65, 0x63, 0x74, 0x6f, 0x72, 0x33, 0x5f, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x7a, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xac, 0xe2, 0x5e, + 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, 0x78, 0xfd, 0x32, 0xf1, 0x5e, 0x73, 0x97, 0xe7, + 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, 0xcd, 0x4c, 0xbc, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5e, 0x73, 0x97, 0xe7, 0xe8, 0x64, 0x40, 0xdf, 0x64, 0xaf, 0x76, + 0xcd, 0x4c, 0xbc, 0x00, 0x47, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xac, 0xe2, 0x5e, 0x59, 0xb0, 0x1a, 0x7a, 0x3a, 0x5c, 0xda, 0xb3, + 0x78, 0xfd, 0x32, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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<::geometry_msgs::msg::dds_::Vector3_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::Vector3_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::Vector3_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::geometry_msgs::msg::dds_::Vector3_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::geometry_msgs::msg::dds_::Vector3_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::geometry_msgs::msg::dds_::Vector3_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Vector3_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::geometry_msgs::msg::dds_::Vector3_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::geometry_msgs::msg::dds_::Vector3_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Vector3_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::geometry_msgs::msg::dds_::Vector3_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::geometry_msgs::msg::dds_::Vector3_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Vector3_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::geometry_msgs::msg::dds_::Vector3_& 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.x())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.y())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.z())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::geometry_msgs::msg::dds_::Vector3_& instance, bool as_key) { + auto &props = get_type_props<::geometry_msgs::msg::dds_::Vector3_>(); + 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_ROS2_VECTOR3__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_api.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_api.hpp new file mode 100644 index 0000000..b8af5d4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_api.hpp @@ -0,0 +1,94 @@ +#ifndef __UT_ROBOT_A2_AUDIO_API_HPP__ +#define __UT_ROBOT_A2_AUDIO_API_HPP__ + +#include +// #include + +namespace unitree { +namespace robot { +namespace a2 { +/*service name*/ +const std::string AUDIO_SERVICE_NAME = "voice"; + +/*api version*/ +const std::string AUDIO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_AUDIO_TTS = 1001; +const int32_t ROBOT_API_ID_AUDIO_ASR = 1002; +const int32_t ROBOT_API_ID_AUDIO_START_PLAY = 1003; +const int32_t ROBOT_API_ID_AUDIO_STOP_PLAY = 1004; +const int32_t ROBOT_API_ID_AUDIO_GET_VOLUME = 1005; +const int32_t ROBOT_API_ID_AUDIO_SET_VOLUME = 1006; +const int32_t ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010; + +class TtsMakerParameter : public common::Jsonize { + public: + TtsMakerParameter() {} + ~TtsMakerParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(index, json["index"]); + common::ToJson(speaker_id, json["speaker_id"]); + common::ToJson(text, json["text"]); + } + + int32_t index = 0; + uint16_t speaker_id = 0; + std::string text; +}; + +class PlayStreamParameter : public common::Jsonize { + public: + PlayStreamParameter() {} + ~PlayStreamParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + common::ToJson(stream_id, json["stream_id"]); + } + + std::string app_name; + std::string stream_id; +}; + +class PlayStopParameter : public common::Jsonize { + public: + PlayStopParameter() {} + ~PlayStopParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + } + + std::string app_name; +}; + +class LedControlParameter : public common::Jsonize { + public: + LedControlParameter() {} + ~LedControlParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(R, json["R"]); + common::ToJson(G, json["G"]); + common::ToJson(B, json["B"]); + } + + uint8_t R; + uint8_t G; + uint8_t B; +}; +} // namespace A2 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_A2_AUDIO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_client.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_client.hpp new file mode 100644 index 0000000..3bf1397 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_client.hpp @@ -0,0 +1,110 @@ +#ifndef __UT_ROBOT_A2_AUDIO_CLIENT_HPP__ +#define __UT_ROBOT_A2_AUDIO_CLIENT_HPP__ + +#include +#include +#include + +#include "audio_api.hpp" + +namespace unitree { +namespace robot { +namespace a2 { +class AudioClient : public Client { + public: + AudioClient() : Client(AUDIO_SERVICE_NAME, false) {} + ~AudioClient() {} + + /*Init*/ + void Init() { + SetApiVersion(AUDIO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_TTS); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_ASR); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_START_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_STOP_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_GET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_RGB_LED); + }; + + /*API Call*/ + int32_t TtsMaker(const std::string& text, int32_t speaker_id) { + std::string parameter, data; + TtsMakerParameter json; + + json.index = tts_index++; + json.text = text; + json.speaker_id = speaker_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_TTS, parameter, data); + } + + int32_t GetVolume(uint8_t& volume) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter, data); + if (ret == 0) { + unitree::robot::go2::JsonizeCommObjInt json; + json.name = "volume"; + common::FromJsonString(data, json); + volume = json.value; + } + + return ret; + } + + int32_t SetVolume(uint8_t volume) { + std::string parameter, data; + unitree::robot::go2::JsonizeCommObjInt json; + + json.value = volume; + json.name = "volume"; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter, data); + } + + int32_t PlayStream(std::string app_name, std::string stream_id, + std::vector pcm_data) { + std::string parameter; + PlayStreamParameter json; + + json.app_name = app_name; + json.stream_id = stream_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_START_PLAY, parameter, pcm_data); + } + + int32_t PlayStop(std::string app_name) { + std::string parameter, data; + PlayStopParameter json; + + json.app_name = app_name; + parameter = common::ToJsonString(json); + + Call(ROBOT_API_ID_AUDIO_STOP_PLAY, parameter, data); + return 0; + } + + int32_t LedControl(uint8_t R, uint8_t G, uint8_t B) { + std::string parameter, data; + LedControlParameter json; + + json.R = R; + json.G = G; + json.B = B; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter, data); + } + + private: + uint32_t tts_index = 0; +}; +} // namespace a2 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_A2_AUDIO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_error.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_error.hpp new file mode 100644 index 0000000..4605c2b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/audio/audio_error.hpp @@ -0,0 +1,14 @@ +#ifndef __UT_ROBOT_A2_AUDIO_ERROR_HPP__ +#define __UT_ROBOT_A2_AUDIO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace a2 { +UT_DECL_ERR(UT_ROBOT_AUDIO_ERR_COMM, 100, "Invalid parameter ") +} // namespace a2 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_A2_AUDIO_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_api.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_api.hpp new file mode 100644 index 0000000..e46ae55 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_api.hpp @@ -0,0 +1,54 @@ +#ifndef __UT_ROBOT_A2_SPORT_API_HPP__ +#define __UT_ROBOT_A2_SPORT_API_HPP__ + +#include +namespace unitree +{ + namespace robot + { + namespace a2 + { + /*service name*/ + const std::string ROBOT_SPORT_SERVICE_NAME = "sport"; + + /*api version*/ + const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1"; + + /*api id*/ + // Set motion + const int32_t ROBOT_SPORT_API_ID_DAMP = 1001; + const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002; + const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003; + const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004; + const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005; + const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006; + const int32_t ROBOT_SPORT_API_ID_EULER = 1007; + const int32_t ROBOT_SPORT_API_ID_MOVE = 1008; + const int32_t ROBOT_SPORT_API_ID_BODYPOSITION = 1009; + const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT = 1011; + const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT = 1013; + const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015; + + const int32_t ROBOT_SPORT_API_ID_LEFTSIDEGAIT = 1016; + const int32_t ROBOT_SPORT_API_ID_RIGHTSIDEGAIT = 1017; + const int32_t ROBOT_SPORT_API_ID_HANDSTAND = 1018; + const int32_t ROBOT_SPORT_API_ID_BIPEDSTAND = 1019; + const int32_t ROBOT_SPORT_API_ID_FRONTFLIP = 1020; + const int32_t ROBOT_SPORT_API_ID_BACKFLIP = 1021; + + const int32_t ROBOT_SPORT_API_ID_SETAUTORECOVERY = 1040; + + const int32_t ROBOT_SPORT_API_ID_RESET_ESTIMATOR = 1111; + + // Get state + const int32_t ROBOT_SPORT_API_ID_GETSTATE = 1034; + + // Trajectory + const int32_t ROBOT_SPORT_API_ID_TRAJECTORY = 1035; + + } + + } +} + +#endif //__UT_ROBOT_A2_SPORT_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_client.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_client.hpp new file mode 100644 index 0000000..b56906e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_client.hpp @@ -0,0 +1,307 @@ +#ifndef __UT_ROBOT_A2_SPORT_CLIENT_HPP__ +#define __UT_ROBOT_A2_SPORT_CLIENT_HPP__ + +#include +#include +#include +#include "sport_api.hpp" + +namespace unitree +{ + namespace robot + { + namespace a2 + { + const int ID_PASSIVE = 0; + const int ID_STAND_DOWN = 1; + const int ID_STAND_UP = 2; + const int ID_DEFAULT_MODE = 3; + const int ID_RUNNING_MODE = 4; + const int ID_CLIMB_MODE = 5; + const int ID_LEFT_SIDE_GAIT = 6; + const int ID_RIGHT_SIDE_GAIT = 7; + const int ID_HANDSTAND = 8; + const int ID_BIPED_STAND = 9; + const int ID_FRONT_FLIP = 10; + const int ID_BACK_FLIP = 11; + const int ID_RECOVERY = 12; + const int ID_BASE_HEIGHT_CTRL = 13; + const int ID_POSE = 14; + const int ID_EULER = 15; + + class PoseVec4 : public common::Jsonize + { + public: + PoseVec4() : x(0.0F), y(0.0F), z(0.0F), yaw(0.0F) + { + } + + ~PoseVec4() + { + } + + void fromJson(common::JsonMap &json) + { + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["z"], z); + common::FromJson(json["yaw"], yaw); + } + + void toJson(common::JsonMap &json) const + { + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(z, json["z"]); + common::ToJson(yaw, json["yaw"]); + } + + public: + float x; + float y; + float z; + float yaw; + }; + + struct PathPoint + { + float t_from_start = 0; + float x = 0; + float y = 0; + float yaw = 0; + }; + + class SportClient : public Client + { + public: + SportClient() : Client(ROBOT_SPORT_SERVICE_NAME, false) {} + ~SportClient() {} + + /*Init*/ + void Init() + { + SetApiVersion(ROBOT_SPORT_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DAMP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BALANCESTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STOPMOVE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDUP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDDOWN); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RECOVERYSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_EULER); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_MOVE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SWITCHGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYHEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SPEEDLEVEL); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SETAUTORECOVERY); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYPOSITION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_LEFTSIDEGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HANDSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BIPEDSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_FRONTFLIP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BACKFLIP); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RESET_ESTIMATOR); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_GETSTATE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_TRAJECTORY); + } + + /*High Level API Call*/ + int32_t Damp() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_DAMP, parameter, data); + } + + int32_t BalanceStand() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_BALANCESTAND, parameter, data); + } + int32_t StopMove() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STOPMOVE, parameter, data); + } + + int32_t StandUp() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STANDUP, parameter, data); + } + + int32_t StandDown() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STANDDOWN, parameter, data); + } + + int32_t RecoveryStand() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_RECOVERYSTAND, parameter, data); + } + + int32_t Euler(float roll, float pitch, float yaw) + { + std::string parameter, data; + go2::JsonizeVec3 json; + json.x = roll; + json.y = pitch; + json.z = yaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_EULER, parameter, data); + } + + int32_t Move(float vx, float vy, float vyaw) + { + std::string parameter, data; + go2::JsonizeVec3 json; + json.x = vx; + json.y = vy; + json.z = vyaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_MOVE, parameter, data); + } + + int32_t SwitchGait(int gait_type) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = gait_type; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SWITCHGAIT, parameter, data); + } + + int32_t BodyHeight(float height) + { + std::string parameter, data; + go2::JsonizeDataFloat json; + json.data = height; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BODYHEIGHT, parameter, data); + } + + int32_t SpeedLevel(int level) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = level; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SPEEDLEVEL, parameter, data); + } + + int32_t BodyPosition(float x, float y, float z, float yaw) + { + std::string parameter, data; + PoseVec4 json; + json.x = x; + json.y = y; + json.z = z; + json.yaw = yaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BODYPOSITION, parameter, data); + } + + int32_t LeftSideGait(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_LEFTSIDEGAIT, parameter, data); + } + + int32_t RightSideGait(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT, parameter, data); + } + + int32_t HandStand(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_HANDSTAND, parameter, data); + } + + int32_t BipedStand(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BIPEDSTAND, parameter, data); + } + + int32_t FrontFlip() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_FRONTFLIP, parameter, data); + } + + int32_t BackFlip() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_BACKFLIP, parameter, data); + } + + int32_t ResetEstimator() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_RESET_ESTIMATOR, parameter, data); + } + + int32_t Trajectory(const std::vector &path, int feedback_mode = 0, + float external_x = 0, float external_y = 0, float external_yaw = 0) + { + std::string parameter, data; + common::JsonMap json; + common::JsonArray json_path; + for (const auto &pt : path) + { + common::JsonMap pt_json; + common::ToJson(pt.t_from_start, pt_json["t_from_start"]); + common::ToJson(pt.x, pt_json["x"]); + common::ToJson(pt.y, pt_json["y"]); + common::ToJson(pt.yaw, pt_json["yaw"]); + json_path.push_back(pt_json); + } + common::ToJson(json_path, json["path"]); + common::ToJson(feedback_mode, json["feedback_mode"]); + common::ToJson(external_x, json["external_x"]); + common::ToJson(external_y, json["external_y"]); + common::ToJson(external_yaw, json["external_yaw"]); + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_TRAJECTORY, parameter, data); + } + + int32_t SetAutoRecovery(int switch_on) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = switch_on; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SETAUTORECOVERY, parameter, data); + } + + int32_t GetState(std::map &state_map) + { + std::string parameter, data; + int32_t ret = Call(ROBOT_SPORT_API_ID_GETSTATE, parameter, data); + common::FromJsonString(data, state_map); + return ret; + } + }; + } // namespace a2 + + } // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_A2_LOCO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_error.hpp b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_error.hpp new file mode 100644 index 0000000..a334b96 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/a2/sport/sport_error.hpp @@ -0,0 +1,18 @@ +#ifndef __UT_ROBOT_A2_SPORT_ERROR_HPP__ +#define __UT_ROBOT_A2_SPORT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace a2 +{ +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME, 4201, "server overtime.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT, 4205, "server function not init.") +} +} +} + +#endif//__UT_ROBOT_A2_SPORT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_api.hpp b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_api.hpp new file mode 100644 index 0000000..2f576e7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_api.hpp @@ -0,0 +1,61 @@ +#ifndef __UT_ROBOT_AS2_SPORT_API_HPP__ +#define __UT_ROBOT_AS2_SPORT_API_HPP__ + +#include +namespace unitree +{ + namespace robot + { + namespace as2 + { + /*service name*/ + const std::string ROBOT_SPORT_SERVICE_NAME = "sport"; + + /*api version*/ + const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1"; + + /*api id*/ + // Set motion + const int32_t ROBOT_SPORT_API_ID_DAMP = 1001; + const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002; + const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003; + const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004; + const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005; + const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006; + const int32_t ROBOT_SPORT_API_ID_EULER = 1007; + const int32_t ROBOT_SPORT_API_ID_MOVE = 1008; + const int32_t ROBOT_SPORT_API_ID_BODYPOSITION = 1009; + const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT = 1011; + const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT = 1013; + const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015; + + const int32_t ROBOT_SPORT_API_ID_LEFTSIDEGAIT = 1016; + const int32_t ROBOT_SPORT_API_ID_RIGHTSIDEGAIT = 1017; + const int32_t ROBOT_SPORT_API_ID_HANDSTAND = 1018; + const int32_t ROBOT_SPORT_API_ID_BIPEDSTAND = 1019; + const int32_t ROBOT_SPORT_API_ID_FRONTFLIP = 1020; + const int32_t ROBOT_SPORT_API_ID_BACKFLIP = 1021; + const int32_t ROBOT_SPORT_API_ID_GREETING = 1022; + const int32_t ROBOT_SPORT_API_ID_HEART = 1023; + const int32_t ROBOT_SPORT_API_ID_CONTENT = 1024; + const int32_t ROBOT_SPORT_API_ID_DANCE1 = 1025; + const int32_t ROBOT_SPORT_API_ID_DANCE2 = 1026; + const int32_t ROBOT_SPORT_API_ID_HANDSHAKE = 1027; + const int32_t ROBOT_SPORT_API_ID_STRETCH = 1028; + const int32_t ROBOT_SPORT_API_ID_SIT = 1029; + const int32_t ROBOT_SPORT_API_ID_FRONTJUMP = 1030; + const int32_t ROBOT_SPORT_API_ID_PUSHUP = 1031; + const int32_t ROBOT_SPORT_API_ID_UPJUMP = 1032; + + const int32_t ROBOT_SPORT_API_ID_SETAUTORECOVERY = 1040; + const int32_t ROBOT_SPORT_API_ID_SWITCHJOYSTICK = 1041; + + // Get state + const int32_t ROBOT_SPORT_API_ID_GETSTATE = 1034; + + } + + } +} + +#endif //__UT_ROBOT_As2_SPORT_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_client.hpp b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_client.hpp new file mode 100644 index 0000000..d1ec5f8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_client.hpp @@ -0,0 +1,340 @@ +#ifndef __UT_ROBOT_AS2_SPORT_CLIENT_HPP__ +#define __UT_ROBOT_AS2_SPORT_CLIENT_HPP__ + +#include +#include +#include +#include "sport_api.hpp" + +namespace unitree +{ + namespace robot + { + namespace as2 + { + class PoseVec4 : public common::Jsonize + { + public: + PoseVec4() : x(0.0F), y(0.0F), z(0.0F), yaw(0.0F) + { + } + + ~PoseVec4() + { + } + + void fromJson(common::JsonMap &json) + { + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["z"], z); + common::FromJson(json["yaw"], yaw); + } + + void toJson(common::JsonMap &json) const + { + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(z, json["z"]); + common::ToJson(yaw, json["yaw"]); + } + + public: + float x; + float y; + float z; + float yaw; + }; + + class SportClient : public Client + { + public: + SportClient() : Client(ROBOT_SPORT_SERVICE_NAME, false) {} + ~SportClient() {} + + /*Init*/ + void Init() + { + SetApiVersion(ROBOT_SPORT_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DAMP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BALANCESTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STOPMOVE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDUP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STANDDOWN); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RECOVERYSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_EULER); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_MOVE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SWITCHGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYHEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SPEEDLEVEL); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SETAUTORECOVERY); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BODYPOSITION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_LEFTSIDEGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HANDSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BIPEDSTAND); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_FRONTFLIP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_BACKFLIP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_GREETING); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HEART); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_CONTENT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DANCE1); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_DANCE2); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_HANDSHAKE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_STRETCH); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SIT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_FRONTJUMP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_PUSHUP); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_UPJUMP); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_SWITCHJOYSTICK); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_SPORT_API_ID_GETSTATE); + } + + /*High Level API Call*/ + int32_t Damp() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_DAMP, parameter, data); + } + + int32_t BalanceStand() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_BALANCESTAND, parameter, data); + } + int32_t StopMove() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STOPMOVE, parameter, data); + } + + int32_t StandUp() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STANDUP, parameter, data); + } + + int32_t StandDown() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STANDDOWN, parameter, data); + } + + int32_t RecoveryStand() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_RECOVERYSTAND, parameter, data); + } + + int32_t Euler(float roll, float pitch, float yaw) + { + std::string parameter, data; + go2::JsonizeVec3 json; + json.x = roll; + json.y = pitch; + json.z = yaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_EULER, parameter, data); + } + + int32_t Move(float vx, float vy, float vyaw) + { + std::string parameter, data; + go2::JsonizeVec3 json; + json.x = vx; + json.y = vy; + json.z = vyaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_MOVE, parameter, data); + } + + int32_t SwitchGait(int gait_type) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = gait_type; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SWITCHGAIT, parameter, data); + } + + int32_t BodyHeight(float height) + { + std::string parameter, data; + go2::JsonizeDataFloat json; + json.data = height; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BODYHEIGHT, parameter, data); + } + + int32_t SpeedLevel(int level) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = level; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SPEEDLEVEL, parameter, data); + } + + int32_t BodyPosition(float x, float y, float z, float yaw) + { + std::string parameter, data; + PoseVec4 json; + json.x = x; + json.y = y; + json.z = z; + json.yaw = yaw; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BODYPOSITION, parameter, data); + } + + int32_t LeftSideGait(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_LEFTSIDEGAIT, parameter, data); + } + + int32_t RightSideGait(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_RIGHTSIDEGAIT, parameter, data); + } + + int32_t HandStand(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_HANDSTAND, parameter, data); + } + + int32_t BipedStand(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_BIPEDSTAND, parameter, data); + } + + int32_t FrontFlip() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_FRONTFLIP, parameter, data); + } + + int32_t BackFlip() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_BACKFLIP, parameter, data); + } + + int32_t Greeting() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_GREETING, parameter, data); + } + + int32_t Heart() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_HEART, parameter, data); + } + + int32_t Content() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_CONTENT, parameter, data); + } + + int32_t Dance1() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_DANCE1, parameter, data); + } + + int32_t Dance2() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_DANCE2, parameter, data); + } + + int32_t Handshake() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_HANDSHAKE, parameter, data); + } + + int32_t Stretch() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_STRETCH, parameter, data); + } + + int32_t Sit(int enter) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = enter; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SIT, parameter, data); + } + + int32_t FrontJump() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_FRONTJUMP, parameter, data); + } + + int32_t PushUp() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_PUSHUP, parameter, data); + } + + int32_t UpJump() + { + std::string parameter, data; + return Call(ROBOT_SPORT_API_ID_UPJUMP, parameter, data); + } + + int32_t SetAutoRecovery(int switch_on) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = switch_on; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SETAUTORECOVERY, parameter, data); + } + + int32_t SwitchJoystick(int switch_on) + { + std::string parameter, data; + go2::JsonizeDataInt json; + json.data = switch_on; + parameter = common::ToJsonString(json); + return Call(ROBOT_SPORT_API_ID_SWITCHJOYSTICK, parameter, data); + } + + int32_t GetState(std::map &state_map) + { + std::string parameter, data; + int32_t ret = Call(ROBOT_SPORT_API_ID_GETSTATE, parameter, data); + common::FromJsonString(data, state_map); + return ret; + } + }; + } // namespace as2 + + } // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_AS2_LOCO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_error.hpp b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_error.hpp new file mode 100644 index 0000000..9325874 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/as2/sport/sport_error.hpp @@ -0,0 +1,18 @@ +#ifndef __UT_ROBOT_AS2_SPORT_ERROR_HPP__ +#define __UT_ROBOT_AS2_SPORT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace as2 +{ +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME, 4201, "server overtime.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT, 4205, "server function not init.") +} +} +} + +#endif//__UT_ROBOT_AS2_SPORT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_api.hpp new file mode 100644 index 0000000..b711188 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_api.hpp @@ -0,0 +1,24 @@ +#ifndef __UT_ROBOT_B2_BACK_VIDEO_API_HPP__ +#define __UT_ROBOT_B2_BACK_VIDEO_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/*service name*/ +const std::string ROBOT_BACK_VIDEO_SERVICE_NAME = "back_videohub"; + +/*api version*/ +const std::string ROBOT_BACK_VIDEO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE = 1001; +} +} +} + +#endif //__UT_ROBOT_B2_BACK_VIDEO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_client.hpp new file mode 100644 index 0000000..c1664b4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_client.hpp @@ -0,0 +1,34 @@ +#ifndef __UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__ +#define __UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * BackVideoClient + */ +class BackVideoClient : public Client +{ +public: + explicit BackVideoClient(); + ~BackVideoClient(); + + void Init(); + + /* + * @brief GetImageSample + * @api: 1001 + */ + int32_t GetImageSample(std::vector&); + +}; +} +} +} + +#endif//__UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_error.hpp new file mode 100644 index 0000000..12a071d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/back_video/back_video_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__ +#define __UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ + UT_DECL_ERR(UT_ROBOT_BACK_VIDEO_ERR_COMM, 100, "Invalid parameter") +} +} +} + +#endif//__UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__ \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/config/config_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_api.hpp new file mode 100644 index 0000000..3e5f5e5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_api.hpp @@ -0,0 +1,210 @@ +#ifndef __UT_ROBOT_B2_CONFIG_API_HPP__ +#define __UT_ROBOT_B2_CONFIG_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * service name + */ +const std::string CONFIG_SERVICE_NAME = "config"; + +/* + * api version + */ +const std::string CONFIG_API_VERSION = "1.0.0.1"; + +/* + * api id + */ +const int32_t CONFIG_API_ID_SET = 1001; +const int32_t CONFIG_API_ID_GET = 1002; +const int32_t CONFIG_API_ID_DEL = 1003; +const int32_t CONFIG_API_ID_META = 1004; + +/* + * data type + */ +class JsonizeConfigMeta : public common::Jsonize +{ +public: + JsonizeConfigMeta() + {} + + ~JsonizeConfigMeta() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["lastModified"], lastModified); + common::FromJson(json["size"], size); + common::FromJson(json["epoch"], epoch); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(lastModified, json["lastModified"]); + common::ToJson(size, json["size"]); + common::ToJson(epoch, json["epoch"]); + } + +public: + std::string name; + std::string lastModified; + int32_t size; + int32_t epoch; +}; + +class ConfigSetParameter : public common::Jsonize +{ +public: + ConfigSetParameter() + {} + + ~ConfigSetParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["content"], content); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(content, json["content"]); + } + +public: + std::string name; + std::string content; +}; + +class ConfigGetParameter : public common::Jsonize +{ +public: + ConfigGetParameter() + {} + + ~ConfigGetParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigGetData : public common::Jsonize +{ +public: + ConfigGetData() + {} + + ~ConfigGetData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["content"], content); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(content, json["content"]); + } + +public: + std::string content; +}; + +class ConfigDelParameter : public common::Jsonize +{ +public: + ConfigDelParameter() + {} + + ~ConfigDelParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigMetaParameter : public common::Jsonize +{ +public: + ConfigMetaParameter() + {} + + ~ConfigMetaParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigMetaData : public common::Jsonize +{ +public: + ConfigMetaData() + {} + + ~ConfigMetaData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["meta"], meta); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(meta, json["meta"]); + } + +public: + JsonizeConfigMeta meta; +}; + +} +} +} + +#endif//__UT_ROBOT_B2_CONFIG_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/config/config_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_client.hpp new file mode 100644 index 0000000..a089818 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_client.hpp @@ -0,0 +1,68 @@ +#ifndef __UT_ROBOT_B2_CONFIG_CLIENT_HPP__ +#define __UT_ROBOT_B2_CONFIG_CLIENT_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * @brief ConfigMeta + */ +class ConfigMeta +{ +public: + ConfigMeta() : size(-1), epoch(-1) + {} + ~ConfigMeta() + {} + +public: + std::string name; + std::string lastModified; + int32_t size; + int32_t epoch; +}; + +/* + * @brief ConfigClient + */ + +using ConfigChangeStatusCallback = std::function; + +class ConfigClient : public Client +{ +public: + explicit ConfigClient(); + ~ConfigClient(); + + void Init(); + + int32_t Set(const std::string& name, const std::string& content); + int32_t Get(const std::string& name, std::string& content); + int32_t Del(const std::string& name); + int32_t Meta(const std::string& name, ConfigMeta& meta); + int32_t Meta(const std::string& name, std::string& meta); + + void SubscribeChangeStatus(const std::string& name, const ConfigChangeStatusCallback& callback); + +private: + void ChangeStatusMessageHandler(const void* message); + +private: + unitree::common::Mutex mLock; + std::map mNameCallbackMap; + ChannelSubscriberPtr mSubscriberPtr; +}; + +} +} +} + +#endif//__UT_ROBOT_B2_CONFIG_CLIENT_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/config/config_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_error.hpp new file mode 100644 index 0000000..3f0e19e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/config/config_error.hpp @@ -0,0 +1,29 @@ +#ifndef __UT_ROBOT_B2_CONFIG_ERROR_HPP__ +#define __UT_ROBOT_B2_CONFIG_ERROR_HPP__ + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +UT_DECL_ERR(UT_CONFIG_ERR_PARAMETER, 8201, "parameter error.") +UT_DECL_ERR(UT_CONFIG_ERR_NOT_FOUND, 8202, "config name is not found.") +UT_DECL_ERR(UT_CONFIG_ERR_NAME, 8203, "name is invalid.") +UT_DECL_ERR(UT_CONFIG_ERR_LIMITED, 8204, "name/content length limited.") +UT_DECL_ERR(UT_CONFIG_ERR_LOCK, 8205, "lock error.") +UT_DECL_ERR(UT_CONFIG_ERR_LOAD_META, 8206, "load meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_SAVE_META, 8207, "save meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_TEMP_META, 8208, "save meta temp error.") +UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_META, 8209, "formalize meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_META, 8210, "remove meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_LOAD_DATA, 8211, "load data error.") +UT_DECL_ERR(UT_CONFIG_ERR_SAVE_DATA, 8212, "save data error.") +UT_DECL_ERR(UT_CONFIG_ERR_TEMP_DATA, 8213, "save data temp error.") +UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_DATA, 8214, "formalize data error.") +UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_DATA, 8215, "remove data error.") +} +} +} + +#endif//__UT_ROBOT_B2_CONFIG_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_api.hpp new file mode 100644 index 0000000..49c6b12 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_api.hpp @@ -0,0 +1,24 @@ +#ifndef __UT_ROBOT_B2_FRONT_VIDEO_API_HPP__ +#define __UT_ROBOT_B2_FRONT_VIDEO_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/*service name*/ +const std::string ROBOT_FRONT_VIDEO_SERVICE_NAME = "front_videohub"; + +/*api version*/ +const std::string ROBOT_FRONT_VIDEO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_FRONT_VIDEO_API_ID_GETIMAGESAMPLE = 1001; +} +} +} + +#endif //__UT_ROBOT_B2_FRONT_VIDEO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_client.hpp new file mode 100644 index 0000000..1454990 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_client.hpp @@ -0,0 +1,34 @@ +#ifndef __UT_ROBOT_B2_FRONT_VIDEO_CLIENT_HPP__ +#define __UT_ROBOT_B2_FRONT_VIDEO_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * FrontVideoClient + */ +class FrontVideoClient : public Client +{ +public: + explicit FrontVideoClient(); + ~FrontVideoClient(); + + void Init(); + + /* + * @brief GetImageSample + * @api: 1001 + */ + int32_t GetImageSample(std::vector&); + +}; +} +} +} + +#endif//__UT_ROBOT_B2_FRONT_VIDEO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_error.hpp new file mode 100644 index 0000000..54d7940 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/front_video/front_video_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_B2_FRONT_VIDEO_ERROR_HPP__ +#define __UT_ROBOT_B2_FRONT_VIDEO_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ + UT_DECL_ERR(UT_ROBOT_FRONT_VIDEO_ERR_COMM, 100, "Invalid parameter") +} +} +} + +#endif//__UT_ROBOT_B2_FRONT_VIDEO_ERROR_HPP__ \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp new file mode 100644 index 0000000..79ee5e3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp @@ -0,0 +1,99 @@ +#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__ +#define __UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * service name + */ +const std::string MOTION_SWITCHER_SERVICE_NAME = "motion_switcher"; + +/* + * api version + */ +const std::string MOTION_SWITCHER_API_VERSION = "1.0.0.1"; + +/* + * api id + */ +const int32_t MOTION_SWITCHER_API_ID_CHECK_MODE = 1001; +const int32_t MOTION_SWITCHER_API_ID_SELECT_MODE = 1002; +const int32_t MOTION_SWITCHER_API_ID_RELEASE_MODE = 1003; +const int32_t MOTION_SWITCHER_API_ID_SET_SILENT = 1004; +const int32_t MOTION_SWITCHER_API_ID_GET_SILENT = 1005; + +/* + * api data type + */ +class JsonizeModeName : public common::Jsonize +{ +public: + JsonizeModeName() + {} + + ~JsonizeModeName() + {} + + /*override*/ + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + + if (json.find("form") != json.end()) + { + common::FromJson(json["form"], form); + } + } + + /*override*/ + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + + if (!form.empty()) + { + common::ToJson(form, json["form"]); + } + } + +public: + std::string name; + std::string form; +}; + +class JsonizeSilent : public common::Jsonize +{ +public: + JsonizeSilent() : silent(false) + {} + + ~JsonizeSilent() + {} + + /*override*/ + void fromJson(common::JsonMap& json) + { + common::FromJson(json["silent"], silent); + } + + /*override*/ + void toJson(common::JsonMap& json) const + { + common::ToJson(silent, json["silent"]); + } + +public: + bool silent; +}; + +} +} +} + +#endif//__UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp new file mode 100644 index 0000000..0659a5b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp @@ -0,0 +1,35 @@ +#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__ +#define __UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * @brief MotionSwitcherClient + */ +class MotionSwitcherClient : public Client +{ +public: + explicit MotionSwitcherClient(); + ~MotionSwitcherClient(); + + void Init(); + + int32_t CheckMode(std::string& form, std::string& name); + int32_t SelectMode(const std::string& nameOrAlias); + int32_t ReleaseMode(); + int32_t SetSilent(bool silent); + int32_t GetSilent(bool& silent); +}; + +} +} +} + +#endif//__UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp new file mode 100644 index 0000000..bb0c9e5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp @@ -0,0 +1,25 @@ +#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__ +#define __UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ + UT_DECL_ERR(UT_SWITCH_ERR_PARAMETR, 7001, "parameter is invalid.") + UT_DECL_ERR(UT_SWITCH_ERR_BUSY, 7002, "switcher is busy.") + UT_DECL_ERR(UT_SWITCH_ERR_EVENT, 7003, "event is invalid.") + UT_DECL_ERR(UT_SWITCH_ERR_NAME, 7004, "name or alias is invalid.") + UT_DECL_ERR(UT_SWITCH_ERR_CMD, 7005, "name or alias is invalid.") + UT_DECL_ERR(UT_SWITCH_ERR_EXEC_CHECK, 7006, "check cmd execute error.") + UT_DECL_ERR(UT_SWITCH_ERR_EXEC_SELECT, 7007, "select cmd execute error.") + UT_DECL_ERR(UT_SWITCH_ERR_EXEC_RELEASE, 7008, "release cmd execute error.") + UT_DECL_ERR(UT_SWITCH_ERR_CUSTOMIZE, 7009, "save customize data error.") +} +} +} + +#endif//__UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_api.hpp new file mode 100644 index 0000000..87db84d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_api.hpp @@ -0,0 +1,236 @@ +#ifndef __UT_ROBOT_B2_ROBOT_STATE_API_HPP__ +#define __UT_ROBOT_B2_ROBOT_STATE_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * service name + */ +const std::string ROBOT_STATE_SERVICE_NAME = "robot_state"; + +/* + * api version + */ +const std::string ROBOT_STATE_API_VERSION = "1.0.0.2"; + +/* + * api id + */ +const int32_t ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001; +const int32_t ROBOT_STATE_API_ID_SET_REPORT_FREQ = 1002; +const int32_t ROBOT_STATE_API_ID_SERVICE_LIST = 1003; +const int32_t ROBOT_STATE_API_ID_LOWPOWER_SWITCH = 1004; +const int32_t ROBOT_STATE_API_ID_LOWPOWER_STATUS = 1005; +const int32_t ROBOT_STATE_API_ID_GET_PKG_VERSION = 1006; + +/* + * request parameter for 1001 + */ +class ServiceSwitchParameter : public common::Jsonize +{ +public: + ServiceSwitchParameter() : swit(0) + {} + + ~ServiceSwitchParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["switch"], swit); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(swit, json["switch"]); + } + +public: + std::string name; + int32_t swit; +}; + +/* + * response data for 1001 + */ +class ServiceSwitchData : public common::Jsonize +{ +public: + ServiceSwitchData() : status(0) + {} + + ~ServiceSwitchData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["status"], status); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(status, json["status"]); + } + +public: + std::string name; + int32_t status; +}; + +/* + * request parameter for 1002 + */ +class SetReportFreqParameter : public common::Jsonize +{ +public: + SetReportFreqParameter() + {} + + ~SetReportFreqParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["interval"], interval); + common::FromJson(json["duration"], duration); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(interval, json["interval"]); + common::ToJson(duration, json["duration"]); + } + +public: + int32_t interval; + int32_t duration; +}; + +/* + * request data for 1003 + */ +class ServiceStateData : public common::Jsonize +{ +public: + ServiceStateData() + {} + + ~ServiceStateData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["status"], status); + common::FromJson(json["protect"], protect); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(status, json["status"]); + common::ToJson(protect, json["protect"]); + } + +public: + std::string name; + int32_t status; + int32_t protect; +}; + +/* + * request parameter for 1004 + */ +class LowPowerSwitchParameter : public common::Jsonize +{ +public: + LowPowerSwitchParameter() : swit(0) + {} + + ~LowPowerSwitchParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["switch"], swit); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(swit, json["switch"]); + } + +public: + int32_t swit; +}; + +/* + * response data for 1004 + */ +class LowPowerStatusData : public common::Jsonize +{ +public: + LowPowerStatusData() : status(0) + {} + + ~LowPowerStatusData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["status"], status); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(status, json["status"]); + } + +public: + int32_t status; +}; + +/* + * response data for 1006 + */ +class PkgVersionData : public common::Jsonize +{ +public: + PkgVersionData() + {} + + ~PkgVersionData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["packageVersion"], packageVersion); + common::FromJson(json["moduleVersionMap"], moduleVersionMap); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(packageVersion, json["packageVersion"]); + common::ToJson(moduleVersionMap, json["moduleVersionMap"]); + } + +public: + std::string packageVersion; + std::map moduleVersionMap; +}; + +} +} +} + +#endif//__UT_ROBOT_B2_ROBOT_STATE_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_client.hpp new file mode 100644 index 0000000..4dbae5d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_client.hpp @@ -0,0 +1,50 @@ +#ifndef __UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__ +#define __UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * @brief ServiceState + */ +class ServiceState +{ +public: + ServiceState() : status(0), protect(0) + {} + + std::string name; + int32_t status; + int32_t protect; +}; + +/* + * @brief RobotStateClient + */ +class RobotStateClient : public Client +{ +public: + explicit RobotStateClient(); + ~RobotStateClient(); + + void Init(); + + int32_t ServiceList(std::vector& serviceStateList); + int32_t ServiceSwitch(const std::string& name, int32_t swit, int32_t& status); + int32_t SetReportFreq(int32_t interval, int32_t duration); + int32_t LowPowerSwitch(int32_t swit); + int32_t LowPowerStatus(int32_t& status); + int32_t GetPkgVersion(std::string& packageVersion, std::map& moduleVersionMap); +}; + +} +} +} + +#endif//__UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_error.hpp new file mode 100644 index 0000000..53b6fb4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/robot_state/robot_state_error.hpp @@ -0,0 +1,20 @@ +#ifndef __UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__ +#define __UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_SWITCH, 5201, "service switch error.") +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_PROTECTED, 5202, "service is protected.") +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_LOWPOWER_SWITCH, 5203, "low power switch error.") +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_LOWPOWER_STATE, 5204, "low power state error.") +} +} +} + +#endif//__UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_api.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_api.hpp new file mode 100644 index 0000000..a232613 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_api.hpp @@ -0,0 +1,46 @@ +#ifndef __UT_ROBOT_B2_SPORT_API_HPP__ +#define __UT_ROBOT_B2_SPORT_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/*service name*/ +const std::string ROBOT_SPORT_SERVICE_NAME = "sport"; + +/*api version*/ +const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1"; + +/*api id*/ +const int32_t ROBOT_SPORT_API_ID_DAMP = 1001; +const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002; +const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003; +const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004; +const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005; +const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006; +const int32_t ROBOT_SPORT_API_ID_MOVE = 1008; +const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT = 1011; +const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT = 1013; +const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015; +const int32_t ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW = 1018; +const int32_t ROBOT_SPORT_API_ID_CONTINUOUSGAIT = 1019; +const int32_t ROBOT_SPORT_API_ID_MOVETOPOS = 1036; +const int32_t ROBOT_SPORT_API_ID_SWITCHMOVEMODE = 1038; +const int32_t ROBOT_SPORT_API_ID_VISIONWALK = 1101; +const int32_t ROBOT_SPORT_API_ID_HANDSTAND = 1039; +const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_SET = 1040; +const int32_t ROBOT_SPORT_API_ID_FREEWALK = 1045; +const int32_t ROBOT_SPORT_API_ID_CLASSICWALK = 1049; +const int32_t ROBOT_SPORT_API_ID_FASTWALK = 1050; +const int32_t ROBOT_SPORT_API_ID_FREEEULER = 1051; +const int32_t ROBOT_SPORT_API_ID_FREE_HEIGHT = 1052; +const int32_t ROBOT_SPORT_API_ID_GAIT_HEIGHT = 1053; +} +} +} + +#endif //__UT_ROBOT_B2_SPORT_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_client.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_client.hpp new file mode 100644 index 0000000..532fe3e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_client.hpp @@ -0,0 +1,90 @@ +#ifndef __UT_ROBOT_B2_SPORT_CLIENT_HPP__ +#define __UT_ROBOT_B2_SPORT_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +/* + * PathPoint + */ +struct stPathPoint +{ + float timeFromStart; + float x; + float y; + float yaw; + float vx; + float vy; + float vyaw; +}; + +typedef struct stPathPoint PathPoint; + +/* + * SportClient + */ +class SportClient : public Client +{ +public: + explicit SportClient(bool enableLease = false); + ~SportClient(); + + void Init(); + + int32_t Damp(); + + int32_t BalanceStand(); + + int32_t StopMove(); + + int32_t StandUp(); + + int32_t StandDown(); + + int32_t RecoveryStand(); + + int32_t Move(float vx, float vy, float vyaw); + + int32_t SwitchGait(int d); + + int32_t BodyHeight(float height); + + int32_t SpeedLevel(int level); + + int32_t TrajectoryFollow(std::vector &path); + + int32_t ContinuousGait(bool flag); + + int32_t MoveToPos(float x, float y, float yaw); + + int32_t SwitchMoveMode(bool flag); + + int32_t VisionWalk(bool flag); + + int32_t HandStand(bool flag); + + int32_t AutoRecoverySet(bool flag); + + int32_t FreeWalk(); + + int32_t ClassicWalk(bool flag); + + int32_t FastWalk(bool flag); + + int32_t Euler(float roll, float pitch, float yaw); + + int32_t FreeHeight(bool flag); + + int32_t GaitHeight(bool flag); + +}; +} +} +} + +#endif//__UT_ROBOT_B2_SPORT_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_error.hpp b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_error.hpp new file mode 100644 index 0000000..f87140f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/b2/sport/sport_error.hpp @@ -0,0 +1,19 @@ +#ifndef __UT_ROBOT_B2_SPORT_ERROR_HPP__ +#define __UT_ROBOT_B2_SPORT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace b2 +{ +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_CLIENT_POINT_PATH, 4101, "point path error.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME, 4201, "server overtime.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT, 4205, "server function not init.") +} +} +} + +#endif//__UT_ROBOT_B2_SPORT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp b/deps/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp new file mode 100644 index 0000000..a7b11f3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp @@ -0,0 +1,62 @@ +#ifndef __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__ +#define __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +template +using Channel = unitree::common::DdsTopicChannel; + +template +using ChannelPtr = unitree::common::DdsTopicChannelPtr; + +class ChannelFactory +{ +public: + static ChannelFactory* Instance() + { + static ChannelFactory inst; + return &inst; + } + + void Init(int32_t domainId, const std::string& networkInterface = ""); + void Init(const std::string& configFileName = ""); + void Init(const common::JsonMap& jsonMap); + + void Release(); + + template + ChannelPtr CreateSendChannel(const std::string& name) + { + ChannelPtr channelPtr = mDdsFactoryPtr->CreateTopicChannel(name); + mDdsFactoryPtr->SetWriter(channelPtr); + return channelPtr; + } + + template + ChannelPtr CreateRecvChannel(const std::string& name, std::function callback, int32_t queuelen = 0) + { + ChannelPtr channelPtr = mDdsFactoryPtr->CreateTopicChannel(name); + mDdsFactoryPtr->SetReader(channelPtr, callback, queuelen); + return channelPtr; + } + +public: + ~ChannelFactory(); + +private: + ChannelFactory(); + +private: + bool mInited; + common::DdsFactoryModelPtr mDdsFactoryPtr; + common::Mutex mMutex; +}; + +} +} + +#endif//__UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp b/deps/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp new file mode 100644 index 0000000..eeef727 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp @@ -0,0 +1,99 @@ +#ifndef __UT_ROBOT_SDK_CHANNEL_LABOR_HPP__ +#define __UT_ROBOT_SDK_CHANNEL_LABOR_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +/* + * @brief + * @class: ChannelLabor + */ +template +class ChannelLabor +{ +public: + ChannelLabor() + {} + + virtual ~ChannelLabor() + {} + + void InitChannel(const std::string& name, const std::function& recvMesageCallback, int32_t queuelen = 0) + { + std::string sendChannelName = mNamerPtr->GetSendChannelName(name); + std::string recvChannelName = mNamerPtr->GetRecvChannelName(name); + + mSendChannlPtr = ChannelFactory::Instance()->CreateSendChannel(sendChannelName); + mRecvChannlPtr = ChannelFactory::Instance()->CreateRecvChannel(recvChannelName, recvMesageCallback, queuelen); + } + + bool Send(const SEND_MSG& msg, int64_t waitTimeout) + { + return mSendChannlPtr->Write(msg, waitTimeout); + } + + int64_t GetLastDataAvailableTime() const + { + return mRecvChannlPtr->GetLastDataAvailableTime(); + } + +protected: + ChannelNamerPtr mNamerPtr; + +private: + ChannelPtr mSendChannlPtr; + ChannelPtr mRecvChannlPtr; +}; + +template +using ChannelLaborPtr = std::shared_ptr>; + +/* + * @brief + * @class: ClientChannelLabor + */ +template +class ClientChannelLabor : public ChannelLabor +{ +public: + ClientChannelLabor() + { + ChannelLabor::mNamerPtr = ChannelNamerPtr(new ClientChannelNamer()); + } + + ~ClientChannelLabor() + {} +}; + +template +using ClientChannelLaborPtr = std::shared_ptr>; + +/* + * @brief + * @class: ServerChannelLabor + */ +template +class ServerChannelLabor : public ChannelLabor +{ +public: + ServerChannelLabor() + { + ChannelLabor::mNamerPtr = ChannelNamerPtr(new ServerChannelNamer()); + } + + ~ServerChannelLabor() + {} +}; + +template +using ServerChannelLaborPtr = std::shared_ptr>; + +} +} + +#endif//__UT_ROBOT_SDK_CHANNEL_LABOR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/channel/channel_namer.hpp b/deps/unitree_sdk2/include/unitree/robot/channel/channel_namer.hpp new file mode 100644 index 0000000..b3a2fc2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/channel/channel_namer.hpp @@ -0,0 +1,64 @@ +#ifndef __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__ +#define __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +const std::string ROBOT_SDK_CHANNEL_PREFIX = "rt/api/"; +const std::string ROBOT_SDK_CHANNEL_SUFFIX_CLIENT = "/request"; +const std::string ROBOT_SDK_CHANNEL_SUFFIX_SERVER = "/response"; + +/* + * @brief + * @class: ChannelNamer + */ +class ChannelNamer +{ +public: + virtual std::string GetSendChannelName(const std::string& name) = 0; + virtual std::string GetRecvChannelName(const std::string& name) = 0; +}; + +using ChannelNamerPtr = std::shared_ptr; + +/* + * @brief + * @class: ClientChannelNamer + */ +class ClientChannelNamer : public ChannelNamer +{ +public: + ClientChannelNamer(); + ~ClientChannelNamer(); + +protected: + std::string GetSendChannelName(const std::string& name); + std::string GetRecvChannelName(const std::string& name); +}; + +using ClientChannelNamerPtr = std::shared_ptr; + +/* + * @brief + * @class: ServerChannelNamer + */ +class ServerChannelNamer : public ChannelNamer +{ +public: + ServerChannelNamer(); + virtual ~ServerChannelNamer(); + +protected: + std::string GetSendChannelName(const std::string& name); + std::string GetRecvChannelName(const std::string& name); +}; + +using ServerChannelNamerPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_CHANNEL_NAMER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/channel/channel_publisher.hpp b/deps/unitree_sdk2/include/unitree/robot/channel/channel_publisher.hpp new file mode 100644 index 0000000..0855fdc --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/channel/channel_publisher.hpp @@ -0,0 +1,54 @@ +#ifndef __UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__ +#define __UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +template +class ChannelPublisher +{ +public: + explicit ChannelPublisher(const std::string& channelName) : + mChannelName(channelName) + {} + + void InitChannel() + { + mChannelPtr = ChannelFactory::Instance()->CreateSendChannel(mChannelName); + } + + bool Write(const MSG& msg, int64_t waitMicrosec = 0) + { + if (mChannelPtr) + { + return mChannelPtr->Write(msg, waitMicrosec); + } + + return false; + } + + void CloseChannel() + { + mChannelPtr.reset(); + } + + const std::string& GetChannelName() const + { + return mChannelName; + } + +private: + std::string mChannelName; + ChannelPtr mChannelPtr; +}; + +template +using ChannelPublisherPtr = std::shared_ptr>; + +} +} + +#endif//__UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/channel/channel_subscriber.hpp b/deps/unitree_sdk2/include/unitree/robot/channel/channel_subscriber.hpp new file mode 100644 index 0000000..314da36 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/channel/channel_subscriber.hpp @@ -0,0 +1,75 @@ +#ifndef __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__ +#define __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +template +class ChannelSubscriber +{ +public: + explicit ChannelSubscriber(const std::string& channelName) : + mChannelName(channelName), mQueueLen(0) + {} + + explicit ChannelSubscriber(const std::string& channelName, const std::function& handler, int64_t queuelen = 0) : + mChannelName(channelName), mQueueLen(queuelen), mHandler(handler) + {} + + void InitChannel(const std::function& handler, int64_t queuelen = 0) + { + mHandler = handler; + mQueueLen = queuelen; + + InitChannel(); + } + + void InitChannel() + { + if (mHandler) + { + mChannelPtr = ChannelFactory::Instance()->CreateRecvChannel(mChannelName, mHandler, mQueueLen); + } + else + { + UT_THROW(common::CommonException, "subscribe handler is invalid"); + } + } + + void CloseChannel() + { + mChannelPtr.reset(); + } + + int64_t GetLastDataAvailableTime() const + { + if (mChannelPtr) + { + return mChannelPtr->GetLastDataAvailableTime(); + } + + return -1; + } + + const std::string& GetChannelName() const + { + return mChannelName; + } + +private: + std::string mChannelName; + int64_t mQueueLen; + std::function mHandler; + ChannelPtr mChannelPtr; +}; + +template +using ChannelSubscriberPtr = std::shared_ptr>; + +} +} + +#endif//__UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/client/client.hpp b/deps/unitree_sdk2/include/unitree/robot/client/client.hpp new file mode 100644 index 0000000..7364099 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/client/client.hpp @@ -0,0 +1,61 @@ +#ifndef __UT_ROBOT_SDK_CLIENT_HPP__ +#define __UT_ROBOT_SDK_CLIENT_HPP__ + +#include +#include + +#define UT_ROBOT_CLIENT_REG_API_NO_PROI(apiId) \ + UT_ROBOT_CLIENT_REG_API(apiId, 0) + +#define UT_ROBOT_CLIENT_REG_API(apiId, priority) \ + RegistApi(apiId, priority) + +namespace unitree +{ +namespace robot +{ +/* + * @brief + * @class: Client + */ +class Client: public ClientBase +{ +public: + explicit Client(const std::string& name, bool enableLease = false); + virtual ~Client(); + + void WaitLeaseApplied(); + int64_t GetLeaseId(); + + const std::string& GetApiVersion() const; + std::string GetServerApiVersion(); + +protected: + void SetApiVersion(const std::string& apiVersion); + + int32_t Noop(); + + int32_t Call(int32_t apiId, const std::string& parameter, std::string& data); + int32_t Call(int32_t apiId, const std::string& parameter); + + int32_t Call(int32_t apiId, const std::vector& parameter, std::vector& data); + int32_t Call(int32_t apiId, const std::vector& parameter); + + int32_t Call(int32_t apiId, const std::string& parameter, const std::vector& binary); + + void RegistApi(int32_t apiId, int32_t priority = 0); + int32_t CheckApi(int32_t apiId, int32_t& priority, int64_t& leaseId); + +private: + bool mEnableLease; + std::string mApiVersion; + std::unordered_map mApiMap; + LeaseClientPtr mLeaseClientPtr; +}; + +using ClientPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/client/client_base.hpp b/deps/unitree_sdk2/include/unitree/robot/client/client_base.hpp new file mode 100644 index 0000000..b59cb43 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/client/client_base.hpp @@ -0,0 +1,54 @@ +#ifndef __UT_ROBOT_SDK_CLIENT_BASE_HPP__ +#define __UT_ROBOT_SDK_CLIENT_BASE_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +/* + * @brief + * @default client timeout. 1s + */ +const int64_t ROBOT_CLIENT_TIMEOUT = 1000000; + +/* + * @brief + * @class: ClientBase + */ +class ClientBase +{ +public: + explicit ClientBase(const std::string& name); + virtual ~ClientBase(); + + virtual void Init() = 0; + + void SetTimeout(int64_t timeout); + void SetTimeout(float timeout); + +protected: + int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId); + int32_t Call(int32_t apiId, const std::string& parameter, int32_t priority, int64_t leaseId); + + int32_t Call(int32_t apiId, const std::vector& parameter, std::vector& bin_data, int32_t priority, int64_t leaseId); + int32_t Call(int32_t apiId, const std::vector& parameter, int32_t priority, int64_t leaseId); + + int32_t Call(int32_t apiId, const std::string& parameter, const std::vector& binary, int32_t priority, int64_t leaseId); + + int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId, int64_t timeout); + + void SetHeader(RequestHeader& header, int32_t apiId, int64_t leaseId, int32_t priority, bool noReply); + +private: + int64_t mTimeout; + ClientStubPtr mClientStubPtr; +}; + +using ClientBasePtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_CLIENT_BASE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/client/client_stub.hpp b/deps/unitree_sdk2/include/unitree/robot/client/client_stub.hpp new file mode 100644 index 0000000..ad875c8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/client/client_stub.hpp @@ -0,0 +1,36 @@ +#ifndef __UT_ROBOT_SDK_CLIENT_STUB_HPP__ +#define __UT_ROBOT_SDK_CLIENT_STUB_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +class ClientStub +{ +public: + explicit ClientStub(); + ~ClientStub(); + + void Init(const std::string& name); + + bool Send(const Request& req, int64_t waitTimeout); + RequestFuturePtr SendRequest(const Request& req, int64_t waitTimeout); + +private: + void ResponseFunc(const void* message); + +private: + ChannelLaborPtr mChannelLaborPtr; + RequestFutureQueuePtr mFutureQueuePtr; +}; + +using ClientStubPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_CLIENT_STUB_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/client/lease_client.hpp b/deps/unitree_sdk2/include/unitree/robot/client/lease_client.hpp new file mode 100644 index 0000000..1952ea2 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/client/lease_client.hpp @@ -0,0 +1,65 @@ +#ifndef __UT_ROBOT_SDK_LEASE_CLIENT_H__ +#define __UT_ROBOT_SDK_LEASE_CLIENT_H__ + +#include +#include + +namespace unitree +{ +namespace robot +{ +class LeaseContext +{ +public: + LeaseContext(); + ~LeaseContext(); + + void Update(int64_t id, int64_t term); + void Reset(); + + bool Valid() const; + + int64_t GetId() const; + int64_t GetTerm() const; + +private: + int64_t mId; + int64_t mTerm; +}; + +using LeaseContextPtr = std::shared_ptr; + +class LeaseClient : public ClientBase +{ +public: + explicit LeaseClient(const std::string& name); + ~LeaseClient(); + + void Init(); + + void WaitApplied(); + int64_t GetId(); + bool Applied(); + +private: + void Apply(); + void Renewal(); + + void ThreadFunction(); + + int64_t GetWaitMicrosec(); + +private: + std::string mName; + std::string mContextName; + LeaseContext mContext; + common::ThreadPtr mThreadPtr; + common::Mutex mMutex; +}; + +using LeaseClientPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_LEASE_CLIENT_H__ diff --git a/deps/unitree_sdk2/include/unitree/robot/future/request_future.hpp b/deps/unitree_sdk2/include/unitree/robot/future/request_future.hpp new file mode 100644 index 0000000..9fc5cc6 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/future/request_future.hpp @@ -0,0 +1,82 @@ +#ifndef __UT_DDS_ROBOT_REQUEST_FUTURE_HPP__ +#define __UT_DDS_ROBOT_REQUEST_FUTURE_HPP__ + +#include +#include + +namespace unitree +{ +namespace robot +{ +class RequestFutureQueue; +using RequestFutureQueuePtr = std::shared_ptr; + +/* + * @brief + * @class: RequestFuture + */ +class RequestFuture : public std::enable_shared_from_this +{ +public: + enum + { + DEFER = 0, + READY = 1 + }; + + explicit RequestFuture(); + explicit RequestFuture(int64_t requestId); + ~RequestFuture(); + + void SetRequestId(int64_t requestId); + int64_t GetRequestId() const; + + bool SetQueue(const std::shared_ptr& futureQueuePtr); + + const ResponsePtr& GetResponse(int64_t microsec); + +public: + void Ready(const ResponsePtr& requestPtr); + +private: + bool IsDeferred(); + bool IsReady(); + +private: + int32_t mState; + int64_t mRequestId; + ResponsePtr mResponsePtr; + common::MutexCond mMutexCond; + RequestFutureQueuePtr mFutureQueuePtr; +}; + +using RequestFuturePtr = std::shared_ptr; + +/* + * @brief + * @class: RequestFutureQueue + */ +class RequestFutureQueue +{ +public: + using iterator = std::unordered_map::iterator; + using const_iterator = std::unordered_map::const_iterator; + + RequestFutureQueue(); + ~RequestFutureQueue(); + + RequestFuturePtr Get(int64_t requestId); + bool Put(int64_t requestId, const RequestFuturePtr& futurePtr); + void Remove(int64_t requestId); + + size_t Size(); + +private: + common::Mutex mMutex; + std::unordered_map mFutureMap; +}; + +} +} + +#endif//__UT_DDS_ROBOT_REQUEST_FUTURE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_api.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_api.hpp new file mode 100644 index 0000000..fc2ee63 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_api.hpp @@ -0,0 +1,60 @@ +#ifndef __UT_ROBOT_G1_AGV_API_HPP__ +#define __UT_ROBOT_G1_AGV_API_HPP__ + +#include + +using namespace unitree::common; + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ +/*service name*/ +const std::string AGV_SERVICE_NAME = "agv"; + +/*api version*/ +const std::string AGV_API_VERSION = "1.0.0.1"; + +/*api id*/ +const int32_t ROBOT_API_ID_AGV_MOVE = 1001; +const int32_t ROBOT_API_ID_AGV_HEIGHT_ADJUST = 1002; + + +class MoveParameter : public Jsonize +{ +public: + MoveParameter() : + vx(0.0), vy(0.0), vyaw(0.0) + {} + + ~MoveParameter() + {} + +public: + void fromJson(JsonMap& json) + { + FromJson(json["vx"], vx); + FromJson(json["vy"], vy); + FromJson(json["vyaw"], vyaw); + } + + void toJson(JsonMap& json) const + { + ToJson(vx, json["vx"]); + ToJson(vy, json["vy"]); + ToJson(vyaw, json["vyaw"]); + } + +public: + float vx; + float vy; + float vyaw; +}; + +} //namespace agv +} //namespace robot +} //namespace unitree + +#endif // __UT_ROBOT_G1_AGV_API_HPP__ \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_client.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_client.hpp new file mode 100644 index 0000000..e247568 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_client.hpp @@ -0,0 +1,109 @@ +#ifndef __UT_ROBOT_G1_AGV_CLIENT_HPP__ +#define __UT_ROBOT_G1_AGV_CLIENT_HPP__ + +#include +#include +#include "g1_agv_api.hpp" + +namespace unitree { +namespace robot { +namespace g1 { + + +class AgvClient : public Client { +public: + AgvClient() : Client(AGV_SERVICE_NAME, false) {} + ~AgvClient() {} + + /*Init*/ + void Init() { + SetApiVersion(AGV_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AGV_MOVE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AGV_HEIGHT_ADJUST); + }; + + /*API Call*/ + /** + * @brief Linear and angular velocity control interface + * + * Mechanical Parameters: + * - Max Linear Velocity: 1.5 m/s + * - Max Angular Velocity: 0.6 rad/s + * + * Control Mapping: + * - vx: linear velocity in x direction + * Range: [-1.5, 1.5] m/s + * Positive value: move forward + * Negative value: move backward + * Zero: stop linear motion + * - vy: lateral velocity in y direction (not supported for AGV, ignored) + * - vyaw: angular velocity around z axis (rotation) + * Range: [-0.6, 0.6] rad/s + * Positive value: rotate counter-clockwise + * Negative value: rotate clockwise + * Zero: stop rotation + * + * @param vx Linear velocity in x direction, unit: m/s, range: [-1.5, 1.5] + * @param vy Lateral velocity in y direction (not used for AGV, pass 0.0) + * @param vyaw Angular velocity around z axis, unit: rad/s, range: [-0.6, 0.6] + * @return 0 on success, -1 on failure (not initialized or communication error) + * + * @note Call Init() before using this function + * @note This function is non-blocking and returns immediately after sending the command + * @example + * ac.Move(0.5f, 0.0f, 0.3f); // Move forward at 0.5 m/s and rotate at 0.3 rad/s + */ + int32_t Move(float vx, float vy, float vyaw) { + MoveParameter param; + + param.vx = vx; + param.vy = vy; + param.vyaw = vyaw; + + std::string parameter = common::ToJsonString(param); + std::string data; + + return Call(ROBOT_API_ID_AGV_MOVE, parameter, data); + } + + /** + * @brief Height column velocity control interface + * + * Mechanical Parameters: + * - Max Column Velocity: 76.5 mm/s (0.0765 m/s) + * + * Normalized Linear Mapping (vz value → column velocity): + * The input vz is normalized [-1.0, +1.0] and linearly mapped to column velocity. + * Formula: column_velocity(mm/s) = vz × 76.5 + * vz = +1.0 → +76.5 mm/s (max rise) + * vz = 0.0 → 0 mm/s (stop) + * vz = -1.0 → -76.5 mm/s (max descent) + * + * Linear Mapping Benefits: + * - Intuitive control: proportional input produces proportional output + * - Predictable behavior: 0.5 input always gives exactly 50% of max velocity + * - Hardware independent: easy to adapt when motor parameters change + * - Simple conversion: column_velocity = normalized_input × max_velocity_constant + + * @param vz Height velocity command (range: [-1.0 , +1.0]) + * @return 0 on success, -1 on failure + * + * @note Only z component is used, transmitted via DDS protocol to motor controller + */ + int32_t HeightAdjust(float vz) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = vz; + + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AGV_HEIGHT_ADJUST, parameter, data); + } +}; +} // namespace g1 + +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_G1_AGV_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_error.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_error.hpp new file mode 100644 index 0000000..b71cb12 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/agv/g1_agv_error.hpp @@ -0,0 +1,21 @@ +#ifndef __UT_ROBOT_G1_AGV_ERROR_HPP__ +#define __UT_ROBOT_G1_AGV_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace g1 +{ + +UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_NOT_INIT, 9101, "Module not initialized.") +UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_EXEC_MOVE, 9102, "Failed to execute move command.") +UT_DECL_ERR(UT_ROBOT_G1_AGV_ERR_EXEC_HEIGHT_ADJUST, 9103, "Failed to execute height adjust command.") + +} +} +} + +#endif // __UT_ROBOT_G1_AGV_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_api.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_api.hpp new file mode 100644 index 0000000..6dd54fa --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_api.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include +#include + +namespace unitree { +namespace robot { +namespace g1 { +/*service name*/ +const std::string ARM_ACTION_SERVICE_NAME = "arm"; + +/*api version*/ +const std::string ARM_ACTION_API_VERSION = "1.0.0.14"; + +/*api id*/ +const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION = 7106; +const int32_t ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST = 7107; +const int32_t ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION = 7108; +const int32_t ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION = 7113; + +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_client.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_client.hpp new file mode 100644 index 0000000..cca48cd --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_client.hpp @@ -0,0 +1,108 @@ +#pragma once + +#include +#include +#include "g1_arm_action_api.hpp" + +namespace unitree { +namespace robot { +namespace g1 { + + /** + * @brief Arm action client + * + * The arm action server provides some upper body actions. + * The controller is based on the `rt/arm_sdk` interface. + * + * The current state of the arm will be published on the `rt/arm/action/state` topic: + * { + * "holding": false, # Whether to hold the position after the action ends; will release after a maximum of 20 seconds + * "id": 99, # Current action ID + * "name": "release_arm" # Current action name + * } + */ +class G1ArmActionClient : public Client { + public: + G1ArmActionClient() : Client(ARM_ACTION_SERVICE_NAME, false) {} + ~G1ArmActionClient() {} + + /*Init*/ + void Init() { + SetApiVersion(ARM_ACTION_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION); + } + + /*API Call*/ + /** + * @brief Execute Unitree's internal preset actions + * Indexed by ID, where 99 is to release the action. + * Some actions will hold the position at the last keyframe after completion; + * you can send id = 99 or the same id to release. + * + * Attention: + * Some actions will not be displayed on the APP, + * but can be executed by the program. + * These actions may cause the robot to fall, + * so please execute them with caution. + */ + int32_t ExecuteAction(int32_t action_id) { + std::string parameter, data; + parameter = R"({"action_id":)" + std::to_string(action_id) + R"(})"; + return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_ACTION, parameter, data); + } + + /** + * @brief Execute custom teach actions, indexed by name + * + * # rt/arm/action/state + * { + * "holding": false, # teach actions do not include holding + * "id": 100, # Always 100, the action is determined by the name + * "name": "sth" # Current teach action name + * } + */ + int32_t ExecuteAction(const std::string &action_name) { + std::string parameter, data; + parameter = R"({"action_name":")" + action_name + R"("})"; + return Call(ROBOT_API_ID_ARM_ACTION_EXECUTE_CUSTOM_ACTION, parameter, data); + } + + /* Stop Custom Action */ + int32_t StopCustomAction() { + std::string parameter, data; + return Call(ROBOT_API_ID_ARM_ACTION_STOP_CUSTOM_ACTION, parameter, data); + } + + int32_t GetActionList(std::string &data) { + std::string parameter; + return Call(ROBOT_API_ID_ARM_ACTION_GET_ACTION_LIST, parameter, data); + } + + /*Action List*/ + std::map action_map = { + {"release arm", 99}, + {"two-hand kiss", 11}, + {"left kiss", 12}, + {"right kiss", 12}, + {"hands up", 15}, + {"clap", 17}, + {"high five", 18}, + {"hug", 19}, + {"heart", 20}, + {"right heart", 21}, + {"reject", 22}, + {"right hand up", 23}, + {"x-ray", 24}, + {"face wave", 25}, + {"high wave", 26}, + {"shake hand", 27}, + }; +}; + + +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_error.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_error.hpp new file mode 100644 index 0000000..30799f3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/arm/g1_arm_action_error.hpp @@ -0,0 +1,20 @@ +#pragma once + +#include + +namespace unitree { +namespace robot { +namespace g1 { + +UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_ARMSDK, 7400, "The topic rt/armsdk is occupied.") +UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_HOLDING, 7401, "The arm is holding. Expecting release action(99) or the same last action id.") +UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_ACTION_ID, 7402, "Invalid action id.") +// The actions are only supported in fsm id {500, 501, 801}; +// You can subscribe the topic rt/sportmodestate to check the fsm id. +// And in the state 801, the actions are only supported in the fsm mode {0, 3}. +// See https://support.unitree.com/home/en/G1_developer/sport_services_interface#Expert%20interface +UT_DECL_ERR(UT_ROBOT_ARM_ACTION_ERR_INVALID_FSM_ID, 7404, "Invalid fsm id.") + +} // namespace g1 +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_api.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_api.hpp new file mode 100644 index 0000000..cb0e439 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_api.hpp @@ -0,0 +1,94 @@ +#ifndef __UT_ROBOT_G1_AUDIO_API_HPP__ +#define __UT_ROBOT_G1_AUDIO_API_HPP__ + +#include +// #include + +namespace unitree { +namespace robot { +namespace g1 { +/*service name*/ +const std::string AUDIO_SERVICE_NAME = "voice"; + +/*api version*/ +const std::string AUDIO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_AUDIO_TTS = 1001; +const int32_t ROBOT_API_ID_AUDIO_ASR = 1002; +const int32_t ROBOT_API_ID_AUDIO_START_PLAY = 1003; +const int32_t ROBOT_API_ID_AUDIO_STOP_PLAY = 1004; +const int32_t ROBOT_API_ID_AUDIO_GET_VOLUME = 1005; +const int32_t ROBOT_API_ID_AUDIO_SET_VOLUME = 1006; +const int32_t ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010; + +class TtsMakerParameter : public common::Jsonize { + public: + TtsMakerParameter() {} + ~TtsMakerParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(index, json["index"]); + common::ToJson(speaker_id, json["speaker_id"]); + common::ToJson(text, json["text"]); + } + + int32_t index = 0; + uint16_t speaker_id = 0; + std::string text; +}; + +class PlayStreamParameter : public common::Jsonize { + public: + PlayStreamParameter() {} + ~PlayStreamParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + common::ToJson(stream_id, json["stream_id"]); + } + + std::string app_name; + std::string stream_id; +}; + +class PlayStopParameter : public common::Jsonize { + public: + PlayStopParameter() {} + ~PlayStopParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + } + + std::string app_name; +}; + +class LedControlParameter : public common::Jsonize { + public: + LedControlParameter() {} + ~LedControlParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(R, json["R"]); + common::ToJson(G, json["G"]); + common::ToJson(B, json["B"]); + } + + uint8_t R; + uint8_t G; + uint8_t B; +}; +} // namespace g1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_G1_AUDIO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_client.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_client.hpp new file mode 100644 index 0000000..f615fe6 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_client.hpp @@ -0,0 +1,110 @@ +#ifndef __UT_ROBOT_G1_AUDIO_CLIENT_HPP__ +#define __UT_ROBOT_G1_AUDIO_CLIENT_HPP__ + +#include +#include +#include + +#include "g1_audio_api.hpp" + +namespace unitree { +namespace robot { +namespace g1 { +class AudioClient : public Client { + public: + AudioClient() : Client(AUDIO_SERVICE_NAME, false) {} + ~AudioClient() {} + + /*Init*/ + void Init() { + SetApiVersion(AUDIO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_TTS); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_ASR); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_START_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_STOP_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_GET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_RGB_LED); + }; + + /*API Call*/ + int32_t TtsMaker(const std::string& text, int32_t speaker_id) { + std::string parameter, data; + TtsMakerParameter json; + + json.index = tts_index++; + json.text = text; + json.speaker_id = speaker_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_TTS, parameter, data); + } + + int32_t GetVolume(uint8_t& volume) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter, data); + if (ret == 0) { + unitree::robot::go2::JsonizeCommObjInt json; + json.name = "volume"; + common::FromJsonString(data, json); + volume = json.value; + } + + return ret; + } + + int32_t SetVolume(uint8_t volume) { + std::string parameter, data; + unitree::robot::go2::JsonizeCommObjInt json; + + json.value = volume; + json.name = "volume"; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter, data); + } + + int32_t PlayStream(std::string app_name, std::string stream_id, + std::vector pcm_data) { + std::string parameter; + PlayStreamParameter json; + + json.app_name = app_name; + json.stream_id = stream_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_START_PLAY, parameter, pcm_data); + } + + int32_t PlayStop(std::string app_name) { + std::string parameter, data; + PlayStopParameter json; + + json.app_name = app_name; + parameter = common::ToJsonString(json); + + Call(ROBOT_API_ID_AUDIO_STOP_PLAY, parameter, data); + return 0; + } + + int32_t LedControl(uint8_t R, uint8_t G, uint8_t B) { + std::string parameter, data; + LedControlParameter json; + + json.R = R; + json.G = G; + json.B = B; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter, data); + } + + private: + uint32_t tts_index = 0; +}; +} // namespace g1 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_G1_AUDIO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_error.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_error.hpp new file mode 100644 index 0000000..3f52844 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/audio/g1_audio_error.hpp @@ -0,0 +1,14 @@ +#ifndef __UT_ROBOT_G1_AUDIO_ERROR_HPP__ +#define __UT_ROBOT_G1_AUDIO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace g1 { +UT_DECL_ERR(UT_ROBOT_AUDIO_ERR_COMM, 100, "Invalid parameter ") +} // namespace g1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_G1_AUDIO_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/common/terminations.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/common/terminations.hpp new file mode 100644 index 0000000..9e8250e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/common/terminations.hpp @@ -0,0 +1,90 @@ +#pragma once + +/** + * This file implements some functions used to protect the G1 during runtime. + * When the function returns true, it is recommended to set the motor to passive mode in the lower-level control. + */ + +#include +#include +#include +#include + +namespace unitree { +namespace robot { +namespace g1 { + +// robot orientation is too far from the desired orientation limits. +inline bool bad_orientation(const unitree_hg::msg::dds_::LowState_ & lowstate, float limit_angle = 1.0) +{ + auto & imu = lowstate.imu_state(); + Eigen::Quaternionf quat( + imu.quaternion()[0], + imu.quaternion()[1], + imu.quaternion()[2], + imu.quaternion()[3] + ); + Eigen::Vector3f projected_gravity_b = quat.conjugate() * Eigen::Vector3f(0, 0, -1); + return std::fabs(std::acos(-projected_gravity_b[2])) > limit_angle; +} + +// Joint velocities are outside of the soft joint limits +inline bool joint_vel_out_of_limit(const unitree_hg::msg::dds_::LowState_ & lowstate, float limit_vel = 10.0) +{ + auto & motors = lowstate.motor_state(); + return std::any_of(motors.begin(), motors.end(), [limit_vel](const auto & motor) { + return std::fabs(motor.dq()) > limit_vel; + }); +} + +// Agnular velocities are outside of the soft joint limits +inline bool ang_vel_out_of_limit(const unitree_hg::msg::dds_::LowState_ & lowstate, float limit_vel = 6.0) +{ + auto & gyroscope = lowstate.imu_state().gyroscope(); + return std::any_of(gyroscope.begin(), gyroscope.end(), [limit_vel](const auto & ang_vel) { + return std::fabs(ang_vel) > limit_vel; + }); +} + +// Motor winding temperature is above the limit +inline bool motor_winding_overheat(const unitree_hg::msg::dds_::LowState_ & lowstate, float limit_temp = 120.0) +{ + auto & motors = lowstate.motor_state(); + return std::any_of(motors.begin(), motors.end(), [limit_temp](const auto & motor) { + return motor.temperature()[1] > limit_temp; + }); +} + +// Motor casing temperature is above the limit +inline bool motor_casing_overheat(const unitree_hg::msg::dds_::LowState_ & lowstate, float limit_temp = 85.0) +{ + auto & motors = lowstate.motor_state(); + return std::any_of(motors.begin(), motors.end(), [limit_temp](const auto & motor) { + return motor.temperature()[0] > limit_temp; + }); +} + +// State of charge (SOC) is below the limit +inline bool low_battery(const unitree_hg::msg::dds_::BmsState_ & bms_state, float limit_soc = 20.0) +{ + return bms_state.soc() < limit_soc; +} + +/** + * @brief Lost connection to the robot + * This function checks if the last data available time is older than the specified timeout. + * If the timeout is reached, it indicates a lost connection. + * + * When using a wired connection to the robot, a loose network cable may cause the connection to be interrupted. + * If the program continues to run at this time, it will send a step signal to the motors, causing violent movement. + */ +inline bool lost_connection(unitree::robot::ChannelSubscriberPtr & subscriber, int64_t timeout_ms = 1000) +{ + auto now = unitree::common::GetCurrentMonotonicTimeNanosecond(); + auto elasped_ms = (now - subscriber->GetLastDataAvailableTime()) / 1e6; + return elasped_ms > timeout_ms; +} + +} +} +} \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_api.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_api.hpp new file mode 100644 index 0000000..af5cae7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_api.hpp @@ -0,0 +1,79 @@ +#ifndef __UT_ROBOT_G1_LOCO_API_HPP__ +#define __UT_ROBOT_G1_LOCO_API_HPP__ + +#include +#include + +namespace unitree { +namespace robot { +namespace g1 { +/*service name*/ +const std::string LOCO_SERVICE_NAME = "sport"; + +/*api version*/ +const std::string LOCO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_LOCO_GET_FSM_ID = 7001; +const int32_t ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002; +const int32_t ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 7003; +const int32_t ROBOT_API_ID_LOCO_GET_SWING_HEIGHT = 7004; +const int32_t ROBOT_API_ID_LOCO_GET_STAND_HEIGHT = 7005; +const int32_t ROBOT_API_ID_LOCO_GET_PHASE = 7006; // deprecated + +const int32_t ROBOT_API_ID_LOCO_SET_FSM_ID = 7101; +const int32_t ROBOT_API_ID_LOCO_SET_BALANCE_MODE = 7102; +const int32_t ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 7103; +const int32_t ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 7104; +const int32_t ROBOT_API_ID_LOCO_SET_VELOCITY = 7105; +const int32_t ROBOT_API_ID_LOCO_SET_ARM_TASK = 7106; +const int32_t ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107; +const int32_t ROBOT_API_ID_LOCO_SWITCH_TO_USER_CTRL = 7110; +const int32_t ROBOT_API_ID_LOCO_SWITCH_TO_INTERNAL_CTRL = 7111; + + +using LocoCmd = + std::map>>; + +enum class InternalFsmMode{ + LAST, PASSIVE, WALKRUN +}; + +class JsonizeDataVecFloat : public common::Jsonize { +public: + JsonizeDataVecFloat() {} + ~JsonizeDataVecFloat() {} + + void fromJson(common::JsonMap &json) { common::FromJson(json["data"], data); } + + void toJson(common::JsonMap &json) const { + common::ToJson(data, json["data"]); + } + + std::vector data; +}; + +class JsonizeVelocityCommand : public common::Jsonize { +public: + JsonizeVelocityCommand() {} + ~JsonizeVelocityCommand() {} + + void fromJson(common::JsonMap &json) { + common::FromJson(json["velocity"], velocity); + common::FromJson(json["duration"], duration); + } + + void toJson(common::JsonMap &json) const { + common::ToJson(velocity, json["velocity"]); + common::ToJson(duration, json["duration"]); + } + + std::vector velocity; + float duration; +}; + +} // namespace g1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_G1_LOCO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_client.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_client.hpp new file mode 100644 index 0000000..6967478 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_client.hpp @@ -0,0 +1,282 @@ +#ifndef __UT_ROBOT_G1_LOCO_CLIENT_HPP__ +#define __UT_ROBOT_G1_LOCO_CLIENT_HPP__ + +#include "g1_loco_api.hpp" +#include +#include +#include + +namespace unitree { +namespace robot { +namespace g1 { +class LocoClient : public Client { + public: + LocoClient() : Client(LOCO_SERVICE_NAME, false) {} + ~LocoClient() {} + + /*Init*/ + void Init() { + SetApiVersion(LOCO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_PHASE); // deprecated + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_VELOCITY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_ARM_TASK); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SPEED_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SWITCH_TO_USER_CTRL); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SWITCH_TO_INTERNAL_CTRL); + }; + + /*Low Level API Call*/ + int32_t GetFsmId(int& fsm_id) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_ID, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_id = json.data; + } + + return ret; + } + + int32_t GetFsmMode(int& fsm_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_MODE, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_mode = json.data; + } + + return ret; + } + + int32_t GetBalanceMode(int& balance_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_BALANCE_MODE, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + balance_mode = json.data; + } + + return ret; + } + + int32_t GetSwingHeight(float& swing_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT, parameter, data); + + if (ret == 0) { + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + swing_height = json.data; + } + + return ret; + } + + int32_t GetStandHeight(float& stand_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT, parameter, data); + + if (ret == 0) { + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + stand_height = json.data; + } + + return ret; + } + + int32_t GetPhase(std::vector& phase) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_PHASE, parameter, data); + + if (ret == 0) { + JsonizeDataVecFloat json; + common::FromJsonString(data, json); + phase = json.data; + } + + return ret; + } + + int32_t SetFsmId(int fsm_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = fsm_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter, data); + } + + int32_t SetBalanceMode(int balance_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = balance_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, parameter, data); + } + + int32_t SetSwingHeight(float swing_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = swing_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT, parameter, data); + } + + int32_t SetStandHeight(float stand_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = stand_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, parameter, data); + } + + int32_t SetVelocity(float vx, float vy, float omega, float duration = 1.f) { + std::string parameter, data; + + JsonizeVelocityCommand json; + std::vector velocity = {vx, vy, omega}; + json.velocity = velocity; + json.duration = duration; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter, data); + } + + int32_t SetTaskId(int task_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = task_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_ARM_TASK, parameter, data); + } + + int32_t SwitchToUserCtrl() { + std::string parameter, data; + + go2::JsonizeDataBool json; + parameter = common::ToJsonString(json); + return Call(ROBOT_API_ID_LOCO_SWITCH_TO_USER_CTRL, parameter, data); + } + + int32_t SwitchToInternalCtrl(InternalFsmMode mode) { + std::string parameter, data; + go2::JsonizeDataInt json; + switch (mode) + { + case InternalFsmMode::LAST: + json.data = 0; + break; + case InternalFsmMode::PASSIVE: + json.data = 1; + break; + case InternalFsmMode::WALKRUN: + json.data = 2; + break; + } + parameter = common::ToJsonString(json); + return Call(ROBOT_API_ID_LOCO_SWITCH_TO_INTERNAL_CTRL, parameter, data); + } + + /*High Level API Call*/ + int32_t Damp() { return SetFsmId(1); } + + int32_t Start() { return SetFsmId(500); } + + int32_t Squat() { return SetFsmId(2); } + + int32_t Sit() { return SetFsmId(3); } + + int32_t StandUp() { return SetFsmId(4); } + + int32_t ZeroTorque() { return SetFsmId(0); } + + int32_t StopMove() { return SetVelocity(0.f, 0.f, 0.f); } + + int32_t HighStand() { return SetStandHeight(std::numeric_limits::max()); } + + int32_t LowStand() { return SetStandHeight(std::numeric_limits::min()); } + + int32_t Move(float vx, float vy, float vyaw, bool continous_move) { + return SetVelocity(vx, vy, vyaw, continous_move ? 864000.f : 1.f); + } + + int32_t Move(float vx, float vy, float vyaw) { return Move(vx, vy, vyaw, continous_move_); } + + int32_t BalanceStand() { return SetBalanceMode(0); } + + int32_t ContinuousGait(bool flag) { return SetBalanceMode(flag ? 1 : 0); } + + int32_t SwitchMoveMode(bool flag) { + continous_move_ = flag; + return 0; + } + + int32_t WaveHand(bool turn_flag = false) { return SetTaskId(turn_flag ? 1 : 0); } + + int32_t ShakeHand(int stage = -1) { + switch (stage) { + case 0: + first_shake_hand_stage_ = false; + return SetTaskId(2); + + case 1: + first_shake_hand_stage_ = true; + return SetTaskId(3); + + default: + first_shake_hand_stage_ = !first_shake_hand_stage_; + return SetTaskId(first_shake_hand_stage_ ? 3 : 2); + } + } + + int32_t SetSpeedMode(int speed_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = speed_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter, data); + } + +private: + bool continous_move_ = false; + bool first_shake_hand_stage_ = true; +}; +} // namespace g1 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_G1_LOCO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_error.hpp b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_error.hpp new file mode 100644 index 0000000..f62131c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/g1/loco/g1_loco_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_G1_LOCO_ERROR_HPP__ +#define __UT_ROBOT_G1_LOCO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace g1 { +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_LOCOSTATE_NOT_AVAILABLE, 7301, + "LocoState not available.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_FSM_ID, 7302, "Invalid fsm id.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_TASK_ID, 7303, "Invalid task id.") +} // namespace g1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_G1_LOCO_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/config/config_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_api.hpp new file mode 100644 index 0000000..b382564 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_api.hpp @@ -0,0 +1,210 @@ +#ifndef __UT_ROBOT_GO2_CONFIG_API_HPP__ +#define __UT_ROBOT_GO2_CONFIG_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * service name + */ +const std::string CONFIG_SERVICE_NAME = "config"; + +/* + * api version + */ +const std::string CONFIG_API_VERSION = "1.0.0.1"; + +/* + * api id + */ +const int32_t CONFIG_API_ID_SET = 1001; +const int32_t CONFIG_API_ID_GET = 1002; +const int32_t CONFIG_API_ID_DEL = 1003; +const int32_t CONFIG_API_ID_META = 1004; + +/* + * data type + */ +class JsonizeConfigMeta : public common::Jsonize +{ +public: + JsonizeConfigMeta() + {} + + ~JsonizeConfigMeta() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["lastModified"], lastModified); + common::FromJson(json["size"], size); + common::FromJson(json["epoch"], epoch); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(lastModified, json["lastModified"]); + common::ToJson(size, json["size"]); + common::ToJson(epoch, json["epoch"]); + } + +public: + std::string name; + std::string lastModified; + int32_t size; + int32_t epoch; +}; + +class ConfigSetParameter : public common::Jsonize +{ +public: + ConfigSetParameter() + {} + + ~ConfigSetParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["content"], content); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(content, json["content"]); + } + +public: + std::string name; + std::string content; +}; + +class ConfigGetParameter : public common::Jsonize +{ +public: + ConfigGetParameter() + {} + + ~ConfigGetParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigGetData : public common::Jsonize +{ +public: + ConfigGetData() + {} + + ~ConfigGetData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["content"], content); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(content, json["content"]); + } + +public: + std::string content; +}; + +class ConfigDelParameter : public common::Jsonize +{ +public: + ConfigDelParameter() + {} + + ~ConfigDelParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigMetaParameter : public common::Jsonize +{ +public: + ConfigMetaParameter() + {} + + ~ConfigMetaParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +class ConfigMetaData : public common::Jsonize +{ +public: + ConfigMetaData() + {} + + ~ConfigMetaData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["meta"], meta); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(meta, json["meta"]); + } + +public: + JsonizeConfigMeta meta; +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_CONFIG_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/config/config_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_client.hpp new file mode 100644 index 0000000..85f2140 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_client.hpp @@ -0,0 +1,68 @@ +#ifndef __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__ +#define __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * @brief ConfigMeta + */ +class ConfigMeta +{ +public: + ConfigMeta() : size(-1), epoch(-1) + {} + ~ConfigMeta() + {} + +public: + std::string name; + std::string lastModified; + int32_t size; + int32_t epoch; +}; + +/* + * @brief ConfigClient + */ + +using ConfigChangeStatusCallback = std::function; + +class ConfigClient : public Client +{ +public: + explicit ConfigClient(); + ~ConfigClient(); + + void Init(); + + int32_t Set(const std::string& name, const std::string& content); + int32_t Get(const std::string& name, std::string& content); + int32_t Del(const std::string& name); + int32_t Meta(const std::string& name, ConfigMeta& meta); + int32_t Meta(const std::string& name, std::string& meta); + + void SubscribeChangeStatus(const std::string& name, const ConfigChangeStatusCallback& callback); + +private: + void ChangeStatusMessageHandler(const void* message); + +private: + unitree::common::Mutex mLock; + std::map mNameCallbackMap; + ChannelSubscriberPtr mSubscriberPtr; +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_CONFIG_CLIENT_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/config/config_error.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_error.hpp new file mode 100644 index 0000000..fdfd6bc --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/config/config_error.hpp @@ -0,0 +1,29 @@ +#ifndef __UT_ROBOT_GO2_CONFIG_ERROR_HPP__ +#define __UT_ROBOT_GO2_CONFIG_ERROR_HPP__ + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +UT_DECL_ERR(UT_CONFIG_ERR_PARAMETER, 8201, "parameter error.") +UT_DECL_ERR(UT_CONFIG_ERR_NOT_FOUND, 8202, "config name is not found.") +UT_DECL_ERR(UT_CONFIG_ERR_NAME, 8203, "name is invalid.") +UT_DECL_ERR(UT_CONFIG_ERR_LIMITED, 8204, "name/content length limited.") +UT_DECL_ERR(UT_CONFIG_ERR_LOCK, 8205, "lock error.") +UT_DECL_ERR(UT_CONFIG_ERR_LOAD_META, 8206, "load meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_SAVE_META, 8207, "save meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_TEMP_META, 8208, "save meta temp error.") +UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_META, 8209, "formalize meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_META, 8210, "remove meta error.") +UT_DECL_ERR(UT_CONFIG_ERR_LOAD_DATA, 8211, "load data error.") +UT_DECL_ERR(UT_CONFIG_ERR_SAVE_DATA, 8212, "save data error.") +UT_DECL_ERR(UT_CONFIG_ERR_TEMP_DATA, 8213, "save data temp error.") +UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_DATA, 8214, "formalize data error.") +UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_DATA, 8215, "remove data error.") +} +} +} + +#endif//__UT_ROBOT_GO2_CONFIG_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp new file mode 100644 index 0000000..38ba60a --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp @@ -0,0 +1,104 @@ +#ifndef __UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__ +#define __UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +const std::string ROBOT_OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid"; +const std::string ROBOT_OBSTACLES_AVOID_API_VERSION = "1.0.0.2"; + +const int32_t ROBOT_API_ID_OBSTACLES_AVOID_SWITCH_SET = 1001; +const int32_t ROBOT_API_ID_OBSTACLES_AVOID_SWITCH_GET = 1002; +const int32_t ROBOT_API_ID_OBSTACLES_AVOID_MOVE = 1003; +const int32_t ROBOT_API_ID_OBSTACLES_AVOID_USE_REMOTE_COMMAND_FROM_API = 1004; + +class ObstaclesAvoidSwitchSetParameter : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["enable"], mEnable); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mEnable, json["enable"]); + } + + bool mEnable = true; +}; + +class ObstaclesAvoidSwitchGetData : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["enable"], mEnable); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mEnable, json["enable"]); + } + + bool mEnable = true; +}; + +class ObstaclesAvoidMoveParameter : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["x"], mX); + common::FromJson(json["y"], mY); + common::FromJson(json["yaw"], mYaw); + common::FromJson(json["mode"], mMode); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mX, json["x"]); + common::ToJson(mY, json["y"]); + common::ToJson(mYaw, json["yaw"]); + common::ToJson(mMode, json["mode"]); + } + + float mX = 0.0; + float mY = 0.0; + float mYaw = 0.0; + + /* + * mode: + * 0 for vel + * 1 for increment pose + * 2 for absolute pose + */ + int mMode = 0; +}; + +class ObstaclesAvoidRemoteCommandSource : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["is_remote_commands_from_api"], mIsRemoteCommandsFromApi); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mIsRemoteCommandsFromApi, json["is_remote_commands_from_api"]); + } + + bool mIsRemoteCommandsFromApi = true; +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_OBSTACLES_AVOID_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp new file mode 100644 index 0000000..f9ecca7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp @@ -0,0 +1,33 @@ +#ifndef __UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__ +#define __UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +class ObstaclesAvoidClient : public Client +{ +public: + ObstaclesAvoidClient(); + ~ObstaclesAvoidClient(); + + void Init(); + + int32_t SwitchSet(bool enable); + int32_t SwitchGet(bool& enable); + + int32_t Move(float x, float y, float yaw); + int32_t UseRemoteCommandFromApi(bool isRemoteCommandsFromApi); + + int32_t MoveToAbsolutePosition(float x, float y, float yaw); + int32_t MoveToIncrementPosition(float x, float y, float yaw); +}; +} +} +} + +#endif//__UT_ROBOT_GO2_OBSTACLES_AVOID_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/public/jsonize_type.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/public/jsonize_type.hpp new file mode 100644 index 0000000..f123672 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/public/jsonize_type.hpp @@ -0,0 +1,311 @@ +#ifndef __UT_ROBOT_GO2_SDK_JSON_DATA_TYPE_HPP__ +#define __UT_ROBOT_GO2_SDK_JSON_DATA_TYPE_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * @brief Jonsize for simple flag type bool + */ +class JsonizeFlagBool : public common::Jsonize +{ +public: + JsonizeFlagBool() : flag(false) + {} + + ~JsonizeFlagBool() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["flag"], flag); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(flag, json["flag"]); + } + +public: + bool flag; +}; + +/* + * @brief Jonsize for simple data type bool + */ +class JsonizeDataBool : public common::Jsonize +{ +public: + JsonizeDataBool() : data(false) + {} + + ~JsonizeDataBool() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["data"], data); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(data, json["data"]); + } + +public: + bool data; +}; + +/* + * @brief Jonsize for simple data type int + */ +class JsonizeDataInt : public common::Jsonize +{ +public: + JsonizeDataInt() : data(0) + {} + + ~JsonizeDataInt() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["data"], data); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(data, json["data"]); + } + +public: + int data; +}; + +/* + * @brief Jonsize for simple data type float + */ +class JsonizeDataFloat : public common::Jsonize +{ +public: + JsonizeDataFloat() : data(0.0F) + {} + + ~JsonizeDataFloat() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["data"], data); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(data, json["data"]); + } + +public: + float data; +}; + +/* + * @brief Jonsize for simple data type double + */ +class JsonizeDataDouble : public common::Jsonize +{ +public: + JsonizeDataDouble() : data(0.0F) + {} + + ~JsonizeDataDouble() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["data"], data); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(data, json["data"]); + } + +public: + double data; +}; + +/* + * @brief Jonsize for simple data type string + */ +class JsonizeDataString : public common::Jsonize +{ +public: + JsonizeDataString() + {} + + ~JsonizeDataString() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["data"], data); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(data, json["data"]); + } + +public: + std::string data; +}; + +/* + * @brief Jonsize for data type vec3 + */ +class JsonizeVec3 : public common::Jsonize +{ +public: + JsonizeVec3() : x(0.0F), y(0.0F), z(0.0F) + {} + + ~JsonizeVec3() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["z"], z); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(z, json["z"]); + } + +public: + float x; + float y; + float z; +}; + +/* + * @brief Jonsize for data type quaternion + */ +class JsonizeQuat : public common::Jsonize +{ +public: + JsonizeQuat() : x(0.0F), y(0.0F), z(0.0F), w(0.0F) + {} + + ~JsonizeQuat() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["z"], z); + common::FromJson(json["w"], w); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(z, json["z"]); + common::ToJson(w, json["w"]); + } + +public: + float x; + float y; + float z; + float w; +}; + +/* + * Jsonize class for PathPoint + */ +class JsonizePathPoint : public common::Jsonize +{ +public: + JsonizePathPoint() : + timeFromStart(0.0F), x(0.0F), y(0.0F), yaw(0.0F), vx(0.0F), vy(0.0F), vyaw(0.0F) + {} + + ~JsonizePathPoint() + {} + +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["t_from_start"], timeFromStart); + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["yaw"], yaw); + common::FromJson(json["vx"], vx); + common::FromJson(json["vy"], vy); + common::FromJson(json["vyaw"], vyaw); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(timeFromStart, json["t_from_start"]); + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(yaw, json["yaw"]); + common::ToJson(vx, json["vx"]); + common::ToJson(vy, json["vy"]); + common::ToJson(vyaw, json["vyaw"]); + } + +public: + float timeFromStart; + float x; + float y; + float yaw; + float vx; + float vy; + float vyaw; +}; + +/* + * @brief Jonsize for simple common object type int + */ +class JsonizeCommObjInt : public common::Jsonize +{ +public: + JsonizeCommObjInt() : value(0) + {} + + ~JsonizeCommObjInt() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json[name], value); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(value, json[name]); + } + +public: + int value; + std::string name; +}; + +} +} +} +#endif//__UT_ROBOT_GO2_SDK_JSON_DATA_TYPE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_api.hpp new file mode 100644 index 0000000..83c3bb5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_api.hpp @@ -0,0 +1,152 @@ +#ifndef __UT_ROBOT_GO2_ROBOT_STATE_API_HPP__ +#define __UT_ROBOT_GO2_ROBOT_STATE_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * service name + */ +const std::string ROBOT_STATE_SERVICE_NAME = "robot_state"; + +/* + * api version + */ +const std::string ROBOT_STATE_API_VERSION = "1.0.0.1"; + +/* + * api id + */ +const int32_t ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001; +const int32_t ROBOT_STATE_API_ID_SET_REPORT_FREQ = 1002; +const int32_t ROBOT_STATE_API_ID_SERVICE_LIST = 1003; + +/* + * request parameter for 1001 + */ +class ServiceSwitchParameter : public common::Jsonize +{ +public: + ServiceSwitchParameter() : swit(0) + {} + + ~ServiceSwitchParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["switch"], swit); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(swit, json["switch"]); + } + +public: + std::string name; + int32_t swit; +}; + +/* + * response data for 1001 + */ +class ServiceSwitchData : public common::Jsonize +{ +public: + ServiceSwitchData() : status(0) + {} + + ~ServiceSwitchData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["status"], status); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(status, json["status"]); + } + +public: + std::string name; + int32_t status; +}; + +/* + * request parameter for 1002 + */ +class SetReportFreqParameter : public common::Jsonize +{ +public: + SetReportFreqParameter() + {} + + ~SetReportFreqParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["interval"], interval); + common::FromJson(json["duration"], duration); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(interval, json["interval"]); + common::ToJson(duration, json["duration"]); + } + +public: + int32_t interval; + int32_t duration; +}; + +/* + * request data for 1003 + */ +class ServiceStateData : public common::Jsonize +{ +public: + ServiceStateData() + {} + + ~ServiceStateData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + common::FromJson(json["status"], status); + common::FromJson(json["protect"], protect); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + common::ToJson(status, json["status"]); + common::ToJson(protect, json["protect"]); + } + +public: + std::string name; + int32_t status; + int32_t protect; +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_ROBOT_STATE_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_client.hpp new file mode 100644 index 0000000..56ddf65 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_client.hpp @@ -0,0 +1,47 @@ +#ifndef __UT_ROBOT_GO2_ROBOT_STATE_CLIENT_HPP__ +#define __UT_ROBOT_GO2_ROBOT_STATE_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * @brief ServiceState + */ +class ServiceState +{ +public: + ServiceState() : status(0), protect(0) + {} + + std::string name; + int32_t status; + int32_t protect; +}; + +/* + * @brief RobotStateClient + */ +class RobotStateClient : public Client +{ +public: + explicit RobotStateClient(); + ~RobotStateClient(); + + void Init(); + + int32_t ServiceList(std::vector& serviceStateList); + int32_t ServiceSwitch(const std::string& name, int32_t swit, int32_t& status); + int32_t SetReportFreq(int32_t interval, int32_t duration); +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_ROBOT_STATE_CLIENT_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_error.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_error.hpp new file mode 100644 index 0000000..f5a19b8 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/robot_state/robot_state_error.hpp @@ -0,0 +1,18 @@ +#ifndef __UT_ROBOT_GO2_ROBOT_STATE_CLIENT_ERROR_HPP__ +#define __UT_ROBOT_GO2_ROBOT_STATE_CLIENT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_SWITCH, 5201, "service switch error.") +UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_PROTECTED, 5202, "service is protected.") +} +} +} + +#endif//__UT_ROBOT_GO2_ROBOT_STATE_CLIENT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_api.hpp new file mode 100644 index 0000000..215b2e1 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_api.hpp @@ -0,0 +1,64 @@ +#ifndef __UT_ROBOT_GO2_SPORT_API_HPP__ +#define __UT_ROBOT_GO2_SPORT_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/*service name*/ +const std::string ROBOT_SPORT_SERVICE_NAME = "sport"; + +/*api version*/ +const std::string ROBOT_SPORT_API_VERSION = "1.0.0.1"; + +/*api id*/ +const int32_t ROBOT_SPORT_API_ID_DAMP = 1001; +const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002; +const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003; +const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004; +const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005; +const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006; +const int32_t ROBOT_SPORT_API_ID_EULER = 1007; +const int32_t ROBOT_SPORT_API_ID_MOVE = 1008; +const int32_t ROBOT_SPORT_API_ID_SIT = 1009; +const int32_t ROBOT_SPORT_API_ID_RISESIT = 1010; +const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015; +const int32_t ROBOT_SPORT_API_ID_HELLO = 1016; +const int32_t ROBOT_SPORT_API_ID_STRETCH = 1017; +const int32_t ROBOT_SPORT_API_ID_CONTENT = 1020; +const int32_t ROBOT_SPORT_API_ID_DANCE1 = 1022; +const int32_t ROBOT_SPORT_API_ID_DANCE2 = 1023; +const int32_t ROBOT_SPORT_API_ID_SWITCHJOYSTICK = 1027; +const int32_t ROBOT_SPORT_API_ID_POSE = 1028; +const int32_t ROBOT_SPORT_API_ID_SCRAPE = 1029; +const int32_t ROBOT_SPORT_API_ID_FRONTFLIP = 1030; +const int32_t ROBOT_SPORT_API_ID_FRONTJUMP = 1031; +const int32_t ROBOT_SPORT_API_ID_FRONTPOUNCE = 1032; +const int32_t ROBOT_SPORT_API_ID_HEART = 1036; +const int32_t ROBOT_SPORT_API_ID_STATICWALK = 1061; +const int32_t ROBOT_SPORT_API_ID_TROTRUN = 1062; +const int32_t ROBOT_SPORT_API_ID_ECONOMICGAIT = 1063; +const int32_t ROBOT_SPORT_API_ID_LEFTFLIP = 2041; +const int32_t ROBOT_SPORT_API_ID_BACKFLIP = 2043; +const int32_t ROBOT_SPORT_API_ID_HANDSTAND = 2044; +const int32_t ROBOT_SPORT_API_ID_FREEWALK = 2045; +const int32_t ROBOT_SPORT_API_ID_FREEBOUND = 2046; +const int32_t ROBOT_SPORT_API_ID_FREEJUMP = 2047; +const int32_t ROBOT_SPORT_API_ID_FREEAVOID = 2048; +const int32_t ROBOT_SPORT_API_ID_CLASSICWALK = 2049; +const int32_t ROBOT_SPORT_API_ID_WALKUPRIGHT = 2050; +const int32_t ROBOT_SPORT_API_ID_CROSSSTEP = 2051; +const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_SET = 2054; +const int32_t ROBOT_SPORT_API_ID_AUTORECOVERY_GET = 2055; +const int32_t ROBOT_SPORT_API_ID_SWITCHAVOIDMODE = 2058; + + +} +} +} + +#endif //__UT_ROBOT_GO2_SPORT_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_client.hpp new file mode 100644 index 0000000..047ba21 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_client.hpp @@ -0,0 +1,86 @@ +#ifndef __UT_ROBOT_GO2_SPORT_CLIENT_HPP__ +#define __UT_ROBOT_GO2_SPORT_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * PathPoint + */ +struct stPathPoint +{ + float timeFromStart; + float x; + float y; + float yaw; + float vx; + float vy; + float vyaw; +}; + +typedef struct stPathPoint PathPoint; + +/* + * SportClient + */ +class SportClient : public Client +{ +public: + explicit SportClient(bool enableLease = false); + ~SportClient(); + + void Init(); + + int32_t Damp(); + int32_t BalanceStand(); + int32_t StopMove(); + int32_t StandUp(); + int32_t StandDown(); + int32_t RecoveryStand(); + int32_t Euler(float roll, float pitch, float yaw); + int32_t Move(float vx, float vy, float vyaw); + int32_t Sit(); + int32_t RiseSit(); + int32_t SpeedLevel(int level); + int32_t Hello(); + int32_t Stretch(); + int32_t SwitchJoystick(bool flag); + int32_t Content(); + int32_t Heart(); + int32_t Pose(bool flag); + int32_t Scrape(); + int32_t FrontFlip(); + int32_t FrontJump(); + int32_t FrontPounce(); + int32_t Dance1(); + int32_t Dance2(); + int32_t LeftFlip(); + int32_t BackFlip(); + int32_t HandStand(bool flag); + int32_t FreeWalk(); + int32_t FreeBound(bool flag); + int32_t FreeJump(bool flag); + int32_t FreeAvoid(bool flag); + int32_t ClassicWalk(bool flag); + int32_t WalkUpright(bool flag); + int32_t CrossStep(bool flag); + int32_t AutoRecoverSet(bool flag); + int32_t AutoRecoverGet(bool& flag); + int32_t StaticWalk(); + int32_t TrotRun(); + int32_t EconomicGait(); + int32_t SwitchAvoidMode(); + + + +}; +} +} +} + +#endif//__UT_ROBOT_GO2_SPORT_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_error.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_error.hpp new file mode 100644 index 0000000..81658c3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/sport/sport_error.hpp @@ -0,0 +1,19 @@ +#ifndef __UT_ROBOT_GO2_SPORT_ERROR_HPP__ +#define __UT_ROBOT_GO2_SPORT_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_CLIENT_POINT_PATH, 4101, "point path error.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_OVERTIME, 4201, "server overtime.") +UT_DECL_ERR(UT_ROBOT_SPORT_ERR_SERVER_NOT_INIT, 4205, "server function not init.") +} +} +} + +#endif//__UT_ROBOT_GO2_SPORT_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_api.hpp new file mode 100644 index 0000000..68bf682 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_api.hpp @@ -0,0 +1,55 @@ +#ifndef __UT_ROBOT_GO2_UTRACK_API_HPP__ +#define __UT_ROBOT_GO2_UTRACK_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +const std::string ROBOT_UTRACK_SERVICE_NAME = "uwbswitch"; +const std::string ROBOT_UTRACK_API_VERSION = "1.0.0.1"; + +const int32_t ROBOT_API_ID_UTRACK_SWITCH_SET = 1001; +const int32_t ROBOT_API_ID_UTRACK_SWITCH_GET = 1002; +const int32_t ROBOT_API_ID_UTRACK_IS_TRACKING = 1003; + +class UtrackSwitchSetParameter : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["enable"], mEnable); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mEnable, json["enable"]); + } + + int32_t mEnable = true; +}; + +class UtrackSwitchGetData : public common::Jsonize +{ +public: + void fromJson(common::JsonMap& json) + { + common::FromJson(json["enable"], mEnable); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(mEnable, json["enable"]); + } + + int32_t mEnable = true; +}; + +} +} +} + +#endif//__UT_ROBOT_GO2_UTRACK_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_client.hpp new file mode 100644 index 0000000..4e4372c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/utrack/utrack_client.hpp @@ -0,0 +1,28 @@ +#ifndef __UT_ROBOT_GO2_UTRACK_CLIENT_HPP__ +#define __UT_ROBOT_GO2_UTRACK_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +class UtrackClient : public Client +{ + public: + UtrackClient(); + ~UtrackClient(); + + void Init(); + + int32_t SwitchSet(bool enable); + int32_t SwitchGet(bool& enable); + int32_t IsTracking(bool& enable); +}; +} +} +} + +#endif//__UT_ROBOT_GO2_UTRACK_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/video/video_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_api.hpp new file mode 100644 index 0000000..1adc50e --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_api.hpp @@ -0,0 +1,24 @@ +#ifndef __UT_ROBOT_GO2_VIDEO_API_HPP__ +#define __UT_ROBOT_GO2_VIDEO_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/*service name*/ +const std::string ROBOT_VIDEO_SERVICE_NAME = "videohub"; + +/*api version*/ +const std::string ROBOT_VIDEO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_VIDEO_API_ID_GETIMAGESAMPLE = 1001; +} +} +} + +#endif //__UT_ROBOT_GO2_VIDEO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/video/video_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_client.hpp new file mode 100644 index 0000000..85892e9 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_client.hpp @@ -0,0 +1,34 @@ +#ifndef __UT_ROBOT_GO2_VIDEO_CLIENT_HPP__ +#define __UT_ROBOT_GO2_VIDEO_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * VideoClient + */ +class VideoClient : public Client +{ +public: + explicit VideoClient(); + ~VideoClient(); + + void Init(); + + /* + * @brief GetImageSample + * @api: 1001 + */ + int32_t GetImageSample(std::vector&); + +}; +} +} +} + +#endif//__UT_ROBOT_GO2_VIDEO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/video/video_error.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_error.hpp new file mode 100644 index 0000000..c9df9ed --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/video/video_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_GO2_VIDEO_ERROR_HPP__ +#define __UT_ROBOT_GO2_VIDEO_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ + UT_DECL_ERR(UT_ROBOT_VIDEO_ERR_COMM, 100, "Invalid parameter") +} +} +} + +#endif//__UT_ROBOT_GO2_VIDEO_ERROR_HPP__ \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_api.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_api.hpp new file mode 100644 index 0000000..3d5f17c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_api.hpp @@ -0,0 +1,29 @@ +#ifndef __UT_ROBOT_GO2_VUI_API_HPP__ +#define __UT_ROBOT_GO2_VUI_API_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/*service name*/ +const std::string ROBOT_VUI_SERVICE_NAME = "vui"; + +/*api version*/ +const std::string ROBOT_VUI_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_VUI_API_ID_SETSWITCH = 1001; +const int32_t ROBOT_VUI_API_ID_GETSWITCH = 1002; +const int32_t ROBOT_VUI_API_ID_SETVOLUME = 1003; +const int32_t ROBOT_VUI_API_ID_GETVOLUME = 1004; +const int32_t ROBOT_VUI_API_ID_SETBRIGHTNESS = 1005; +const int32_t ROBOT_VUI_API_ID_GETBRIGHTNESS = 1006; +} +} +} + +#endif //__UT_ROBOT_GO2_VUI_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_client.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_client.hpp new file mode 100644 index 0000000..f2d22c4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_client.hpp @@ -0,0 +1,64 @@ +#ifndef __UT_ROBOT_GO2_VUI_CLIENT_HPP__ +#define __UT_ROBOT_GO2_VUI_CLIENT_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ +/* + * VuiClient + */ +class VuiClient : public Client +{ +public: + explicit VuiClient(); + ~VuiClient(); + + void Init(); + + /* + * @brief SetSwitch + * @api: 1001 + */ + int32_t SetSwitch(int enable); + + /* + * @brief GetSwitch + * @api: 1002 + */ + int32_t GetSwitch(int&); + + /* + * @brief SetVolume + * @api: 1003 + */ + int32_t SetVolume(int level); + + /* + * @brief GetVolume + * @api: 1004 + */ + int32_t GetVolume(int&); + + /* + * @brief SetBrightness + * @api: 1005 + */ + int32_t SetBrightness(int level); + + /* + * @brief GetBrightness + * @api: 1006 + */ + int32_t GetBrightness(int&); + +}; +} +} +} + +#endif//__UT_ROBOT_GO2_VUI_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_error.hpp b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_error.hpp new file mode 100644 index 0000000..3b92ae4 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/go2/vui/vui_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_GO2_VUI_ERROR_HPP__ +#define __UT_ROBOT_GO2_VUI_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +namespace go2 +{ + UT_DECL_ERR(UT_ROBOT_VUI_ERR_COMM, 100, "Invalid parameter") +} +} +} + +#endif//__UT_ROBOT_GO2_VUI_ERROR_HPP__ \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_api.hpp b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_api.hpp new file mode 100644 index 0000000..ac2b3e1 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_api.hpp @@ -0,0 +1,97 @@ +#ifndef __UT_ROBOT_H1_LOCO_API_HPP__ +#define __UT_ROBOT_H1_LOCO_API_HPP__ + +#include +#include + +namespace unitree { +namespace robot { +namespace h1 { +/*service name*/ +const std::string LOCO_SERVICE_NAME = "loco"; + +/*api version*/ +const std::string LOCO_API_VERSION = "2.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_LOCO_GET_FSM_ID = 8001; +const int32_t ROBOT_API_ID_LOCO_GET_FSM_MODE = 8002; +const int32_t ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 8003; +const int32_t ROBOT_API_ID_LOCO_GET_SWING_HEIGHT = 8004; +const int32_t ROBOT_API_ID_LOCO_GET_STAND_HEIGHT = 8005; +const int32_t ROBOT_API_ID_LOCO_GET_PHASE = 8006; // deprecated + +const int32_t ROBOT_API_ID_LOCO_SET_FSM_ID = 8101; +const int32_t ROBOT_API_ID_LOCO_SET_BALANCE_MODE = 8102; +const int32_t ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 8103; +const int32_t ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 8104; +const int32_t ROBOT_API_ID_LOCO_SET_VELOCITY = 8105; +const int32_t ROBOT_API_ID_LOCO_SET_PHASE = 8106; +const int32_t ROBOT_API_ID_LOCO_SET_ARM_TASK = 8107; + +const int32_t ROBOT_API_ID_LOCO_ENABLE_ODOM = 8201; +const int32_t ROBOT_API_ID_LOCO_DISABLE_ODOM = 8202; +const int32_t ROBOT_API_ID_LOCO_GET_ODOM = 8203; +const int32_t ROBOT_API_ID_LOCO_SET_TARGET_POSITION = 8204; + +using LocoCmd = std::map>>; + +class JsonizeDataVecFloat : public common::Jsonize { + public: + JsonizeDataVecFloat() {} + ~JsonizeDataVecFloat() {} + + void fromJson(common::JsonMap& json) { common::FromJson(json["data"], data); } + + void toJson(common::JsonMap& json) const { common::ToJson(data, json["data"]); } + + std::vector data; +}; + +class JsonizeVelocityCommand : public common::Jsonize { + public: + JsonizeVelocityCommand() {} + ~JsonizeVelocityCommand() {} + + void fromJson(common::JsonMap& json) { + common::FromJson(json["velocity"], velocity); + common::FromJson(json["duration"], duration); + } + + void toJson(common::JsonMap& json) const { + common::ToJson(velocity, json["velocity"]); + common::ToJson(duration, json["duration"]); + } + + std::vector velocity; + float duration; +}; + +class JsonizeTargetPos : public common::Jsonize { + public: + JsonizeTargetPos() {} + ~JsonizeTargetPos() {} + + void fromJson(common::JsonMap& json) { + common::FromJson(json["x"], x); + common::FromJson(json["y"], y); + common::FromJson(json["yaw"], yaw); + common::FromJson(json["relative"], relative); + } + + void toJson(common::JsonMap& json) const { + common::ToJson(x, json["x"]); + common::ToJson(y, json["y"]); + common::ToJson(yaw, json["yaw"]); + common::ToJson(relative, json["relative"]); + } + + float x, y, yaw; + bool relative; +}; + +} // namespace h1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_H1_LOCO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_client.hpp b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_client.hpp new file mode 100644 index 0000000..7e06974 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_client.hpp @@ -0,0 +1,283 @@ +#ifndef __UT_ROBOT_H1_LOCO_CLIENT_HPP__ +#define __UT_ROBOT_H1_LOCO_CLIENT_HPP__ + +#include "h1_loco_api.hpp" +#include +#include +#include + +namespace unitree { +namespace robot { +namespace h1 { +class LocoClient : public Client { + public: + LocoClient() : Client(LOCO_SERVICE_NAME, false) {} + ~LocoClient() {} + + /*Init*/ + void Init() { + SetApiVersion(LOCO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_PHASE); // deprecated + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_VELOCITY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_PHASE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_ARM_TASK); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_ENABLE_ODOM); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_DISABLE_ODOM); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_ODOM); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_TARGET_POSITION); + }; + + /*Low Level API Call*/ + int32_t GetFsmId(int& fsm_id) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_ID, parameter, data); + + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_id = json.data; + + return ret; + } + + int32_t GetFsmMode(int& fsm_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_MODE, parameter, data); + + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_mode = json.data; + + return ret; + } + + int32_t GetBalanceMode(int& balance_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_BALANCE_MODE, parameter, data); + + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + balance_mode = json.data; + + return ret; + } + + int32_t GetSwingHeight(float& swing_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT, parameter, data); + + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + swing_height = json.data; + + return ret; + } + + int32_t GetStandHeight(float& stand_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT, parameter, data); + + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + stand_height = json.data; + + return ret; + } + + int32_t GetPhase(std::vector& phase) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_PHASE, parameter, data); + + JsonizeDataVecFloat json; + common::FromJsonString(data, json); + phase = json.data; + + return ret; + } + + int32_t EnableOdom() { + std::string parameter, data; + return Call(ROBOT_API_ID_LOCO_ENABLE_ODOM, parameter, data); + } + + int32_t DisableOdom() { + std::string parameter, data; + return Call(ROBOT_API_ID_LOCO_DISABLE_ODOM, parameter, data); + } + + int32_t GetOdom(float& x, float& y, float& yaw) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_ODOM, parameter, data); + + go2::JsonizeVec3 json; + common::FromJsonString(data, json); + x = json.x; + y = json.y; + yaw = json.z; + + return ret; + } + + int32_t SetFsmId(int fsm_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = fsm_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter, data); + } + + int32_t SetBalanceMode(int balance_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = balance_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, parameter, data); + } + + int32_t SetSwingHeight(float swing_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = swing_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT, parameter, data); + } + + int32_t SetStandHeight(float stand_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = stand_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, parameter, data); + } + + int32_t SetVelocity(float vx, float vy, float omega, float duration = 1.f) { + std::string parameter, data; + + JsonizeVelocityCommand json; + std::vector velocity = {vx, vy, omega}; + json.velocity = velocity; + json.duration = duration; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter, data); + } + + int32_t SetPhase(std::vector phase) { + std::string parameter, data; + + JsonizeDataVecFloat json; + json.data = phase; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_PHASE, parameter, data); + } + + int32_t SetTargetPos(float x, float y, float yaw, bool relative = true) { + std::string parameter, data; + + JsonizeTargetPos json; + json.x = x; + json.y = y; + json.yaw = yaw; + json.relative = relative; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_TARGET_POSITION, parameter, data); + } + + int32_t SetTaskId(int task_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = task_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_ARM_TASK, parameter, data); + } + + /*High Level API Call*/ + int32_t Damp() { return SetFsmId(1); } + + int32_t Start() { return SetFsmId(204); } + + int32_t StandUp() { return SetFsmId(2); } + + int32_t ZeroTorque() { return SetFsmId(0); } + + int32_t StopMove() { return SetVelocity(0.f, 0.f, 0.f); } + + int32_t HighStand() { return SetStandHeight(std::numeric_limits::max()); } + + int32_t LowStand() { return SetStandHeight(std::numeric_limits::min()); } + + int32_t Move(float vx, float vy, float vyaw, bool continous_move) { + return SetVelocity(vx, vy, vyaw, continous_move ? 864000.f : 1.f); + } + + int32_t Move(float vx, float vy, float vyaw) { return Move(vx, vy, vyaw, continous_move_); } + + int32_t BalanceStand() { return SetBalanceMode(0); } + + int32_t ContinuousGait(bool flag) { return SetBalanceMode(flag ? 1 : 0); } + + int32_t SwitchMoveMode(bool flag) { + continous_move_ = flag; + return 0; + } + + int32_t SetNextFoot(bool foot) { + return SetPhase(foot ? std::vector({0.f, 1.f}) : std::vector({1.f, 0.f})); + } + + int32_t WaveHand() { return SetTaskId(0); } + + int32_t ShakeHand(int stage = -1) { + switch (stage) { + case 0: + first_shake_hand_stage_ = false; + return SetTaskId(1); + + case 1: + first_shake_hand_stage_ = true; + return SetTaskId(2); + + default: + first_shake_hand_stage_ = !first_shake_hand_stage_; + return SetTaskId(first_shake_hand_stage_ ? 2 : 1); + } + } + + private: + bool continous_move_ = false; + bool first_shake_hand_stage_ = true; +}; +} // namespace h1 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_H1_LOCO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_error.hpp b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_error.hpp new file mode 100644 index 0000000..87892ce --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h1/loco/h1_loco_error.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_H1_LOCO_ERROR_HPP__ +#define __UT_ROBOT_H1_LOCO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace h1 { +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_LOCOSTATE_NOT_AVAILABLE, 8301, "LocoState not available.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_FSM_ID, 8302, "Invalid fsm id.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_ODOMSTATE_NOT_AVAILABLE, 8303, "OdomState not available.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_TASK_ID, 8304, "Invalid task id.") +} // namespace h1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_H1_LOCO_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_api.hpp b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_api.hpp new file mode 100644 index 0000000..706bcff --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_api.hpp @@ -0,0 +1,115 @@ +#ifndef __UT_ROBOT_H2_LOCO_API_HPP__ +#define __UT_ROBOT_H2_LOCO_API_HPP__ + +#include +#include + +namespace unitree { +namespace robot { +namespace h2 { +/*service name*/ +const std::string LOCO_SERVICE_NAME = "sport"; + +/*api version*/ +const std::string LOCO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_LOCO_GET_FSM_ID = 7001; +const int32_t ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002; +const int32_t ROBOT_API_ID_LOCO_GET_BALANCE_MODE = 7003; +const int32_t ROBOT_API_ID_LOCO_GET_SWING_HEIGHT = 7004; +const int32_t ROBOT_API_ID_LOCO_GET_STAND_HEIGHT = 7005; +const int32_t ROBOT_API_ID_LOCO_GET_PHASE = 7006; // deprecated +const int32_t ROBOT_API_ID_LOCO_GET_ARM_SDK_STATUS = 7007; +const int32_t ROBOT_API_ID_LOCO_GET_AVAILABLE_FSM_IDS = 7008; + +const int32_t ROBOT_API_ID_LOCO_SET_FSM_ID = 7101; +const int32_t ROBOT_API_ID_LOCO_SET_BALANCE_MODE = 7102; +const int32_t ROBOT_API_ID_LOCO_SET_SWING_HEIGHT = 7103; +const int32_t ROBOT_API_ID_LOCO_SET_STAND_HEIGHT = 7104; +const int32_t ROBOT_API_ID_LOCO_SET_VELOCITY = 7105; +const int32_t ROBOT_API_ID_LOCO_SET_ARM_TASK = 7106; +const int32_t ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107; +const int32_t ROBOT_API_ID_LOCO_SET_PUNCH_API = 7108; +const int32_t ROBOT_API_ID_LOCO_SET_ARM_SDK_STATUS = 7109; + +using LocoCmd = std::map>>; + +class JsonizeDataVecFloat : public common::Jsonize { + public: + JsonizeDataVecFloat() {} + ~JsonizeDataVecFloat() {} + + void fromJson(common::JsonMap& json) { common::FromJson(json["data"], data); } + + void toJson(common::JsonMap& json) const { common::ToJson(data, json["data"]); } + + std::vector data; +}; + +class JsonizeVelocityCommand : public common::Jsonize { + public: + JsonizeVelocityCommand() {} + ~JsonizeVelocityCommand() {} + + void fromJson(common::JsonMap& json) { + common::FromJson(json["velocity"], velocity); + common::FromJson(json["duration"], duration); + } + + void toJson(common::JsonMap& json) const { + common::ToJson(velocity, json["velocity"]); + common::ToJson(duration, json["duration"]); + } + + std::vector velocity; + float duration; +}; + +struct FsmIdInfo { + int id; + std::string name; + + FsmIdInfo() : id(0), name("") {} + FsmIdInfo(int i, const std::string& n) : id(i), name(n) {} +}; + +class JsonizeFsmIdList : public common::Jsonize { + public: + JsonizeFsmIdList() {} + ~JsonizeFsmIdList() {} + + void fromJson(common::JsonMap& json) { + std::vector ids; + std::vector names; + + common::FromJson(json["ids"], ids); + common::FromJson(json["names"], names); + + fsm_ids.clear(); + for (size_t i = 0; i < ids.size() && i < names.size(); i++) { + fsm_ids.push_back(FsmIdInfo(ids[i], names[i])); + } + } + + void toJson(common::JsonMap& json) const { + std::vector ids; + std::vector names; + + for (const auto& info : fsm_ids) { + ids.push_back(info.id); + names.push_back(info.name); + } + + common::ToJson(ids, json["ids"]); + common::ToJson(names, json["names"]); + } + + std::vector fsm_ids; +}; + +} // namespace h2 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_H2_LOCO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_client.hpp b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_client.hpp new file mode 100644 index 0000000..d73dd4b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_client.hpp @@ -0,0 +1,315 @@ +#ifndef __UT_ROBOT_H2_LOCO_CLIENT_HPP__ +#define __UT_ROBOT_H2_LOCO_CLIENT_HPP__ + +#include "h2_loco_api.hpp" +#include +#include +#include + +namespace unitree { +namespace robot { +namespace h2 { +class LocoClient : public Client { + public: + LocoClient() : Client(LOCO_SERVICE_NAME, false) {} + ~LocoClient() {} + + /*Init*/ + void Init() { + SetApiVersion(LOCO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_PHASE); // deprecated + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_ARM_SDK_STATUS); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_AVAILABLE_FSM_IDS); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_BALANCE_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_VELOCITY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_ARM_TASK); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SPEED_MODE); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_PUNCH_API); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_ARM_SDK_STATUS); + }; + + /*Low Level API Call*/ + int32_t GetFsmId(int& fsm_id) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_ID, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_id = json.data; + } + + return ret; + } + + int32_t GetFsmMode(int& fsm_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_MODE, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_mode = json.data; + } + + return ret; + } + + int32_t GetBalanceMode(int& balance_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_BALANCE_MODE, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + balance_mode = json.data; + } + + return ret; + } + + int32_t GetSwingHeight(float& swing_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_SWING_HEIGHT, parameter, data); + + if (ret == 0) { + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + swing_height = json.data; + } + + return ret; + } + + int32_t GetStandHeight(float& stand_height) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_STAND_HEIGHT, parameter, data); + + if (ret == 0) { + go2::JsonizeDataFloat json; + common::FromJsonString(data, json); + stand_height = json.data; + } + + return ret; + } + + int32_t GetPhase(std::vector& phase) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_PHASE, parameter, data); + + if (ret == 0) { + JsonizeDataVecFloat json; + common::FromJsonString(data, json); + phase = json.data; + } + + return ret; + } + + int32_t GetArmSdkStatus(bool& arm_sdk_status) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_ARM_SDK_STATUS, parameter, data); + + if (ret == 0) { + go2::JsonizeDataBool json; + common::FromJsonString(data, json); + arm_sdk_status = json.data; + } + + return ret; + } + + int32_t GetAvailableFsmIds(std::vector& ids, std::vector& names) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_AVAILABLE_FSM_IDS, parameter, data); + + if (ret == 0) { + JsonizeFsmIdList json; + common::FromJsonString(data, json); + ids.clear(); + names.clear(); + for (const auto& info : json.fsm_ids) { + ids.push_back(info.id); + names.push_back(info.name); + } + } + + return ret; + } + + int32_t SetFsmId(int fsm_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = fsm_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter, data); + } + + int32_t SetBalanceMode(int balance_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = balance_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_BALANCE_MODE, parameter, data); + } + + int32_t SetPunchApi(std::vector& punch_api) { + std::string parameter, data; + + // go2::JsonizeDataInt json; + JsonizeDataVecFloat json; + json.data = punch_api; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_PUNCH_API, parameter, data); + } + + int32_t SetSwingHeight(float swing_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = swing_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SWING_HEIGHT, parameter, data); + } + + int32_t SetStandHeight(float stand_height) { + std::string parameter, data; + + go2::JsonizeDataFloat json; + json.data = stand_height; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_STAND_HEIGHT, parameter, data); + } + + int32_t SetVelocity(float vx, float vy, float omega, float duration = 1.f) { + std::string parameter, data; + + JsonizeVelocityCommand json; + std::vector velocity = {vx, vy, omega}; + json.velocity = velocity; + json.duration = duration; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter, data); + } + + int32_t SetTaskId(int task_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = task_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_ARM_TASK, parameter, data); + } + + int32_t SetArmSdkStatus(bool arm_sdk_status) { + std::string parameter, data; + + go2::JsonizeDataBool json; + json.data = arm_sdk_status; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_ARM_SDK_STATUS, parameter, data); + } + + /*High Level API Call*/ + int32_t Damp() { return SetFsmId(1); } + + int32_t Start() { return SetFsmId(500); } + + int32_t Squat() { return SetFsmId(2); } + + int32_t Sit() { return SetFsmId(3); } + + int32_t StandUp() { return SetFsmId(4); } + + int32_t ZeroTorque() { return SetFsmId(0); } + + int32_t StopMove() { return SetVelocity(0.f, 0.f, 0.f); } + + int32_t HighStand() { return SetStandHeight(std::numeric_limits::max()); } + + int32_t LowStand() { return SetStandHeight(std::numeric_limits::min()); } + + int32_t Move(float vx, float vy, float vyaw, bool continous_move) { + return SetVelocity(vx, vy, vyaw, continous_move ? 864000.f : 1.f); + } + + int32_t Move(float vx, float vy, float vyaw) { return Move(vx, vy, vyaw, continous_move_); } + + int32_t BalanceStand() { return SetBalanceMode(0); } + + int32_t ContinuousGait(bool flag) { return SetBalanceMode(flag ? 1 : 0); } + + int32_t SwitchMoveMode(bool flag) { + continous_move_ = flag; + return 0; + } + + int32_t WaveHand(bool turn_flag = false) { return SetTaskId(turn_flag ? 1 : 0); } + + int32_t ShakeHand(int stage = -1) { + switch (stage) { + case 0: + first_shake_hand_stage_ = false; + return SetTaskId(2); + + case 1: + first_shake_hand_stage_ = true; + return SetTaskId(3); + + default: + first_shake_hand_stage_ = !first_shake_hand_stage_; + return SetTaskId(first_shake_hand_stage_ ? 3 : 2); + } + } + + int32_t SetSpeedMode(int speed_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = speed_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter, data); + } + + int32_t EnableArmSDK() { return SetArmSdkStatus(true); } + + int32_t DisableArmSDK() { return SetArmSdkStatus(false); } + + private: + bool continous_move_ = false; + bool first_shake_hand_stage_ = true; +}; +} // namespace h2 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_H2_LOCO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_error.hpp b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_error.hpp new file mode 100644 index 0000000..b1710e3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/h2/loco/h2_loco_error.hpp @@ -0,0 +1,18 @@ +#ifndef __UT_ROBOT_H2_LOCO_ERROR_HPP__ +#define __UT_ROBOT_H2_LOCO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace h2 { +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_LOCOSTATE_NOT_AVAILABLE, 7301, "LocoState not available.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_SCHEDULER_STATE_NOT_AVAILABLE, 7301, "LocoState not available.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_FSM_ID, 7302, "Invalid fsm id.") +UT_DECL_ERR(UT_ROBOT_LOCO_ERR_INVALID_TASK_ID, 7303, "Invalid task id.") +} // namespace h2 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_H2_LOCO_ERROR_HPP__ + diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal.hpp new file mode 100644 index 0000000..56682ac --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal.hpp @@ -0,0 +1,17 @@ +#ifndef __UT_ROBOT_SDK_INERNAL_HPP__ +#define __UT_ROBOT_SDK_INERNAL_HPP__ + +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +using RequestPtr = std::shared_ptr; +using ResponsePtr = std::shared_ptr; +} +} + +#endif//__UT_ROBOT_SDK_INERNAL_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_api.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_api.hpp new file mode 100644 index 0000000..542d521 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_api.hpp @@ -0,0 +1,120 @@ +#ifndef __UT_ROBOT_SDK_INERNAL_API_HPP__ +#define __UT_ROBOT_SDK_INERNAL_API_HPP__ + +#include +#include + +namespace unitree +{ +namespace robot +{ +/* + * @brief max internal api id + * @value: 100 + */ +const int32_t ROBOT_INTERNAL_API_ID_MAX = 100; + +/////////////////////////////////////////////////////////////// +/* + * @brief invailed api id + * @value: -1 + */ +const int32_t ROBOT_API_ID_NONE = -1; + +/* + * @brief Get api version from server. + * @value: 1 + */ +const int32_t ROBOT_API_ID_INTERNAL_API_VERSION = 1; + +/* + * @brief Noop. + * @value: 2 + */ +const int32_t ROBOT_API_ID_INTERNAL_API_NOOP = 2; + +/* + * @brief Apply lease from server. + * @value: 101 + */ +const int32_t ROBOT_API_ID_LEASE_APPLY = 101; +/* + * @brief Renewal lease term from server. + * @value: 102 + */ +const int32_t ROBOT_API_ID_LEASE_RENEWAL = 102; + +/////////////////////////////////////////////////////////////// + +/* + * @biref robot lease term default. + * @value: default 1000000 us + */ +const int32_t ROBOT_LEASE_TERM = 1000000; + +/* + * micro: IS_INTERNAL_API + */ +#define IS_INTERNAL_API(apiId) ((apiId) <= ROBOT_MAX_INTERNAL_API_ID) + +/////////////////////////////////////////////////////////////// + +/* + * @brief Input parameter type for ROBOT_API_ID_INTERNAL_APPLY_LEASE + * @class: ApplyLeaseParameter + */ +class ApplyLeaseParameter : public common::Jsonize +{ +public: + ApplyLeaseParameter() + {} + + ~ApplyLeaseParameter() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["name"], name); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(name, json["name"]); + } + +public: + std::string name; +}; + +/* + * @brief Output data type for ROBOT_API_ID_INTERNAL_APPLY_LEASE + * @class: ApplyLeaseData + */ +class ApplyLeaseData : public common::Jsonize +{ +public: + ApplyLeaseData() : id(0),term(0) + {} + + ~ApplyLeaseData() + {} + + void fromJson(common::JsonMap& json) + { + common::FromJson(json["id"], id); + common::FromJson(json["term"], term); + } + + void toJson(common::JsonMap& json) const + { + common::ToJson(id, json["id"]); + common::ToJson(term, json["term"]); + } + +public: + int64_t id; + int64_t term; +}; +} +} +#endif//__UT_ROBOT_SDK_INERNAL_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_error.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_error.hpp new file mode 100644 index 0000000..07426ec --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_error.hpp @@ -0,0 +1,29 @@ +#ifndef __UT_ROBOT_INTERNAL_ERROR_HPP__ +#define __UT_ROBOT_INTERNAL_ERROR_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +UT_DECL_ERR(UT_ROBOT_OK, 0, "Success.") +UT_DECL_ERR(UT_ROBOT_ERR_UNKNOWN, 3001, "Unknown error.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_SEND, 3102, "Send request error.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_NOT_REG, 3103, "Api is not registed.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_TIMEOUT, 3104, "Call api timeout error.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_NOT_MATCH, 3105, "Response api not match error.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_DATA, 3106, "Response data error.") +UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_LEASE_INVALID, 3107, "Lease is invalid.") + +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_SEND, 3201, "Send response error.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_INTERNAL, 3202, "Server internal error.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_API_NOT_IMPL, 3203, "Api not implement error.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_API_PARAMETER, 3204, "Api parameter error.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_DENIED, 3205, "Request denied by lease.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_NOT_EXIST, 3206, "Lease not exist in server cache.") +UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_EXIST, 3207, "Lease is already exist in server cache.") +} +} + +#endif//__UT_ROBOT_INTERNAL_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp new file mode 100644 index 0000000..136373d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp @@ -0,0 +1,408 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: RequestHeader_.idl + Source: RequestHeader_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_REQUESTHEADER__HPP +#define DDSCXX_REQUESTHEADER__HPP + +#include "RequestIdentity_.hpp" + +#include "RequestLease_.hpp" + +#include "RequestPolicy_.hpp" + + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class RequestHeader_ +{ +private: + ::unitree_api::msg::dds_::RequestIdentity_ identity_; + ::unitree_api::msg::dds_::RequestLease_ lease_; + ::unitree_api::msg::dds_::RequestPolicy_ policy_; + +public: + RequestHeader_() = default; + + explicit RequestHeader_( + const ::unitree_api::msg::dds_::RequestIdentity_& identity, + const ::unitree_api::msg::dds_::RequestLease_& lease, + const ::unitree_api::msg::dds_::RequestPolicy_& policy) : + identity_(identity), + lease_(lease), + policy_(policy) { } + + const ::unitree_api::msg::dds_::RequestIdentity_& identity() const { return this->identity_; } + ::unitree_api::msg::dds_::RequestIdentity_& identity() { return this->identity_; } + void identity(const ::unitree_api::msg::dds_::RequestIdentity_& _val_) { this->identity_ = _val_; } + void identity(::unitree_api::msg::dds_::RequestIdentity_&& _val_) { this->identity_ = _val_; } + const ::unitree_api::msg::dds_::RequestLease_& lease() const { return this->lease_; } + ::unitree_api::msg::dds_::RequestLease_& lease() { return this->lease_; } + void lease(const ::unitree_api::msg::dds_::RequestLease_& _val_) { this->lease_ = _val_; } + void lease(::unitree_api::msg::dds_::RequestLease_&& _val_) { this->lease_ = _val_; } + const ::unitree_api::msg::dds_::RequestPolicy_& policy() const { return this->policy_; } + ::unitree_api::msg::dds_::RequestPolicy_& policy() { return this->policy_; } + void policy(const ::unitree_api::msg::dds_::RequestPolicy_& _val_) { this->policy_ = _val_; } + void policy(::unitree_api::msg::dds_::RequestPolicy_&& _val_) { this->policy_ = _val_; } + + bool operator==(const RequestHeader_& _other) const + { + (void) _other; + return identity_ == _other.identity_ && + lease_ == _other.lease_ && + policy_ == _other.policy_; + } + + bool operator!=(const RequestHeader_& _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_api::msg::dds_::RequestHeader_>::getTypeName() +{ + return "unitree_api::msg::dds_::RequestHeader_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_map_blob_sz() { return 1064; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4f, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0xfd, 0xdd, 0x30, 0x0e, 0xc6, 0xac, 0x5e, + 0x7a, 0x4b, 0xda, 0xf7, 0xa4, 0xdc, 0xc7, 0x00, 0x71, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x61, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, + 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xff, 0x48, 0x3d, 0x1f, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, + 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0x1a, 0xdc, 0x13, 0xcf, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, + 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0xf4, 0xaf, 0x8b, 0x57, 0xf1, 0x8f, 0x78, + 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x33, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, + 0x0b, 0xb7, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xd3, + 0x3a, 0xff, 0x5d, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, + 0x3f, 0xca, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 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0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x6f, 0x72, 0x65, + 0x70, 0x6c, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0xf2, 0x9b, 0x9a, 0x2d, 0x50, 0x17, 0x56, 0xf6, 0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0xf1, + 0xfd, 0xdd, 0x30, 0x0e, 0xc6, 0xac, 0x5e, 0x7a, 0x4b, 0xda, 0xf7, 0xa4, 0xdc, 0xc7, 0xf2, 0xf8, + 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, + 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xf2, 0x0c, 0xd7, 0x3d, + 0x1a, 0x1e, 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0xf1, 0xe7, 0xaa, 0x98, 0x61, + 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, + 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, + 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::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, 0xfd, 0xdd, 0x30, 0x0e, 0xc6, 0xac, 0x5e, 0x7a, 0x4b, 0xda, 0xf7, + 0xa4, 0xdc, 0xc7, 0x00, 0x75, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, + 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0x00, + 0x27, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, + 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00, 0x37, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x9b, 0x9a, 0x2d, + 0x50, 0x17, 0x56, 0xf6, 0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0x00, 0xc1, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee, + 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0x00, + 0x7a, 0x00, 0x00, 0x00, }; + return blob; +} +#endif //DDSCXX_HAS_TYPE_DISCOVERY + +} //namespace topic +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_api::msg::dds_::RequestHeader_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestHeader_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::RequestHeader_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::RequestHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.lease(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.policy(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::RequestHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::RequestHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.lease(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.policy(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::RequestHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::RequestHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.lease(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.policy(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::RequestHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::RequestHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.lease(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.policy(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::RequestHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>(); + 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_REQUESTHEADER__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp new file mode 100644 index 0000000..07b73d0 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp @@ -0,0 +1,302 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: RequestIdentity_.idl + Source: RequestIdentity_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_REQUESTIDENTITY__HPP +#define DDSCXX_REQUESTIDENTITY__HPP + +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class RequestIdentity_ +{ +private: + int64_t id_ = 0; + int64_t api_id_ = 0; + +public: + RequestIdentity_() = default; + + explicit RequestIdentity_( + int64_t id, + int64_t api_id) : + id_(id), + api_id_(api_id) { } + + int64_t id() const { return this->id_; } + int64_t& id() { return this->id_; } + void id(int64_t _val_) { this->id_ = _val_; } + int64_t api_id() const { return this->api_id_; } + int64_t& api_id() { return this->api_id_; } + void api_id(int64_t _val_) { this->api_id_ = _val_; } + + bool operator==(const RequestIdentity_& _other) const + { + (void) _other; + return id_ == _other.id_ && + api_id_ == _other.api_id_; + } + + bool operator!=(const RequestIdentity_& _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_api::msg::dds_::RequestIdentity_>::getTypeName() +{ + return "unitree_api::msg::dds_::RequestIdentity_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_map_blob_sz() { return 266; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, + 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, 0x0b, 0xb7, 0x74, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xd3, 0x3a, 0xff, 0x5d, 0x00, + 0x8d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, + 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x75, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x29, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, + 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x49, 0x64, 0x65, 0x6e, 0x74, + 0x69, 0x74, 0x79, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x61, 0x70, 0x69, 0x5f, 0x69, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, + 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, 0x20, 0x91, + 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, + 0xd6, 0x60, 0xe6, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, + 0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_api::msg::dds_::RequestIdentity_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestIdentity_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::RequestIdentity_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::RequestIdentity_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.api_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::RequestIdentity_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::RequestIdentity_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.api_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::RequestIdentity_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::RequestIdentity_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.api_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::RequestIdentity_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::RequestIdentity_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.api_id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::RequestIdentity_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>(); + 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_REQUESTIDENTITY__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp new file mode 100644 index 0000000..036412f --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp @@ -0,0 +1,260 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: RequestLease_.idl + Source: RequestLease_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_REQUESTLEASE__HPP +#define DDSCXX_REQUESTLEASE__HPP + +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class RequestLease_ +{ +private: + int64_t id_ = 0; + +public: + RequestLease_() = default; + + explicit RequestLease_( + int64_t id) : + id_(id) { } + + int64_t id() const { return this->id_; } + int64_t& id() { return this->id_; } + void id(int64_t _val_) { this->id_ = _val_; } + + bool operator==(const RequestLease_& _other) const + { + (void) _other; + return id_ == _other.id_; + } + + bool operator!=(const RequestLease_& _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_api::msg::dds_::RequestLease_>::getTypeName() +{ + return "unitree_api::msg::dds_::RequestLease_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestLease_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_map_blob_sz() { return 218; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_map_blob() { + static const uint8_t blob[] = { + 0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, + 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, 0x0b, 0xb7, 0x74, 0x00, + 0x6d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee, + 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x55, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, + 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x4c, 0x65, 0x61, 0x73, 0x65, + 0x5f, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x69, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, + 0x1a, 0x1e, 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0xf1, 0xe7, 0xaa, 0x98, 0x61, + 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, + 0x89, 0x3f, 0xca, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee, + 0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_api::msg::dds_::RequestLease_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestLease_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestLease_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::RequestLease_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::RequestLease_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::RequestLease_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::RequestLease_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::RequestLease_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::RequestLease_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::RequestLease_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::RequestLease_& 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.id())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::RequestLease_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>(); + 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_REQUESTLEASE__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp new file mode 100644 index 0000000..1ff9ecc --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp @@ -0,0 +1,302 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: RequestPolicy_.idl + Source: RequestPolicy_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_REQUESTPOLICY__HPP +#define DDSCXX_REQUESTPOLICY__HPP + +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class RequestPolicy_ +{ +private: + int32_t priority_ = 0; + bool noreply_ = false; + +public: + RequestPolicy_() = default; + + explicit RequestPolicy_( + int32_t priority, + bool noreply) : + priority_(priority), + noreply_(noreply) { } + + int32_t priority() const { return this->priority_; } + int32_t& priority() { return this->priority_; } + void priority(int32_t _val_) { this->priority_ = _val_; } + bool noreply() const { return this->noreply_; } + bool& noreply() { return this->noreply_; } + void noreply(bool _val_) { this->noreply_ = _val_; } + + bool operator==(const RequestPolicy_& _other) const + { + (void) _other; + return priority_ == _other.priority_ && + noreply_ == _other.noreply_; + } + + bool operator!=(const RequestPolicy_& _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_api::msg::dds_::RequestPolicy_>::getTypeName() +{ + return "unitree_api::msg::dds_::RequestPolicy_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_map_blob_sz() { return 266; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_map_blob() { + static const uint8_t blob[] = { + 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, + 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0xb9, 0x88, 0x29, 0x5c, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x14, 0x70, 0x9c, 0x93, 0x00, + 0x8e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, + 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x2f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x27, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, + 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x50, 0x6f, 0x6c, 0x69, 0x63, + 0x79, 0x5f, 0x00, 0x00, 0x3a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x09, 0x00, 0x00, 0x00, 0x70, 0x72, 0x69, 0x6f, + 0x72, 0x69, 0x74, 0x79, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x01, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x6f, 0x72, 0x65, 0x70, 0x6c, 0x79, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9, + 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0xf1, 0x76, 0x57, 0x81, 0x5a, + 0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, + 0x48, 0x4d, 0x4f, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, + 0x89, 0x7a, 0x17, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_api::msg::dds_::RequestPolicy_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestPolicy_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::RequestPolicy_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::RequestPolicy_& 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.priority())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.noreply())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::RequestPolicy_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::RequestPolicy_& 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.priority())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.noreply())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::RequestPolicy_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::RequestPolicy_& 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.priority())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.noreply())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::RequestPolicy_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::RequestPolicy_& 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.priority())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.noreply())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::RequestPolicy_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>(); + 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_REQUESTPOLICY__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Request_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Request_.hpp new file mode 100644 index 0000000..f900a54 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Request_.hpp @@ -0,0 +1,477 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Request_.idl + Source: Request_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_REQUEST__HPP +#define DDSCXX_REQUEST__HPP + +#include "RequestHeader_.hpp" + +#include +#include +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class Request_ +{ +private: + ::unitree_api::msg::dds_::RequestHeader_ header_; + std::string parameter_; + std::vector binary_; + +public: + Request_() = default; + + explicit Request_( + const ::unitree_api::msg::dds_::RequestHeader_& header, + const std::string& parameter, + const std::vector& binary) : + header_(header), + parameter_(parameter), + binary_(binary) { } + + const ::unitree_api::msg::dds_::RequestHeader_& header() const { return this->header_; } + ::unitree_api::msg::dds_::RequestHeader_& header() { return this->header_; } + void header(const ::unitree_api::msg::dds_::RequestHeader_& _val_) { this->header_ = _val_; } + void header(::unitree_api::msg::dds_::RequestHeader_&& _val_) { this->header_ = _val_; } + const std::string& parameter() const { return this->parameter_; } + std::string& parameter() { return this->parameter_; } + void parameter(const std::string& _val_) { this->parameter_ = _val_; } + void parameter(std::string&& _val_) { this->parameter_ = _val_; } + const std::vector& binary() const { return this->binary_; } + std::vector& binary() { return this->binary_; } + void binary(const std::vector& _val_) { this->binary_ = _val_; } + void binary(std::vector&& _val_) { this->binary_ = _val_; } + + bool operator==(const Request_& _other) const + { + (void) _other; + return header_ == _other.header_ && + parameter_ == _other.parameter_ && + binary_ == _other.binary_; + } + + bool operator!=(const Request_& _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_api::msg::dds_::Request_>::getTypeName() +{ + return "unitree_api::msg::dds_::Request_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Request_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Request_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Request_>::type_map_blob_sz() { return 1382; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Request_>::type_info_blob_sz() { return 292; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Request_>::type_map_blob() { + static const uint8_t blob[] = { + 0xbb, 0x01, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0xf1, 0xcb, 0xa4, 0xdc, 0x96, 0x5d, 0x39, 0x3a, + 0xda, 0x76, 0xb4, 0xde, 0x08, 0x19, 0x25, 0x00, 0x58, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x48, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xfd, 0xdd, 0x30, 0x0e, 0xc6, + 0xac, 0x5e, 0x7a, 0x4b, 0xda, 0xf7, 0xa4, 0xdc, 0xc7, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x03, 0x14, 0x4c, 0xce, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0x9d, 0x71, 0x83, 0xf1, 0xf1, 0xfd, 0xdd, 0x30, 0x0e, 0xc6, 0xac, 0x5e, 0x7a, 0x4b, 0xda, 0xf7, + 0xa4, 0xdc, 0xc7, 0x00, 0x71, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x61, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, + 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xff, 0x48, 0x3d, 0x1f, 0x00, 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0x02, 0x00, 0x00, 0x00, + 0x17, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x70, 0x72, 0x69, 0x6f, 0x72, 0x69, 0x74, 0x79, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x6f, 0x72, 0x65, + 0x70, 0x6c, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, + 0xf2, 0xc4, 0x7a, 0x44, 0x29, 0xfc, 0xbf, 0x53, 0x94, 0x86, 0x49, 0x87, 0x53, 0xc4, 0x8f, 0xf1, + 0xcb, 0xa4, 0xdc, 0x96, 0x5d, 0x39, 0x3a, 0xda, 0x76, 0xb4, 0xde, 0x08, 0x19, 0x25, 0xf2, 0x9b, + 0x9a, 0x2d, 0x50, 0x17, 0x56, 0xf6, 0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0xf1, 0xfd, 0xdd, + 0x30, 0x0e, 0xc6, 0xac, 0x5e, 0x7a, 0x4b, 0xda, 0xf7, 0xa4, 0xdc, 0xc7, 0xf2, 0xf8, 0x8b, 0x48, + 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, 0x20, 0x91, + 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, + 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, + 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, + 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, 0x32, + 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Request_>::type_info_blob() { + static const uint8_t blob[] = { + 0x20, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0xcb, 0xa4, 0xdc, 0x96, 0x5d, 0x39, 0x3a, 0xda, 0x76, 0xb4, 0xde, + 0x08, 0x19, 0x25, 0x00, 0x5c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xfd, 0xdd, 0x30, 0x0e, 0xc6, 0xac, 0x5e, + 0x7a, 0x4b, 0xda, 0xf7, 0xa4, 0xdc, 0xc7, 0x00, 0x75, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, + 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0x00, 0x27, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0x7a, 0x44, 0x29, 0xfc, 0xbf, 0x53, 0x94, 0x86, 0x49, 0x87, + 0x53, 0xc4, 0x8f, 0x00, 0xa5, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, + 0x04, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x9b, 0x9a, 0x2d, 0x50, 0x17, 0x56, 0xf6, + 0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0x00, 0xc1, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, + 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee, + 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0x00, + 0x7a, 0x00, 0x00, 0x00, }; + return blob; +} +#endif //DDSCXX_HAS_TYPE_DISCOVERY + +} //namespace topic +} //namespace cyclonedds +} //namespace eclipse +} //namespace org + +namespace dds { +namespace topic { + +template <> +struct topic_type_name<::unitree_api::msg::dds_::Request_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::Request_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::Request_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::Request_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::Request_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.parameter(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.binary()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::Request_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Request_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::Request_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.parameter(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!read(streamer, se_1)) + return false; + instance.binary().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.binary()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::Request_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Request_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::Request_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.parameter(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::Request_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Request_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::Request_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.parameter(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::Request_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Request_>(); + 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_REQUEST__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp new file mode 100644 index 0000000..701937b --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp @@ -0,0 +1,344 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: ResponseHeader_.idl + Source: ResponseHeader_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_RESPONSEHEADER__HPP +#define DDSCXX_RESPONSEHEADER__HPP + +#include "RequestIdentity_.hpp" + +#include "ResponseStatus_.hpp" + + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class ResponseHeader_ +{ +private: + ::unitree_api::msg::dds_::RequestIdentity_ identity_; + ::unitree_api::msg::dds_::ResponseStatus_ status_; + +public: + ResponseHeader_() = default; + + explicit ResponseHeader_( + const ::unitree_api::msg::dds_::RequestIdentity_& identity, + const ::unitree_api::msg::dds_::ResponseStatus_& status) : + identity_(identity), + status_(status) { } + + const ::unitree_api::msg::dds_::RequestIdentity_& identity() const { return this->identity_; } + ::unitree_api::msg::dds_::RequestIdentity_& identity() { return this->identity_; } + void identity(const ::unitree_api::msg::dds_::RequestIdentity_& _val_) { this->identity_ = _val_; } + void identity(::unitree_api::msg::dds_::RequestIdentity_&& _val_) { this->identity_ = _val_; } + const ::unitree_api::msg::dds_::ResponseStatus_& status() const { return this->status_; } + ::unitree_api::msg::dds_::ResponseStatus_& status() { return this->status_; } + void status(const ::unitree_api::msg::dds_::ResponseStatus_& _val_) { this->status_ = _val_; } + void status(::unitree_api::msg::dds_::ResponseStatus_&& _val_) { this->status_ = _val_; } + + bool operator==(const ResponseHeader_& _other) const + { + (void) _other; + return identity_ == _other.identity_ && + status_ == _other.status_; + } + + bool operator!=(const ResponseHeader_& _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_api::msg::dds_::ResponseHeader_>::getTypeName() +{ + return "unitree_api::msg::dds_::ResponseHeader_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_map_blob_sz() { return 754; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_info_blob_sz() { return 196; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_map_blob() { + static const uint8_t blob[] = { + 0xe7, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, + 0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, + 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xff, 0x48, 0x3d, 0x1f, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, + 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x9a, 0xcb, 0x44, 0x54, 0xf1, 0x8f, 0x78, + 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x33, 0x00, 0x00, 0x00, + 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, + 0x0b, 0xb7, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xd3, + 0x3a, 0xff, 0x5d, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, + 0x73, 0x40, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0xc1, 0x33, 0x67, 0x94, 0x00, 0x9f, 0x01, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, 0x7f, 0xf8, 0x91, 0x0c, + 0x07, 0xeb, 0x3e, 0x00, 0x95, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 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0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, + 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x53, 0x74, 0x61, 0x74, 0x75, 0x73, 0x5f, 0x00, + 0x1b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x04, 0x00, 0x05, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, + 0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, + 0x7f, 0xf8, 0x91, 0x0c, 0x07, 0xeb, 0x3e, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, 0x25, + 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, + 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, + 0xe7, 0xd6, 0x60, 0xe6, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, + 0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, + 0x73, 0x40, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_info_blob() { + static const uint8_t blob[] = { + 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21, + 0xef, 0xbf, 0xee, 0x00, 0x55, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, + 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, + 0x27, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, 0x7f, 0xf8, 0x91, 0x0c, + 0x07, 0xeb, 0x3e, 0x00, 0x99, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, + 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, + 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00, + 0x5b, 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_api::msg::dds_::ResponseHeader_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::ResponseHeader_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::ResponseHeader_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::ResponseHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write(streamer, instance.status(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::ResponseHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::ResponseHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read(streamer, instance.status(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::ResponseHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::ResponseHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move(streamer, instance.status(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::ResponseHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::ResponseHeader_& 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.identity(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max(streamer, instance.status(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::ResponseHeader_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>(); + 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_RESPONSEHEADER__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp new file mode 100644 index 0000000..bd8f555 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp @@ -0,0 +1,260 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: ResponseStatus_.idl + Source: ResponseStatus_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_RESPONSESTATUS__HPP +#define DDSCXX_RESPONSESTATUS__HPP + +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class ResponseStatus_ +{ +private: + int32_t code_ = 0; + +public: + ResponseStatus_() = default; + + explicit ResponseStatus_( + int32_t code) : + code_(code) { } + + int32_t code() const { return this->code_; } + int32_t& code() { return this->code_; } + void code(int32_t _val_) { this->code_ = _val_; } + + bool operator==(const ResponseStatus_& _other) const + { + (void) _other; + return code_ == _other.code_; + } + + bool operator!=(const ResponseStatus_& _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_api::msg::dds_::ResponseStatus_>::getTypeName() +{ + return "unitree_api::msg::dds_::ResponseStatus_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_map_blob_sz() { return 218; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_info_blob_sz() { return 100; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_map_blob() { + static const uint8_t blob[] = { + 0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, + 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0xc1, 0x33, 0x67, 0x94, 0x00, + 0x6f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, + 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00, 0x57, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, + 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, + 0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, + 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x53, 0x74, 0x61, 0x74, + 0x75, 0x73, 0x5f, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x05, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x64, 0x65, + 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d, + 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67, 0x75, 0x71, + 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_info_blob() { + static const uint8_t blob[] = { + 0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, + 0xf9, 0x73, 0x40, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, + 0x14, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, + 0xff, 0x55, 0xda, 0x00, 0x5b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 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_api::msg::dds_::ResponseStatus_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::ResponseStatus_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::ResponseStatus_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::ResponseStatus_& 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.code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::ResponseStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::ResponseStatus_& 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.code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::ResponseStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::ResponseStatus_& 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.code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::ResponseStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::ResponseStatus_& 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.code())) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::ResponseStatus_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>(); + 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_RESPONSESTATUS__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp new file mode 100644 index 0000000..37299c9 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp @@ -0,0 +1,454 @@ +/**************************************************************** + + Generated by Eclipse Cyclone DDS IDL to CXX Translator + File name: Response_.idl + Source: Response_.hpp + Cyclone DDS: v0.10.2 + +*****************************************************************/ +#ifndef DDSCXX_RESPONSE__HPP +#define DDSCXX_RESPONSE__HPP + +#include "ResponseHeader_.hpp" + +#include +#include +#include + +namespace unitree_api +{ +namespace msg +{ +namespace dds_ +{ +class Response_ +{ +private: + ::unitree_api::msg::dds_::ResponseHeader_ header_; + std::string data_; + std::vector binary_; + +public: + Response_() = default; + + explicit Response_( + const ::unitree_api::msg::dds_::ResponseHeader_& header, + const std::string& data, + const std::vector& binary) : + header_(header), + data_(data), + binary_(binary) { } + + const ::unitree_api::msg::dds_::ResponseHeader_& header() const { return this->header_; } + ::unitree_api::msg::dds_::ResponseHeader_& header() { return this->header_; } + void header(const ::unitree_api::msg::dds_::ResponseHeader_& _val_) { this->header_ = _val_; } + void header(::unitree_api::msg::dds_::ResponseHeader_&& _val_) { this->header_ = _val_; } + const std::string& data() const { return this->data_; } + std::string& data() { return this->data_; } + void data(const std::string& _val_) { this->data_ = _val_; } + void data(std::string&& _val_) { this->data_ = _val_; } + const std::vector& binary() const { return this->binary_; } + std::vector& binary() { return this->binary_; } + void binary(const std::vector& _val_) { this->binary_ = _val_; } + void binary(std::vector&& _val_) { this->binary_ = _val_; } + + bool operator==(const Response_& _other) const + { + (void) _other; + return header_ == _other.header_ && + data_ == _other.data_ && + binary_ == _other.binary_; + } + + bool operator!=(const Response_& _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_api::msg::dds_::Response_>::getTypeName() +{ + return "unitree_api::msg::dds_::Response_"; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Response_>::isSelfContained() +{ + return false; +} + +template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Response_>::isKeyless() +{ + return true; +} + +#ifdef DDSCXX_HAS_TYPE_DISCOVERY +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Response_>::type_map_blob_sz() { return 1068; } +template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Response_>::type_info_blob_sz() { return 244; } +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Response_>::type_map_blob() { + static const uint8_t blob[] = { + 0x53, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x48, 0xc9, 0x97, 0xd3, 0x79, 0xc3, 0xe1, + 0x8c, 0x53, 0x0b, 0x5f, 0x8f, 0xe9, 0x46, 0x00, 0x58, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x48, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, + 0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00, + 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x8d, 0x77, 0x7f, 0x38, + 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, + 0x9d, 0x71, 0x83, 0xf1, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21, + 0xef, 0xbf, 0xee, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, + 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xff, 0x48, 0x3d, 0x1f, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, + 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x9a, 0xcb, 0x44, 0x54, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, + 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, + 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, 0x0b, 0xb7, 0x74, 0x00, + 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xd3, 0x3a, 0xff, 0x5d, 0xf1, + 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, 0x00, + 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x04, 0xc1, 0x33, 0x67, 0x94, 0x00, 0x4f, 0x02, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, + 0xf2, 0xd1, 0xc3, 0x2c, 0xc0, 0x22, 0x14, 0x90, 0x1a, 0x46, 0x4a, 0x6c, 0x51, 0x32, 0x5d, 0x00, + 0x9d, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x22, 0x00, 0x00, 0x00, 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0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67, + 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, }; + return blob; +} +template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Response_>::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, 0x48, 0xc9, 0x97, 0xd3, 0x79, 0xc3, 0xe1, 0x8c, 0x53, 0x0b, 0x5f, + 0x8f, 0xe9, 0x46, 0x00, 0x5c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, + 0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, + 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, + 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, 0x27, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, + 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0xc3, 0x2c, + 0xc0, 0x22, 0x14, 0x90, 0x1a, 0x46, 0x4a, 0x6c, 0x51, 0x32, 0x5d, 0x00, 0xa1, 0x00, 0x00, 0x00, + 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, 0x7f, 0xf8, 0x91, 0x0c, 0x07, 0xeb, 0x3e, 0x00, + 0x99, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, + 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, + 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00, + 0x5b, 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_api::msg::dds_::Response_> +{ + static std::string value() + { + return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::Response_>::getTypeName(); + } +}; + +} +} + +REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::Response_) + +namespace org{ +namespace eclipse{ +namespace cyclonedds{ +namespace core{ +namespace cdr{ + +template<> +propvec &get_type_props<::unitree_api::msg::dds_::Response_>(); + +template::value, bool> = true > +bool write(T& streamer, const ::unitree_api::msg::dds_::Response_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!write_string(streamer, instance.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!write(streamer, se_1)) + return false; + if (se_1 > 0 && + !write(streamer, instance.binary()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool write(S& str, const ::unitree_api::msg::dds_::Response_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Response_>(); + str.set_mode(cdr_stream::stream_mode::write, as_key); + return write(str, instance, props.data()); +} + +template::value, bool> = true > +bool read(T& streamer, ::unitree_api::msg::dds_::Response_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!read_string(streamer, instance.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!read(streamer, se_1)) + return false; + instance.binary().resize(se_1); + if (se_1 > 0 && + !read(streamer, instance.binary()[0], se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool read(S& str, ::unitree_api::msg::dds_::Response_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Response_>(); + str.set_mode(cdr_stream::stream_mode::read, as_key); + return read(str, instance, props.data()); +} + +template::value, bool> = true > +bool move(T& streamer, const ::unitree_api::msg::dds_::Response_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!move_string(streamer, instance.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = uint32_t(instance.binary().size()); + if (!move(streamer, se_1)) + return false; + if (se_1 > 0 && + !move(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + 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::value, bool> = true > +bool move(S& str, const ::unitree_api::msg::dds_::Response_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Response_>(); + str.set_mode(cdr_stream::stream_mode::move, as_key); + return move(str, instance, props.data()); +} + +template::value, bool> = true > +bool max(T& streamer, const ::unitree_api::msg::dds_::Response_& 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.header(), prop)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 1: + if (!streamer.start_member(*prop)) + return false; + if (!max_string(streamer, instance.data(), 0)) + return false; + if (!streamer.finish_member(*prop)) + return false; + break; + case 2: + if (!streamer.start_member(*prop)) + return false; + if (!streamer.start_consecutive(false, true)) + return false; + { + uint32_t se_1 = 0; + if (!max(streamer, se_1)) + return false; + if (se_1 > 0 && + !max(streamer, uint8_t(), se_1)) + return false; + } //end sequence 1 + if (!streamer.finish_consecutive()) + return false; + streamer.position(SIZE_MAX); + if (!streamer.finish_member(*prop)) + return false; + break; + } + prop = streamer.next_entity(prop); + } + return streamer.finish_struct(*props); +} + +template::value, bool> = true > +bool max(S& str, const ::unitree_api::msg::dds_::Response_& instance, bool as_key) { + auto &props = get_type_props<::unitree_api::msg::dds_::Response_>(); + 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_RESPONSE__HPP diff --git a/deps/unitree_sdk2/include/unitree/robot/internal/internal_request_response.hpp b/deps/unitree_sdk2/include/unitree/robot/internal/internal_request_response.hpp new file mode 100644 index 0000000..b9ebf1d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/internal/internal_request_response.hpp @@ -0,0 +1,23 @@ +#ifndef __UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__ +#define __UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__ + +#include +#include + +namespace unitree +{ +namespace robot +{ +using RequestIdentity = unitree_api::msg::dds_::RequestIdentity_; +using RequestLease = unitree_api::msg::dds_::RequestLease_; +using RequestPolicy = unitree_api::msg::dds_::RequestPolicy_; +using RequestHeader = unitree_api::msg::dds_::RequestHeader_; +using Request = unitree_api::msg::dds_::Request_; + +using ResponseStatus = unitree_api::msg::dds_::ResponseStatus_; +using ResponseHeader = unitree_api::msg::dds_::ResponseHeader_; +using Response = unitree_api::msg::dds_::Response_; +} +} + +#endif//__UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_api.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_api.hpp new file mode 100644 index 0000000..cf3797c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_api.hpp @@ -0,0 +1,94 @@ +#ifndef __UT_ROBOT_R1_AUDIO_API_HPP__ +#define __UT_ROBOT_R1_AUDIO_API_HPP__ + +#include +// #include + +namespace unitree { +namespace robot { +namespace r1 { +/*service name*/ +const std::string AUDIO_SERVICE_NAME = "voice"; + +/*api version*/ +const std::string AUDIO_API_VERSION = "1.0.0.0"; + +/*api id*/ +const int32_t ROBOT_API_ID_AUDIO_TTS = 1001; +const int32_t ROBOT_API_ID_AUDIO_ASR = 1002; +const int32_t ROBOT_API_ID_AUDIO_START_PLAY = 1003; +const int32_t ROBOT_API_ID_AUDIO_STOP_PLAY = 1004; +const int32_t ROBOT_API_ID_AUDIO_GET_VOLUME = 1005; +const int32_t ROBOT_API_ID_AUDIO_SET_VOLUME = 1006; +const int32_t ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010; + +class TtsMakerParameter : public common::Jsonize { + public: + TtsMakerParameter() {} + ~TtsMakerParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(index, json["index"]); + common::ToJson(speaker_id, json["speaker_id"]); + common::ToJson(text, json["text"]); + } + + int32_t index = 0; + uint16_t speaker_id = 0; + std::string text; +}; + +class PlayStreamParameter : public common::Jsonize { + public: + PlayStreamParameter() {} + ~PlayStreamParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + common::ToJson(stream_id, json["stream_id"]); + } + + std::string app_name; + std::string stream_id; +}; + +class PlayStopParameter : public common::Jsonize { + public: + PlayStopParameter() {} + ~PlayStopParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(app_name, json["app_name"]); + } + + std::string app_name; +}; + +class LedControlParameter : public common::Jsonize { + public: + LedControlParameter() {} + ~LedControlParameter() {} + + void fromJson(common::JsonMap &json) {} + + void toJson(common::JsonMap &json) const { + common::ToJson(R, json["R"]); + common::ToJson(G, json["G"]); + common::ToJson(B, json["B"]); + } + + uint8_t R; + uint8_t G; + uint8_t B; +}; +} // namespace r1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_R1_AUDIO_API_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_client.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_client.hpp new file mode 100644 index 0000000..e73822d --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_client.hpp @@ -0,0 +1,110 @@ +#ifndef __UT_ROBOT_R1_AUDIO_CLIENT_HPP__ +#define __UT_ROBOT_R1_AUDIO_CLIENT_HPP__ + +#include +#include +#include + +#include "audio_api.hpp" + +namespace unitree { +namespace robot { +namespace r1 { +class AudioClient : public Client { + public: + AudioClient() : Client(AUDIO_SERVICE_NAME, false) {} + ~AudioClient() {} + + /*Init*/ + void Init() { + SetApiVersion(AUDIO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_TTS); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_ASR); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_START_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_STOP_PLAY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_GET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_VOLUME); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_RGB_LED); + }; + + /*API Call*/ + int32_t TtsMaker(const std::string& text, int32_t speaker_id) { + std::string parameter, data; + TtsMakerParameter json; + + json.index = tts_index++; + json.text = text; + json.speaker_id = speaker_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_TTS, parameter, data); + } + + int32_t GetVolume(uint8_t& volume) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter, data); + if (ret == 0) { + unitree::robot::go2::JsonizeCommObjInt json; + json.name = "volume"; + common::FromJsonString(data, json); + volume = json.value; + } + + return ret; + } + + int32_t SetVolume(uint8_t volume) { + std::string parameter, data; + unitree::robot::go2::JsonizeCommObjInt json; + + json.value = volume; + json.name = "volume"; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter, data); + } + + int32_t PlayStream(std::string app_name, std::string stream_id, + std::vector pcm_data) { + std::string parameter; + PlayStreamParameter json; + + json.app_name = app_name; + json.stream_id = stream_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_START_PLAY, parameter, pcm_data); + } + + int32_t PlayStop(std::string app_name) { + std::string parameter, data; + PlayStopParameter json; + + json.app_name = app_name; + parameter = common::ToJsonString(json); + + Call(ROBOT_API_ID_AUDIO_STOP_PLAY, parameter, data); + return 0; + } + + int32_t LedControl(uint8_t R, uint8_t G, uint8_t B) { + std::string parameter, data; + LedControlParameter json; + + json.R = R; + json.G = G; + json.B = B; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter, data); + } + + private: + uint32_t tts_index = 0; +}; +} // namespace r1 + +} // namespace robot +} // namespace unitree +#endif // __UT_ROBOT_R1_AUDIO_CLIENT_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_error.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_error.hpp new file mode 100644 index 0000000..f50daa7 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/audio/audio_error.hpp @@ -0,0 +1,14 @@ +#ifndef __UT_ROBOT_R1_AUDIO_ERROR_HPP__ +#define __UT_ROBOT_R1_AUDIO_ERROR_HPP__ + +#include + +namespace unitree { +namespace robot { +namespace r1 { +UT_DECL_ERR(UT_ROBOT_AUDIO_ERR_COMM, 100, "Invalid parameter ") +} // namespace r1 +} // namespace robot +} // namespace unitree + +#endif // __UT_ROBOT_R1_AUDIO_ERROR_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_api.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_api.hpp new file mode 100644 index 0000000..4608cd3 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_api.hpp @@ -0,0 +1,61 @@ +#pragma once + +#include +#include + +namespace unitree { +namespace robot { + namespace r1 { + + const std::string LOCO_SERVICE_NAME = "sport"; + + /*api version*/ + const std::string LOCO_API_VERSION = "1.0.0.0"; + + /*api id*/ + const int32_t ROBOT_API_ID_LOCO_GET_FSM_ID = 7001; + const int32_t ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002; + + const int32_t ROBOT_API_ID_LOCO_SET_FSM_ID = 7101; + const int32_t ROBOT_API_ID_LOCO_SET_VELOCITY = 7105; + const int32_t ROBOT_API_ID_LOCO_SET_SPEED_MODE = 7107; + + using LocoCmd = std::map< std::string, std::variant< int, float, std::vector< float > > >; + + class JsonizeDataVecFloat : public common::Jsonize { + public: + JsonizeDataVecFloat() {} + ~JsonizeDataVecFloat() {} + + void fromJson( common::JsonMap& json ) { + common::FromJson( json[ "data" ], data ); + } + + void toJson( common::JsonMap& json ) const { + common::ToJson( data, json[ "data" ] ); + } + + std::vector< float > data; + }; + + class JsonizeVelocityCommand : public common::Jsonize { + public: + JsonizeVelocityCommand() {} + ~JsonizeVelocityCommand() {} + + void fromJson( common::JsonMap& json ) { + common::FromJson( json[ "velocity" ], velocity ); + common::FromJson( json[ "duration" ], duration ); + } + + void toJson( common::JsonMap& json ) const { + common::ToJson( velocity, json[ "velocity" ] ); + common::ToJson( duration, json[ "duration" ] ); + } + + std::vector< float > velocity; + float duration; + }; + } // namespace r1 +} // namespace robot +} // namespace unitree diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_client.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_client.hpp new file mode 100644 index 0000000..98b8743 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_client.hpp @@ -0,0 +1,124 @@ +#pragma once + +#include +#include +#include +#include "r1_loco_api.hpp" + +namespace unitree { +namespace robot { +namespace r1 { +class LocoClient : public Client { + public: + LocoClient() : Client(LOCO_SERVICE_NAME, false) {} + ~LocoClient() {} + + /*Init*/ + void Init() { + SetApiVersion(LOCO_API_VERSION); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_GET_FSM_MODE); + + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_FSM_ID); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_VELOCITY); + UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_LOCO_SET_SPEED_MODE); + }; + + /*Low Level API Call*/ + int32_t GetFsmId(int& fsm_id) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_ID, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_id = json.data; + + } + + return ret; + } + + int32_t GetFsmMode(int& fsm_mode) { + std::string parameter, data; + + int32_t ret = Call(ROBOT_API_ID_LOCO_GET_FSM_MODE, parameter, data); + + if (ret == 0) { + go2::JsonizeDataInt json; + common::FromJsonString(data, json); + fsm_mode = json.data; + } + + return ret; + } + + + int32_t SetFsmId(int fsm_id) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = fsm_id; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_FSM_ID, parameter, data); + } + + + int32_t SetVelocity(float vx, float vy, float omega, float duration = 1.f) { + std::string parameter, data; + + JsonizeVelocityCommand json; + std::vector velocity = {vx, vy, omega}; + json.velocity = velocity; + json.duration = duration; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_VELOCITY, parameter, data); + } + + /*High Level API Call*/ + int32_t Damp() { return SetFsmId(1); } + + int32_t Start() { return SetFsmId(811); } + + // int32_t Squat() { return SetFsmId(2); } + + // int32_t Sit() { return SetFsmId(3); } + + int32_t StandUp() { return SetFsmId(4); } + + int32_t ZeroTorque() { return SetFsmId(0); } + + int32_t StopMove() { return SetVelocity(0.f, 0.f, 0.f); } + + int32_t Move(float vx, float vy, float vyaw, bool continous_move) { + return SetVelocity(vx, vy, vyaw, continous_move ? 864000.f : 1.f); + } + + int32_t Move(float vx, float vy, float vyaw) { return Move(vx, vy, vyaw, continous_move_); } + + int32_t SwitchMoveMode(bool flag) { + continous_move_ = flag; + return 0; + } + + int32_t SetSpeedMode(int speed_mode) { + std::string parameter, data; + + go2::JsonizeDataInt json; + json.data = speed_mode; + parameter = common::ToJsonString(json); + + return Call(ROBOT_API_ID_LOCO_SET_SPEED_MODE, parameter, data); + } + + private: + bool continous_move_ = false; + bool first_shake_hand_stage_ = true; +}; +} // namespace g1 + +} // namespace robot +} // namespace unitree \ No newline at end of file diff --git a/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_error.hpp b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_error.hpp new file mode 100644 index 0000000..791b6b5 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/r1/loco/r1_loco_error.hpp @@ -0,0 +1,15 @@ +#pragma once + +#include + +namespace unitree { +namespace robot { + namespace r1 { + UT_DECL_ERR( UT_ROBOT_LOCO_ERR_LOCOSTATE_NOT_AVAILABLE, 7301, "LocoState not available." ) + UT_DECL_ERR( UT_ROBOT_LOCO_ERR_SCHEDULER_STATE_NOT_AVAILABLE, 7301, "LocoState not available." ) + UT_DECL_ERR( UT_ROBOT_LOCO_ERR_INVALID_FSM_ID, 7302, "Invalid fsm id." ) + UT_DECL_ERR( UT_ROBOT_LOCO_ERR_INVALID_TASK_ID, 7303, "Invalid task id." ) + UT_DECL_ERR( UT_ROBOT_LOCO_ERROR_FSM_ID_RETURN_DENIED, 7304, "FSM ID return denied." ) + } // namespace r1 +} // namespace robot +} // namespace unitree diff --git a/deps/unitree_sdk2/include/unitree/robot/serialize/serialize.hpp b/deps/unitree_sdk2/include/unitree/robot/serialize/serialize.hpp new file mode 100644 index 0000000..7007176 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/serialize/serialize.hpp @@ -0,0 +1,43 @@ +#ifndef __UT_ROBOT_SDK_SERIALIZE_HPP__ +#define __UT_ROBOT_SDK_SERIALIZE_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +template +inline bool Serialize(const T& instance, std::string& serialziedData) +{ + try + { + serialziedData = common::ToJsonString(instance); + } + catch(const common::Exception& e) + { + return false; + } + + return true; +} + +template +inline bool Deserialize(const std::string& serialziedData, T& instance) +{ + try + { + instance = common::FromJsonString(serialziedData); + } + catch(const common::Exception& e) + { + return false; + } + + return true; +} + +} +} + +#endif//__UT_ROBOT_SDK_SERIALIZE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/server/lease_server.hpp b/deps/unitree_sdk2/include/unitree/robot/server/lease_server.hpp new file mode 100644 index 0000000..7db2c81 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/server/lease_server.hpp @@ -0,0 +1,60 @@ +#ifndef __UT_ROBOT_LEASE_SERVER_HPP__ +#define __UT_ROBOT_LEASE_SERVER_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +class LeaseCache +{ +public: + LeaseCache(); + ~LeaseCache(); + + void Set(int64_t id, const std::string& mName, int64_t lastModified = 0); + void Renewal(int64_t lastModified = 0); + void Clear(); + + int64_t GetLastModified() const; + int64_t GetId() const; + const std::string& GetName() const; + +private: + int64_t mLastModified; + int64_t mId; + std::string mName; +}; + +class LeaseServer : public ServerBase +{ +public: + explicit LeaseServer(const std::string& name, int64_t term); + ~LeaseServer(); + + void Init(); + + bool CheckRequestLeaseDenied(int64_t leaseId); + +private: + void ServerRequestHandler(const RequestPtr& request); + + int32_t Apply(const std::string& parameter, std::string& data); + int32_t Renewal(int64_t leaseId); + + int64_t GenerateId(const std::string& name); + +private: + int64_t mTerm; + LeaseCache mCache; + common::Mutex mMutex; + ServerStubPtr mServerStubPtr; +}; + +using LeaseServerPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_LEASE_SERVER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/server/server.hpp b/deps/unitree_sdk2/include/unitree/robot/server/server.hpp new file mode 100644 index 0000000..abef09c --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/server/server.hpp @@ -0,0 +1,77 @@ +#ifndef __UT_ROBOT_SDK_SERVER_HPP__ +#define __UT_ROBOT_SDK_SERVER_HPP__ + +#include +#include + +#define UT_ROBOT_SERVER_REG_API_HANDLER_NO_LEASE(apiId, handler) \ + UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, false) + +#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER_NO_LEASE(apiId, handler) \ + UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, false) + +#define UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, checkLease) \ + RegistHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease) + +#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, checkLease) \ + RegistBinaryHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease) + +namespace unitree +{ +namespace robot +{ +using RequestHandler = std::function; +using BinaryRequestHandler = std::function& parameter, std::vector& data)>; + +class Server : public ServerBase +{ +public: + explicit Server(const std::string& name); + virtual ~Server(); + + virtual void Init() = 0; + + void StartLease(int64_t leaseTerm); + void StartLease(float leaseTerm); + + const std::string& GetName(); + const std::string& GetApiVersion() const; + + int32_t GetCurrentApiId() const; + +protected: + void SetApiVersion(const std::string& version); + + void ServerRequestHandler(const RequestPtr& request); + + void RegistHandler(int32_t apiId, const RequestHandler& handler, bool checkLease = false); + void RegistBinaryHandler(int32_t apiId, const BinaryRequestHandler& binaryHandler, bool checkLease = false); + + bool IsBinary(int32_t apiId); + + RequestHandler GetHandler(int32_t apiId, bool& ignoreLease) const; + BinaryRequestHandler GetBinaryHandler(int32_t apiId, bool& ignoreLease) const; + + bool CheckLeaseDenied(int64_t leaseId); + +private: + bool mEnableLease; + std::string mName; + std::string mApiVersion; + std::unordered_map> mApiHandlerMap; + std::unordered_map> mApiBinaryHandlerMap; + + std::set mApiBinarySet; + + LeaseServerPtr mLeaseServerPtr; + +private: + static thread_local int32_t mCurrentApiId; +}; + +using ServerPtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_SERVER_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/server/server_base.hpp b/deps/unitree_sdk2/include/unitree/robot/server/server_base.hpp new file mode 100644 index 0000000..3158980 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/server/server_base.hpp @@ -0,0 +1,35 @@ +#ifndef __UT_ROBOT_SDK_SERVER_BASE_HPP__ +#define __UT_ROBOT_SDK_SERVER_BASE_HPP__ + +#include + +namespace unitree +{ +namespace robot +{ +class ServerBase +{ +public: + explicit ServerBase(const std::string& name); + virtual ~ServerBase(); + + virtual void Init() = 0; + virtual void Start(bool enableProiQueue = false); + + const std::string& GetName() const; + +protected: + virtual void ServerRequestHandler(const RequestPtr& request) = 0; + void SendResponse(const Response& response); + +protected: + std::string mName; + ServerStubPtr mServerStubPtr; +}; + +using ServerBasePtr = std::shared_ptr; + +} +} + +#endif//__UT_ROBOT_SDK_SERVER_BASE_HPP__ diff --git a/deps/unitree_sdk2/include/unitree/robot/server/server_stub.hpp b/deps/unitree_sdk2/include/unitree/robot/server/server_stub.hpp new file mode 100644 index 0000000..02b8709 --- /dev/null +++ b/deps/unitree_sdk2/include/unitree/robot/server/server_stub.hpp @@ -0,0 +1,46 @@ +#ifndef __UT_ROBOT_SDK_SERVER_STUB_HPP__ +#define __UT_ROBOT_SDK_SERVER_STUB_HPP__ + +#include +#include +#include +#include + +namespace unitree +{ +namespace robot +{ +using ServerRequestHandler = std::function; + +class ServerStub +{ +public: + explicit ServerStub(); + ~ServerStub(); + + void Init(const std::string& name, const ServerRequestHandler& handler, bool enableProiQueue); + bool Send(const Response& response, int64_t timeout = 0); + +private: + void Enqueue(const void* message); + + int32_t QueueThreadFunction(); + int32_t ProiQueueThreadFunction(); + +private: + bool mEnableProiQueue; + bool mRunning; + ServerRequestHandler mRequestHandler; + ChannelLaborPtr mChannelLaborPtr; + common::BlockQueuePtr mQueuePtr; + common::BlockQueuePtr mProiQueuePtr; + common::ThreadPtr mQueueThreadPtr; + common::ThreadPtr mProiQueueThreadPtr; +}; + +using ServerStubPtr = std::shared_ptr; + +} +} + 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z$)Nnr{0H;&Kb`b#<=zzr|EI*i8Gn)ZKPm_#{96>h3*PiQ;-8ym{5_8N`z-PEB_%WdTOIK)75`I=c+L3# z?1+D@=#Mw_wSSGbIpV)l;>Y7ZPl;-MU9Shz1tzX3v;5bK|HHH+c{SrXN%YPAe`B8I ze*)>-+Rsat^5-c5GyX0|{9DEU#9`vUn)LT0nTR3hEeL@2r@z*p_3KqSek~xcC8u+# zX5atChjgu{%m2F)zgd1`hw(3NyqmOtH}0<`gI80ZuQRLmpDpGMO8JfbNbm(8e|<~&aXzMR)|mY1KyNPf54^RK;N2Ge oz3IE0wok0@YS!|+fA0uh^V!Z literal 0 HcmV?d00001 diff --git a/deps/unitree_sdk2/licenses/Tencent/rapidjson/LICENSE b/deps/unitree_sdk2/licenses/Tencent/rapidjson/LICENSE new file mode 100644 index 0000000..7ccc161 --- /dev/null +++ b/deps/unitree_sdk2/licenses/Tencent/rapidjson/LICENSE @@ -0,0 +1,57 @@ +Tencent is pleased to support the open source community by making RapidJSON available. + +Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. + +If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License. +If you have downloaded a copy of the RapidJSON source code from Tencent, please note that RapidJSON source code is licensed under the MIT License, except for the third-party components listed below which are subject to different license terms. Your integration of RapidJSON into your own projects may require compliance with the MIT License, as well as the other licenses applicable to the third-party components included within RapidJSON. To avoid the problematic JSON license in your own projects, it's sufficient to exclude the bin/jsonchecker/ directory, as it's the only code under the JSON license. +A copy of the MIT License is included in this file. + +Other dependencies and licenses: + +Open Source Software Licensed Under the BSD License: +-------------------------------------------------------------------- + +The msinttypes r29 +Copyright (c) 2006-2013 Alexander Chemeris +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +* Neither the name of copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +Open Source Software Licensed Under the JSON License: +-------------------------------------------------------------------- + +json.org +Copyright (c) 2002 JSON.org +All Rights Reserved. + +JSON_checker +Copyright (c) 2002 JSON.org +All Rights Reserved. + + +Terms of the JSON License: +--------------------------------------------------- + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +The Software shall be used for Good, not Evil. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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The obligations in this section do not +apply to any claims or Losses relating to any actual or alleged +intellectual property infringement. In order to qualify, an Indemnified +Contributor must: a) promptly notify the Commercial Contributor in +writing of such claim, and b) allow the Commercial Contributor to control, +and cooperate with the Commercial Contributor in, the defense and any +related settlement negotiations. The Indemnified Contributor may +participate in any such claim at its own expense. + +For example, a Contributor might include the Program in a commercial +product offering, Product X. That Contributor is then a Commercial +Contributor. If that Commercial Contributor then makes performance +claims, or offers warranties related to Product X, those performance +claims and warranties are such Commercial Contributor's responsibility +alone. Under this section, the Commercial Contributor would have to +defend claims against the other Contributors related to those performance +claims and warranties, and if a court requires any other Contributor to +pay any damages as a result, the Commercial Contributor must pay +those damages. + +5. NO WARRANTY + +EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT +PERMITTED BY APPLICABLE LAW, THE PROGRAM IS PROVIDED ON AN "AS IS" +BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR +IMPLIED INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OR CONDITIONS OF +TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR +PURPOSE. Each Recipient is solely responsible for determining the +appropriateness of using and distributing the Program and assumes all +risks associated with its exercise of rights under this Agreement, +including but not limited to the risks and costs of program errors, +compliance with applicable laws, damage to or loss of data, programs +or equipment, and unavailability or interruption of operations. + +6. DISCLAIMER OF LIABILITY + +EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT +PERMITTED BY APPLICABLE LAW, NEITHER RECIPIENT NOR ANY CONTRIBUTORS +SHALL HAVE ANY LIABILITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION LOST +PROFITS), HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OR DISTRIBUTION OF THE PROGRAM OR THE +EXERCISE OF ANY RIGHTS GRANTED HEREUNDER, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + +7. GENERAL + +If any provision of this Agreement is invalid or unenforceable under +applicable law, it shall not affect the validity or enforceability of +the remainder of the terms of this Agreement, and without further +action by the parties hereto, such provision shall be reformed to the +minimum extent necessary to make such provision valid and enforceable. + +If Recipient institutes patent litigation against any entity +(including a cross-claim or counterclaim in a lawsuit) alleging that the +Program itself (excluding combinations of the Program with other software +or hardware) infringes such Recipient's patent(s), then such Recipient's +rights granted under Section 2(b) shall terminate as of the date such +litigation is filed. + +All Recipient's rights under this Agreement shall terminate if it +fails to comply with any of the material terms or conditions of this +Agreement and does not cure such failure in a reasonable period of +time after becoming aware of such noncompliance. If all Recipient's +rights under this Agreement terminate, Recipient agrees to cease use +and distribution of the Program as soon as reasonably practicable. +However, Recipient's obligations under this Agreement and any licenses +granted by Recipient relating to the Program shall continue and survive. + +Everyone is permitted to copy and distribute copies of this Agreement, +but in order to avoid inconsistency the Agreement is copyrighted and +may only be modified in the following manner. The Agreement Steward +reserves the right to publish new versions (including revisions) of +this Agreement from time to time. No one other than the Agreement +Steward has the right to modify this Agreement. The Eclipse Foundation +is the initial Agreement Steward. The Eclipse Foundation may assign the +responsibility to serve as the Agreement Steward to a suitable separate +entity. Each new version of the Agreement will be given a distinguishing +version number. The Program (including Contributions) may always be +Distributed subject to the version of the Agreement under which it was +received. In addition, after a new version of the Agreement is published, +Contributor may elect to Distribute the Program (including its +Contributions) under the new version. + +Except as expressly stated in Sections 2(a) and 2(b) above, Recipient +receives no rights or licenses to the intellectual property of any +Contributor under this Agreement, whether expressly, by implication, +estoppel or otherwise. All rights in the Program not expressly granted +under this Agreement are reserved. Nothing in this Agreement is intended +to be enforceable by any entity that is not a Contributor or Recipient. +No third-party beneficiary rights are created under this Agreement. + +Exhibit A - Form of Secondary Licenses Notice + +"This Source Code may also be made available under the following +Secondary Licenses when the conditions for such availability set forth +in the Eclipse Public License, v. 2.0 are satisfied: {name license(s), +version(s), and exceptions or additional permissions here}." + + Simply including a copy of this Agreement, including this Exhibit A + is not sufficient to license the Source Code under Secondary Licenses. + + If it is not possible or desirable to put the notice in a particular + file, then You may include the notice in a location (such as a LICENSE + file in a relevant directory) where a recipient would be likely to + look for such a notice. + + You may add additional accurate notices of copyright ownership. + + + +Eclipse Distribution License - v 1.0 + +Copyright (c) 2007, Eclipse Foundation, Inc. and its licensors. + +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + + Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + Neither the name of the Eclipse Foundation, Inc. nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS +IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/deps/unitree_sdk2/licenses/eclipse-cyclonedds/cyclonedds/LICENSE b/deps/unitree_sdk2/licenses/eclipse-cyclonedds/cyclonedds/LICENSE new file mode 100644 index 0000000..38bb25d --- /dev/null +++ b/deps/unitree_sdk2/licenses/eclipse-cyclonedds/cyclonedds/LICENSE @@ -0,0 +1,318 @@ +This program and the accompanying materials are made available under the +terms of the Eclipse Public License v. 2.0 which is available at +http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License +v. 1.0 which is available at +http://www.eclipse.org/org/documents/edl-v10.php. + + + +Eclipse Public License - v 2.0 + + THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE + PUBLIC LICENSE ("AGREEMENT"). ANY USE, REPRODUCTION OR DISTRIBUTION + OF THE PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THIS AGREEMENT. + +1. DEFINITIONS + +"Contribution" means: + + a) in the case of the initial Contributor, the initial content + Distributed under this Agreement, and + + b) in the case of each subsequent Contributor: + i) changes to the Program, and + ii) additions to the Program; + where such changes and/or additions to the Program originate from + and are Distributed by that particular Contributor. A Contribution + "originates" from a Contributor if it was added to the Program by + such Contributor itself or anyone acting on such Contributor's behalf. + Contributions do not include changes or additions to the Program that + are not Modified Works. + +"Contributor" means any person or entity that Distributes the Program. + +"Licensed Patents" mean patent claims licensable by a Contributor which +are necessarily infringed by the use or sale of its Contribution alone +or when combined with the Program. + +"Program" means the Contributions Distributed in accordance with this +Agreement. + +"Recipient" means anyone who receives the Program under this Agreement +or any Secondary License (as applicable), including Contributors. + +"Derivative Works" shall mean any work, whether in Source Code or other +form, that is based on (or derived from) the Program and for which the +editorial revisions, annotations, elaborations, or other modifications +represent, as a whole, an original work of authorship. + +"Modified Works" shall mean any work in Source Code or other form that +results from an addition to, deletion from, or modification of the +contents of the Program, including, for purposes of clarity any new file +in Source Code form that contains any contents of the Program. Modified +Works shall not include works that contain only declarations, +interfaces, types, classes, structures, or files of the Program solely +in each case in order to link to, bind by name, or subclass the Program +or Modified Works thereof. + +"Distribute" means the acts of a) distributing or b) making available +in any manner that enables the transfer of a copy. + +"Source Code" means the form of a Program preferred for making +modifications, including but not limited to software source code, +documentation source, and configuration files. + +"Secondary License" means either the GNU General Public License, +Version 2.0, or any later versions of that license, including any +exceptions or additional permissions as identified by the initial +Contributor. + +2. GRANT OF RIGHTS + + a) Subject to the terms of this Agreement, each Contributor hereby + grants Recipient a non-exclusive, worldwide, royalty-free copyright + license to reproduce, prepare Derivative Works of, publicly display, + publicly perform, Distribute and sublicense the Contribution of such + Contributor, if any, and such Derivative Works. + + b) Subject to the terms of this Agreement, each Contributor hereby + grants Recipient a non-exclusive, worldwide, royalty-free patent + license under Licensed Patents to make, use, sell, offer to sell, + import and otherwise transfer the Contribution of such Contributor, + if any, in Source Code or other form. This patent license shall + apply to the combination of the Contribution and the Program if, at + the time the Contribution is added by the Contributor, such addition + of the Contribution causes such combination to be covered by the + Licensed Patents. The patent license shall not apply to any other + combinations which include the Contribution. No hardware per se is + licensed hereunder. + + c) Recipient understands that although each Contributor grants the + licenses to its Contributions set forth herein, no assurances are + provided by any Contributor that the Program does not infringe the + patent or other intellectual property rights of any other entity. + Each Contributor disclaims any liability to Recipient for claims + brought by any other entity based on infringement of intellectual + property rights or otherwise. As a condition to exercising the + rights and licenses granted hereunder, each Recipient hereby + assumes sole responsibility to secure any other intellectual + property rights needed, if any. For example, if a third party + patent license is required to allow Recipient to Distribute the + Program, it is Recipient's responsibility to acquire that license + before distributing the Program. + + d) Each Contributor represents that to its knowledge it has + sufficient copyright rights in its Contribution, if any, to grant + the copyright license set forth in this Agreement. + + e) Notwithstanding the terms of any Secondary License, no + Contributor makes additional grants to any Recipient (other than + those set forth in this Agreement) as a result of such Recipient's + receipt of the Program under the terms of a Secondary License + (if permitted under the terms of Section 3). + +3. REQUIREMENTS + +3.1 If a Contributor Distributes the Program in any form, then: + + a) the Program must also be made available as Source Code, in + accordance with section 3.2, and the Contributor must accompany + the Program with a statement that the Source Code for the Program + is available under this Agreement, and informs Recipients how to + obtain it in a reasonable manner on or through a medium customarily + used for software exchange; and + + b) the Contributor may Distribute the Program under a license + different than this Agreement, provided that such license: + i) effectively disclaims on behalf of all other Contributors all + warranties and conditions, express and implied, including + warranties or conditions of title and non-infringement, and + implied warranties or conditions of merchantability and fitness + for a particular purpose; + + ii) effectively excludes on behalf of all other Contributors all + liability for damages, including direct, indirect, special, + incidental and consequential damages, such as lost profits; + + iii) does not attempt to limit or alter the recipients' rights + in the Source Code under section 3.2; and + + iv) requires any subsequent distribution of the Program by any + party to be under a license that satisfies the requirements + of this section 3. + +3.2 When the Program is Distributed as Source Code: + + a) it must be made available under this Agreement, or if the + Program (i) is combined with other material in a separate file or + files made available under a Secondary License, and (ii) the initial + Contributor attached to the Source Code the notice described in + Exhibit A of this Agreement, then the Program may be made available + under the terms of such Secondary Licenses, and + + b) a copy of this Agreement must be included with each copy of + the Program. + +3.3 Contributors may not remove or alter any copyright, patent, +trademark, attribution notices, disclaimers of warranty, or limitations +of liability ("notices") contained within the Program from any copy of +the Program which they Distribute, provided that Contributors may add +their own appropriate notices. + +4. COMMERCIAL DISTRIBUTION + +Commercial distributors of software may accept certain responsibilities +with respect to end users, business partners and the like. While this +license is intended to facilitate the commercial use of the Program, +the Contributor who includes the Program in a commercial product +offering should do so in a manner which does not create potential +liability for other Contributors. Therefore, if a Contributor includes +the Program in a commercial product offering, such Contributor +("Commercial Contributor") hereby agrees to defend and indemnify every +other Contributor ("Indemnified Contributor") against any losses, +damages and costs (collectively "Losses") arising from claims, lawsuits +and other legal actions brought by a third party against the Indemnified +Contributor to the extent caused by the acts or omissions of such +Commercial Contributor in connection with its distribution of the Program +in a commercial product offering. The obligations in this section do not +apply to any claims or Losses relating to any actual or alleged +intellectual property infringement. In order to qualify, an Indemnified +Contributor must: a) promptly notify the Commercial Contributor in +writing of such claim, and b) allow the Commercial Contributor to control, +and cooperate with the Commercial Contributor in, the defense and any +related settlement negotiations. The Indemnified Contributor may +participate in any such claim at its own expense. + +For example, a Contributor might include the Program in a commercial +product offering, Product X. That Contributor is then a Commercial +Contributor. If that Commercial Contributor then makes performance +claims, or offers warranties related to Product X, those performance +claims and warranties are such Commercial Contributor's responsibility +alone. Under this section, the Commercial Contributor would have to +defend claims against the other Contributors related to those performance +claims and warranties, and if a court requires any other Contributor to +pay any damages as a result, the Commercial Contributor must pay +those damages. + +5. NO WARRANTY + +EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT +PERMITTED BY APPLICABLE LAW, THE PROGRAM IS PROVIDED ON AN "AS IS" +BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR +IMPLIED INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OR CONDITIONS OF +TITLE, NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR +PURPOSE. Each Recipient is solely responsible for determining the +appropriateness of using and distributing the Program and assumes all +risks associated with its exercise of rights under this Agreement, +including but not limited to the risks and costs of program errors, +compliance with applicable laws, damage to or loss of data, programs +or equipment, and unavailability or interruption of operations. + +6. DISCLAIMER OF LIABILITY + +EXCEPT AS EXPRESSLY SET FORTH IN THIS AGREEMENT, AND TO THE EXTENT +PERMITTED BY APPLICABLE LAW, NEITHER RECIPIENT NOR ANY CONTRIBUTORS +SHALL HAVE ANY LIABILITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION LOST +PROFITS), HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OR DISTRIBUTION OF THE PROGRAM OR THE +EXERCISE OF ANY RIGHTS GRANTED HEREUNDER, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + +7. GENERAL + +If any provision of this Agreement is invalid or unenforceable under +applicable law, it shall not affect the validity or enforceability of +the remainder of the terms of this Agreement, and without further +action by the parties hereto, such provision shall be reformed to the +minimum extent necessary to make such provision valid and enforceable. + +If Recipient institutes patent litigation against any entity +(including a cross-claim or counterclaim in a lawsuit) alleging that the +Program itself (excluding combinations of the Program with other software +or hardware) infringes such Recipient's patent(s), then such Recipient's +rights granted under Section 2(b) shall terminate as of the date such +litigation is filed. + +All Recipient's rights under this Agreement shall terminate if it +fails to comply with any of the material terms or conditions of this +Agreement and does not cure such failure in a reasonable period of +time after becoming aware of such noncompliance. If all Recipient's +rights under this Agreement terminate, Recipient agrees to cease use +and distribution of the Program as soon as reasonably practicable. +However, Recipient's obligations under this Agreement and any licenses +granted by Recipient relating to the Program shall continue and survive. + +Everyone is permitted to copy and distribute copies of this Agreement, +but in order to avoid inconsistency the Agreement is copyrighted and +may only be modified in the following manner. The Agreement Steward +reserves the right to publish new versions (including revisions) of +this Agreement from time to time. No one other than the Agreement +Steward has the right to modify this Agreement. The Eclipse Foundation +is the initial Agreement Steward. The Eclipse Foundation may assign the +responsibility to serve as the Agreement Steward to a suitable separate +entity. Each new version of the Agreement will be given a distinguishing +version number. The Program (including Contributions) may always be +Distributed subject to the version of the Agreement under which it was +received. In addition, after a new version of the Agreement is published, +Contributor may elect to Distribute the Program (including its +Contributions) under the new version. + +Except as expressly stated in Sections 2(a) and 2(b) above, Recipient +receives no rights or licenses to the intellectual property of any +Contributor under this Agreement, whether expressly, by implication, +estoppel or otherwise. All rights in the Program not expressly granted +under this Agreement are reserved. Nothing in this Agreement is intended +to be enforceable by any entity that is not a Contributor or Recipient. +No third-party beneficiary rights are created under this Agreement. + +Exhibit A - Form of Secondary Licenses Notice + +"This Source Code may also be made available under the following +Secondary Licenses when the conditions for such availability set forth +in the Eclipse Public License, v. 2.0 are satisfied: {name license(s), +version(s), and exceptions or additional permissions here}." + + Simply including a copy of this Agreement, including this Exhibit A + is not sufficient to license the Source Code under Secondary Licenses. + + If it is not possible or desirable to put the notice in a particular + file, then You may include the notice in a location (such as a LICENSE + file in a relevant directory) where a recipient would be likely to + look for such a notice. + + You may add additional accurate notices of copyright ownership. + + + +Eclipse Distribution License - v 1.0 + +Copyright (c) 2007, Eclipse Foundation, Inc. and its licensors. + +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + + Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + Neither the name of the Eclipse Foundation, Inc. nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS +IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/deps/unitree_sdk2/licenses/eclipse-iceoryx/iceoryx/LICENSE b/deps/unitree_sdk2/licenses/eclipse-iceoryx/iceoryx/LICENSE new file mode 100644 index 0000000..521019b --- /dev/null +++ b/deps/unitree_sdk2/licenses/eclipse-iceoryx/iceoryx/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2019 Robert Bosch GmbH + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/deps/unitree_sdk2/thirdparty/CMakeLists.txt b/deps/unitree_sdk2/thirdparty/CMakeLists.txt new file mode 100644 index 0000000..bb98b35 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/CMakeLists.txt @@ -0,0 +1,35 @@ +find_package(Threads REQUIRED) + +message(STATUS "Importing: ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddsc.so") + +add_library(ddsc SHARED IMPORTED GLOBAL) +set_target_properties(ddsc PROPERTIES + IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddsc.so) +set_target_properties(ddsc PROPERTIES IMPORTED_NO_SONAME TRUE) +target_link_libraries(ddsc INTERFACE Threads::Threads) +target_link_directories(ddsc INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}) +target_include_directories(ddsc INTERFACE + $ + $) + +message(STATUS "Importing: ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddscxx.so") + +add_library(ddscxx SHARED IMPORTED GLOBAL) +set_target_properties(ddscxx PROPERTIES + IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddscxx.so) +set_target_properties(ddscxx PROPERTIES IMPORTED_NO_SONAME TRUE) +target_link_libraries(ddscxx INTERFACE Threads::Threads) +target_link_directories(ddscxx INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}) +target_include_directories(ddscxx INTERFACE + $ + $ + $ + $) + +## Install targets +file(GLOB DDS_LIBRARIES "${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/*") + +install(FILES ${DDS_LIBRARIES} DESTINATION ${CMAKE_INSTALL_LIBDIR}) + +install(DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/include/ + DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) diff --git a/deps/unitree_sdk2/thirdparty/include/dds/config.h b/deps/unitree_sdk2/thirdparty/include/dds/config.h new file mode 100644 index 0000000..f3df386 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/config.h @@ -0,0 +1,31 @@ +/* + * Copyright(c) 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef DDS_CONFIG_H +#define DDS_CONFIG_H + +/* #undef DDSRT_WITH_LWIP */ +/* #undef DDSRT_WITH_FREERTOS */ + +#define DDSRT_HAVE_DYNLIB 1 +#define DDSRT_HAVE_FILESYSTEM 1 +#define DDSRT_HAVE_NETSTAT 1 +#define DDSRT_HAVE_RUSAGE 1 + +#define DDSRT_HAVE_IPV6 1 +#define DDSRT_HAVE_DNS 1 +#define DDSRT_HAVE_GETADDRINFO 1 +#define DDSRT_HAVE_GETHOSTBYNAME_R 1 +#define DDSRT_HAVE_GETHOSTNAME 1 +#define DDSRT_HAVE_INET_NTOP 1 +#define DDSRT_HAVE_INET_PTON 1 + +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/dds.h b/deps/unitree_sdk2/thirdparty/include/dds/dds.h new file mode 100644 index 0000000..97647d6 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/dds.h @@ -0,0 +1,4744 @@ +/* + * Copyright(c) 2006 to 2021 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef DDS_H +#define DDS_H + +/** + * @file + * @brief Eclipse Cyclone DDS C header + * Main header of the Cyclone DDS C library, containing everything you need + * for your DDS application. + */ + +/** + * @defgroup dds (DDS Functionality) + */ +/** + * @defgroup deprecated (Deprecated functionality) + */ + +#if defined (__cplusplus) +#define restrict +#endif + +#include "dds/export.h" +#include "dds/features.h" + +#include "dds/ddsc/dds_basic_types.h" + +/* Sub components */ + +#include "dds/ddsrt/time.h" +#include "dds/ddsrt/retcode.h" +#include "dds/ddsrt/log.h" +#include "dds/ddsc/dds_public_impl.h" +#include "dds/ddsc/dds_public_alloc.h" +#include "dds/ddsc/dds_public_qos.h" +#include "dds/ddsc/dds_public_error.h" +#include "dds/ddsc/dds_public_status.h" +#include "dds/ddsc/dds_public_listener.h" + +#if defined (__cplusplus) +extern "C" { +#endif + + +/** + * @brief DDS Type Identifier (XTypes) + * @ingroup dds + * DOC_TODO + */ +typedef struct ddsi_typeid dds_typeid_t; + +/** + * @brief DDS Type Information (XTypes) + * @ingroup dds + * DOC_TODO + */ +typedef struct ddsi_typeinfo dds_typeinfo_t; + +/** + * @brief DDS Type Object (XTypes) + * @ingroup dds + * DOC_TODO + */ +typedef struct ddsi_typeobj dds_typeobj_t; + +/** + * @brief Reader History Cache + * @ingroup dds + * DOC_TODO + */ +struct dds_rhc; + +/** + * @brief DDSI parameter list + * @ingroup dds + * DOC_TODO + */ +struct ddsi_plist; + +/** + * @anchor ddsi_sertype + * @brief DDSI sertype + * @ingroup dds + * DOC_TODO + */ +struct ddsi_sertype; + +/** + * @anchor ddsi_serdata + * @brief DDSI Serdata + * @ingroup dds + * DOC_TODO + */ +struct ddsi_serdata; + +/** + * @ingroup deprecated + * @warning The DDSI sertopic functionality was moved to ddsi_sertype. + * It has been retained as a symbol to ensure binary compatibility. + */ +struct ddsi_sertopic; + +/** + * @brief DDSI Config + * @ingroup dds + * DOC_TODO + */ +struct ddsi_config; + +/** + * @brief Indicates that the library uses ddsi_sertype instead of ddsi_sertopic + * @ingroup dds + * If sertype is used, the function dds_create_topic_sertype requires a topic name parameter, + * as this field is not included in ddsi_sertype. + */ +#define DDS_HAS_DDSI_SERTYPE 1 + +/** + * @defgroup builtintopic (Builtin Topic Support) + * @ingroup dds + */ +/** + * @defgroup builtintopic_constants (Constants) + * @ingroup builtintopic + * @brief Convenience constants for referring to builtin topics + * These constants can be used in place of an actual dds_topic_t, when creating + * readers or writers for builtin-topics. + */ +/** + * @def DDS_BUILTIN_TOPIC_DCPSPARTICIPANT + * @ingroup builtintopic_constants + * Pseudo dds_topic_t for the builtin topic DcpsParticipant. Samples from this topic are + * @ref dds_builtintopic_participant structs. + */ +/** + * @def DDS_BUILTIN_TOPIC_DCPSTOPIC + * @ingroup builtintopic_constants + * Pseudo dds_topic_t for the builtin topic DcpsTopic. Samples from this topic are + * @ref dds_builtintopic_topic structs. Note that this only works if you have specified + * ENABLE_TOPIC_DISCOVERY in your cmake build. + */ +/** + * @def DDS_BUILTIN_TOPIC_DCPSPUBLICATION + * @ingroup builtintopic_constants + * Pseudo dds_topic_t for the builtin topic DcpsPublication. Samples from this topic are + * @ref dds_builtintopic_endpoint structs. + */ +/** + * @def DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION + * @ingroup builtintopic_constants + * Pseudo dds_topic_t for the builtin topic DcpsSubscription. Samples from this topic are + * @ref dds_builtintopic_endpoint structs. + */ + +#define DDS_BUILTIN_TOPIC_DCPSPARTICIPANT ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 1)) +#define DDS_BUILTIN_TOPIC_DCPSTOPIC ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 2)) +#define DDS_BUILTIN_TOPIC_DCPSPUBLICATION ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 3)) +#define DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 4)) + + +/** + * @ingroup DOC_TODO + * Special handle representing the entity which forces the dds_data_allocator to allocate on heap + */ +#define DDS_DATA_ALLOCATOR_ALLOC_ON_HEAP ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 257)) + +/** + * @defgroup entity_status (Entity Status) + * @ingroup entity + * All entities have a set of "status conditions" + * (following the DCPS spec), read peeks, take reads & resets (analogously to read & + * take operations on reader). The "mask" allows operating only on a subset of the statuses. + * Enabled status analogously to DCPS spec. + * @{ + */ +/** + * @brief These identifiers are used to generate the bitshifted identifiers. + * By using bitflags instead of these IDs the process of building status masks is + * simplified to using simple binary OR operations. + * DOC_TODO fix the refs + */ +typedef enum dds_status_id { + DDS_INCONSISTENT_TOPIC_STATUS_ID, /**< See @ref DDS_INCONSISTENT_TOPIC_STATUS */ + DDS_OFFERED_DEADLINE_MISSED_STATUS_ID, /**< See @ref DDS_OFFERED_DEADLINE_MISSED_STATUS */ + DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID, /**< See @ref DDS_REQUESTED_DEADLINE_MISSED_STATUS */ + DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID, /**< See @ref DDS_OFFERED_INCOMPATIBLE_QOS_STATUS */ + DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID, /**< See @ref DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS */ + DDS_SAMPLE_LOST_STATUS_ID, /**< See @ref DDS_SAMPLE_LOST_STATUS */ + DDS_SAMPLE_REJECTED_STATUS_ID, /**< See @ref DDS_SAMPLE_REJECTED_STATUS */ + DDS_DATA_ON_READERS_STATUS_ID, /**< See @ref DDS_DATA_ON_READERS_STATUS */ + DDS_DATA_AVAILABLE_STATUS_ID, /**< See @ref DDS_DATA_AVAILABLE_STATUS */ + DDS_LIVELINESS_LOST_STATUS_ID, /**< See @ref DDS_LIVELINESS_LOST_STATUS */ + DDS_LIVELINESS_CHANGED_STATUS_ID, /**< See @ref DDS_LIVELINESS_CHANGED_STATUS */ + DDS_PUBLICATION_MATCHED_STATUS_ID, /**< See @ref DDS_PUBLICATION_MATCHED_STATUS */ + DDS_SUBSCRIPTION_MATCHED_STATUS_ID /**< See @ref DDS_SUBSCRIPTION_MATCHED_STATUS */ +} dds_status_id_t; + +/** Helper value to indicate the highest bit that can be set in a status mask. */ +#define DDS_STATUS_ID_MAX (DDS_SUBSCRIPTION_MATCHED_STATUS_ID) + +/** + * @anchor DDS_INCONSISTENT_TOPIC_STATUS + * Another topic exists with the same name but with different characteristics. + */ +#define DDS_INCONSISTENT_TOPIC_STATUS (1u << DDS_INCONSISTENT_TOPIC_STATUS_ID) +/** + * @anchor DDS_OFFERED_DEADLINE_MISSED_STATUS + * The deadline that the writer has committed through its deadline QoS policy was not respected for a specific instance. */ +#define DDS_OFFERED_DEADLINE_MISSED_STATUS (1u << DDS_OFFERED_DEADLINE_MISSED_STATUS_ID) +/** + * @anchor DDS_REQUESTED_DEADLINE_MISSED_STATUS + * The deadline that the reader was expecting through its deadline QoS policy was not respected for a specific instance. */ +#define DDS_REQUESTED_DEADLINE_MISSED_STATUS (1u << DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID) +/** + * @anchor DDS_OFFERED_INCOMPATIBLE_QOS_STATUS + * A QoS policy setting was incompatible with what was requested. */ +#define DDS_OFFERED_INCOMPATIBLE_QOS_STATUS (1u << DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID) +/** + * @anchor DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS + * A QoS policy setting was incompatible with what is offered. */ +#define DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS (1u << DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID) +/** + * @anchor DDS_SAMPLE_LOST_STATUS + * A sample has been lost (never received). */ +#define DDS_SAMPLE_LOST_STATUS (1u << DDS_SAMPLE_LOST_STATUS_ID) +/** + * @anchor DDS_SAMPLE_REJECTED_STATUS + * A (received) sample has been rejected. */ +#define DDS_SAMPLE_REJECTED_STATUS (1u << DDS_SAMPLE_REJECTED_STATUS_ID) +/** + * @anchor DDS_DATA_ON_READERS_STATUS + * New information is available in some of the data readers of a subscriber. */ +#define DDS_DATA_ON_READERS_STATUS (1u << DDS_DATA_ON_READERS_STATUS_ID) +/** + * @anchor DDS_DATA_AVAILABLE_STATUS + * New information is available in a data reader. */ +#define DDS_DATA_AVAILABLE_STATUS (1u << DDS_DATA_AVAILABLE_STATUS_ID) +/** + * @anchor DDS_LIVELINESS_LOST_STATUS + * The liveliness that the DDS_DataWriter has committed through its liveliness QoS policy was not respected; thus readers will consider the writer as no longer "alive". */ +#define DDS_LIVELINESS_LOST_STATUS (1u << DDS_LIVELINESS_LOST_STATUS_ID) +/** + * @anchor DDS_LIVELINESS_CHANGED_STATUS + * The liveliness of one or more writers, that were writing instances read through the readers has changed. Some writers have become "alive" or "not alive". */ +#define DDS_LIVELINESS_CHANGED_STATUS (1u << DDS_LIVELINESS_CHANGED_STATUS_ID) +/** + * @anchor DDS_PUBLICATION_MATCHED_STATUS + * The writer has found a reader that matches the topic and has a compatible QoS. */ +#define DDS_PUBLICATION_MATCHED_STATUS (1u << DDS_PUBLICATION_MATCHED_STATUS_ID) +/** + * @anchor DDS_SUBSCRIPTION_MATCHED_STATUS + * The reader has found a writer that matches the topic and has a compatible QoS. */ +#define DDS_SUBSCRIPTION_MATCHED_STATUS (1u << DDS_SUBSCRIPTION_MATCHED_STATUS_ID) +/** @}*/ // end group entity_status + +/** + * @defgroup subscription (Subscription) + * @ingroup dds + * DOC_TODO This contains the definitions regarding subscribing to data. + */ + +/** + * @defgroup subdata (Data access) + * @ingroup subscription + * Every sample you read from DDS comes with some metadata, which you can inspect and filter on. + * @{ + */ + +/** Read state for a data value */ +typedef enum dds_sample_state +{ + DDS_SST_READ = DDS_READ_SAMPLE_STATE, /**0 + * A valid publisher handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_get_publisher(dds_entity_t writer); + +/** + * @brief Get entity subscriber. + * @ingroup entity + * + * This operation returns the subscriber to which the given entity belongs. + * For instance, it will return the Subscriber that was used when + * creating a DataReader (when that DataReader was provided here). + * + * @param[in] entity Entity from which to get its subscriber. + * + * @returns A valid subscriber handle or an error code. + * + * @retval >0 + * A valid subscriber handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * DOC_TODO: Link to generic dds entity relations documentation. + */ +DDS_EXPORT dds_entity_t +dds_get_subscriber(dds_entity_t entity); + +/** + * @brief Get entity datareader. + * @ingroup entity + * + * This operation returns the datareader to which the given entity belongs. + * For instance, it will return the DataReader that was used when + * creating a ReadCondition (when that ReadCondition was provided here). + * + * @param[in] entity Entity from which to get its datareader. + * + * @returns A valid reader handle or an error code. + * + * @retval >0 + * A valid reader handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * DOC_TODO: Link to generic dds entity relations documentation. + */ +DDS_EXPORT dds_entity_t +dds_get_datareader(dds_entity_t entity); + +/** + * @defgroup condition (Conditions) + * @ingroup dds + * @brief Conditions allow you to express conditional interest in samples, + * to be used in read/take operations or attach to Waitsets. + */ + +/** + * @brief Get the mask of a condition. + * @ingroup condition + * + * This operation returns the mask that was used to create the given + * condition. + * + * @param[in] condition Read or Query condition that has a mask. + * @param[out] mask Where to store the mask of the condition. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success (given mask is set). + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The mask arg is NULL. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_mask(dds_entity_t condition, uint32_t *mask); + +/** + * @brief Returns the instance handle that represents the entity. + * @ingroup entity + * + * @param[in] entity Entity of which to get the instance handle. + * @param[out] ihdl Pointer to dds_instance_handle_t. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * DOC_TODO: Check list of return codes is complete. + * */ +DDS_EXPORT dds_return_t +dds_get_instance_handle(dds_entity_t entity, dds_instance_handle_t *ihdl); + +/** + * @brief Returns the GUID that represents the entity in the network, + * and therefore only supports participants, readers and writers. + * @ingroup entity + * + * @param[in] entity Entity of which to get the instance handle. + * @param[out] guid Where to store the GUID. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * + * DOC_TODO: Check list of return codes is complete. + */ +DDS_EXPORT dds_return_t +dds_get_guid (dds_entity_t entity, dds_guid_t *guid); + +/** + * @brief Read the status set for the entity + * @ingroup entity_status + * + * This operation reads the status(es) set for the entity based on + * the enabled status and mask set. It does not clear the read status(es). + * + * @param[in] entity Entity on which the status has to be read. + * @param[out] status Returns the status set on the entity, based on the enabled status. + * @param[in] mask Filter the status condition to be read, 0 means all statuses + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter, status is a null pointer or + * mask has bits set outside the status range. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object or mask has status + * bits set that are undefined for the type of entity. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_status(dds_entity_t entity, uint32_t *status, uint32_t mask); + +/** + * @brief Read the status set for the entity + * @ingroup entity_status + * + * This operation reads the status(es) set for the entity based on the enabled + * status and mask set. It clears the status set after reading. + * + * @param[in] entity Entity on which the status has to be read. + * @param[out] status Returns the status set on the entity, based on the enabled status. + * @param[in] mask Filter the status condition to be read, 0 means all statuses + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter, status is a null pointer or + * mask has bits set outside the status range. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object or mask has status + * bits set that are undefined for the type of entity. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_status(dds_entity_t entity, uint32_t *status, uint32_t mask); + +/** + * @brief Get changed status(es) + * @ingroup entity_status + * + * This operation returns the status changes since they were last read. + * + * @param[in] entity Entity on which the statuses are read. + * @param[out] status Returns the current set of triggered statuses. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_status_changes(dds_entity_t entity, uint32_t *status); + +/** + * @anchor dds_get_status_mask + * @brief Get enabled status on entity + * @ingroup entity_status + * + * This operation returns the status enabled on the entity + * + * @param[in] entity Entity to get the status. + * @param[out] mask Mask of enabled statuses set on the entity. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_status_mask(dds_entity_t entity, uint32_t *mask); + +/** + * @deprecated Get enabled status on entity. Use \ref dds_get_status_mask instead. + * @ingroup deprecated + * + * @param[in] entity Entity to get the status. + * @param[out] mask Mask of enabled statuses set on the entity. + * @returns A dds_return_t indicating success of failure. + */ +DDS_DEPRECATED_EXPORT dds_return_t +dds_get_enabled_status(dds_entity_t entity, uint32_t *mask); + +/** + * @anchor dds_set_status_mask + * @brief Set status enabled on entity + * @ingroup entity_status + * + * This operation enables the status(es) based on the mask set + * + * @param[in] entity Entity to enable the status. + * @param[in] mask Status value that indicates the status to be enabled. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Success. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_set_status_mask(dds_entity_t entity, uint32_t mask); + +/** + * @deprecated Set enabled status on entity. Use \ref dds_set_status_mask instead. + * @ingroup deprecated + * + * @param[in] entity Entity to enable the status. + * @param[out] mask Status value that indicates the status to be enabled. + * @returns A dds_return_t indicating success of failure. + */ +DDS_DEPRECATED_EXPORT dds_return_t +dds_set_enabled_status(dds_entity_t entity, uint32_t mask); + +/** + * @defgroup entity_qos (Entity QoS) + * @ingroup entity + * @brief Almost all entities have get/set qos operations defined on them, + * again following the DCPS spec. But unlike the DCPS spec, the + * "present" field in qos_t allows one to initialize just the one QoS + * one wants to set & pass it to set_qos. + */ + +/** + * @brief Get entity QoS policies. + * @ingroup entity_qos + * + * This operation allows access to the existing set of QoS policies + * for the entity. + * + * @param[in] entity Entity on which to get qos. + * @param[out] qos Pointer to the qos structure that returns the set policies. + * + * @returns A dds_return_t indicating success or failure. The QoS object will have + * at least all QoS relevant for the entity present and the corresponding dds_qget_... + * will return true. + * + * @retval DDS_RETCODE_OK + * The existing set of QoS policy values applied to the entity + * has successfully been copied into the specified qos parameter. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The qos parameter is NULL. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * + * DOC_TODO: Link to generic QoS information documentation. + */ +DDS_EXPORT dds_return_t +dds_get_qos(dds_entity_t entity, dds_qos_t *qos); + +/** + * @brief Set entity QoS policies. + * @ingroup entity_qos + * + * This operation replaces the existing set of Qos Policy settings for an + * entity. The parameter qos must contain the struct with the QosPolicy + * settings which is checked for self-consistency. + * + * The set of QosPolicy settings specified by the qos parameter are applied on + * top of the existing QoS, replacing the values of any policies previously set + * (provided, the operation returned DDS_RETCODE_OK). + * + * Not all policies are changeable when the entity is enabled. + * + * @note Currently only Latency Budget and Ownership Strength are changeable QoS + * that can be set. + * + * @param[in] entity Entity from which to get qos. + * @param[in] qos Pointer to the qos structure that provides the policies. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The new QoS policies are set. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The qos parameter is NULL. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_IMMUTABLE_POLICY + * The entity is enabled and one or more of the policies of the QoS + * are immutable. + * @retval DDS_RETCODE_INCONSISTENT_POLICY + * A few policies within the QoS are not consistent with each other. + * + * DOC_TODO: Link to generic QoS information documentation. + */ +DDS_EXPORT dds_return_t +dds_set_qos(dds_entity_t entity, const dds_qos_t * qos); + +/** + * @defgroup entity_listener (Entity Listener) + * @ingroup entity + * @brief Get or set listener associated with an entity, + * type of listener provided much match type of entity. + */ + +/** + * @brief Get entity listeners. + * @ingroup entity_listener + * + * This operation allows access to the existing listeners attached to + * the entity. + * + * @param[in] entity Entity on which to get the listeners. + * @param[out] listener Pointer to the listener structure that returns the + * set of listener callbacks. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The listeners of to the entity have been successfully been + * copied into the specified listener parameter. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The listener parameter is NULL. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * + * DOC_TODO: Link to (generic) Listener and status information. + */ +DDS_EXPORT dds_return_t +dds_get_listener(dds_entity_t entity, dds_listener_t * listener); + +/** + * @brief Set entity listeners. + * @ingroup entity_listener + * + * This operation attaches a dds_listener_t to the dds_entity_t. Only one + * Listener can be attached to each Entity. If a Listener was already + * attached, this operation will replace it with the new one. In other + * words, all related callbacks are replaced (possibly with NULL). + * + * When listener parameter is NULL, all listener callbacks that were possibly + * set on the Entity will be removed. + * + * @note Not all listener callbacks are related to all entities. + * + * ## Communication Status + * For each communication status, the StatusChangedFlag flag is initially set to + * FALSE. It becomes TRUE whenever that plain communication status changes. For + * each plain communication status activated in the mask, the associated + * Listener callback is invoked and the communication status is reset + * to FALSE, as the listener implicitly accesses the status which is passed as a + * parameter to that operation. + * The status is reset prior to calling the listener, so if the application calls + * the get_ from inside the listener it will see the + * status already reset. + * + * ## Status Propagation + * In case a related callback within the Listener is not set, the Listener of + * the Parent entity is called recursively, until a Listener with the appropriate + * callback set has been found and called. This allows the application to set + * (for instance) a default behaviour in the Listener of the containing Publisher + * and a DataWriter specific behaviour when needed. In case the callback is not + * set in the Publishers' Listener either, the communication status will be + * propagated to the Listener of the DomainParticipant of the containing + * DomainParticipant. In case the callback is not set in the DomainParticipants' + * Listener either, the Communication Status flag will be set, resulting in a + * possible WaitSet trigger. + * + * @param[in] entity Entity on which to get the listeners. + * @param[in] listener Pointer to the listener structure that contains the + * set of listener callbacks (maybe NULL). + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The listeners of to the entity have been successfully been + * copied into the specified listener parameter. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * DOC_TODO: Link to (generic) Listener and status information. + */ +DDS_EXPORT dds_return_t +dds_set_listener(dds_entity_t entity, const dds_listener_t * listener); + +/* + Creation functions for various entities. Creating a subscriber or + publisher is optional: if one creates a reader as a descendant of a + participant, it is as if a subscriber is created specially for + that reader. + + QoS default values are those of the DDS specification, but the + inheritance rules are different: + + * publishers and subscribers inherit from the participant QoS + * readers and writers always inherit from the topic QoS + * the QoS's present in the "qos" parameter override the inherited values +*/ + +/** + * @defgroup domain (Domain) + * @ingroup DDS + */ + +/** + * @defgroup domain_participant (DomainParticipant) + * @ingroup domain + */ + +/** + * @brief Creates a new instance of a DDS participant in a domain + * @ingroup domain_participant + * + * If domain is set (not DDS_DOMAIN_DEFAULT) then it must match if the domain has also + * been configured or an error status will be returned. + * Currently only a single domain can be configured by providing configuration file. + * If no configuration file exists, the default domain is configured as 0. + * + * + * @param[in] domain The domain in which to create the participant (can be DDS_DOMAIN_DEFAULT). DDS_DOMAIN_DEFAULT is for using the domain in the configuration. + * @param[in] qos The QoS to set on the new participant (can be NULL). + * @param[in] listener Any listener functions associated with the new participant (can be NULL). + + * @returns A valid participant handle or an error code. + * + * @retval >0 + * A valid participant handle. + * @retval DDS_RETCODE_NOT_ALLOWED_BY_SECURITY + * An invalid DDS Security configuration was specified (whether + * that be missing or incorrect entries, expired certificates, + * or anything else related to the security settings and + * implementation). + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Some security properties specified in the QoS, but the Cyclone + * build does not include support for DDS Security. + * @retval DDS_RETCODE_OUT_OF_RESOURCES + * Some resource limit (maximum participants, memory, handles, + * &c.) prevented creation of the participant. + * @retval DDS_RETCODE_ERROR + * The "CYCLONEDDS_URI" environment variable lists non-existent + * or invalid configuration files, or contains invalid embedded + * configuration items; or an unspecified internal error has + * occurred. + */ +DDS_EXPORT dds_entity_t +dds_create_participant( + const dds_domainid_t domain, + const dds_qos_t *qos, + const dds_listener_t *listener); + +/** + * @brief Creates a domain with a given configuration + * @ingroup domain + * + * To explicitly create a domain based on a configuration passed as a string. + * + * It will not be created if a domain with the given domain id already exists. + * This could have been created implicitly by a dds_create_participant(). + * + * Please be aware that the given domain_id always takes precedence over the + * configuration. + * + * | domain_id | domain id in config | result | + * |:----------|:--------------------|:------------------------------| + * | n | any (or absent) | n, config is used | + * | n | m == n | n, config is used | + * | n | m != n | n, config is ignored: default | + * + * Config models: + * -# @code{xml} + * + * ... + * + * + * @endcode + * where ... is all that can today be set in children of CycloneDDS + * with the exception of the id + * -# @code{xml} + * + * X + * + * + * @endcode + * Legacy form, domain id must be the first element in the file with + * a value (if nothing has been set previously, it a warning is good + * enough) + * + * Using NULL or "" as config will create a domain with default settings. + * + * + * @param[in] domain The domain to be created. DEFAULT_DOMAIN is not allowed. + * @param[in] config A configuration string containing file names and/or XML fragments representing the configuration. + * + * @returns A valid entity handle or an error code. + * + * @retval DDS_RETCODE_BAD_PARAMETER + * Illegal value for domain id or the configfile parameter is NULL. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The domain already existed and cannot be created again. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + */ +DDS_EXPORT dds_entity_t +dds_create_domain(const dds_domainid_t domain, const char *config); + +/** + * @brief Creates a domain with a given configuration, specified as an + * initializer (unstable interface) + * @ingroup domain + * + * To explicitly create a domain based on a configuration passed as a raw + * initializer rather than as an XML string. This allows bypassing the XML + * parsing, but tightly couples the initializing to implementation. See + * dds/ddsi/ddsi_config.h:ddsi_config_init_default for a way to initialize + * the default configuration. + * + * It will not be created if a domain with the given domain id already exists. + * This could have been created implicitly by a dds_create_participant(). + * + * Please be aware that the given domain_id always takes precedence over the + * configuration. + * + * @param[in] domain The domain to be created. DEFAULT_DOMAIN is not allowed. + * @param[in] config A configuration initializer. The lifetime of any pointers + * in config must be at least that of the lifetime of the domain. + * + * @returns A valid entity handle or an error code. + * + * @retval DDS_RETCODE_BAD_PARAMETER + * Illegal value for domain id or the config parameter is NULL. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The domain already existed and cannot be created again. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + */ +DDS_EXPORT dds_entity_t +dds_create_domain_with_rawconfig(const dds_domainid_t domain, const struct ddsi_config *config); + +/** + * @brief Get entity parent. + * @ingroup entity + * + * This operation returns the parent to which the given entity belongs. + * For instance, it will return the Participant that was used when + * creating a Publisher (when that Publisher was provided here). + * + * When a reader or a writer are created with a participant, then a + * subscriber or publisher are created implicitly. + * This function will return the implicit parent and not the used + * participant. + * + * @param[in] entity Entity from which to get its parent. + * + * @returns A valid entity handle or an error code. + * + * @retval >0 + * A valid entity handle. + * @retval DDS_ENTITY_NIL + * Called with a participant. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * DOC_TODO: Link to generic dds entity relations documentation. + */ +DDS_EXPORT dds_entity_t +dds_get_parent(dds_entity_t entity); + +/** + * @brief Get entity participant. + * @ingroup entity + * + * This operation returns the participant to which the given entity belongs. + * For instance, it will return the Participant that was used when + * creating a Publisher that was used to create a DataWriter (when that + * DataWriter was provided here). + * + * DOC_TODO: Link to generic dds entity relations documentation. + * + * @param[in] entity Entity from which to get its participant. + * + * @returns A valid entity or an error code. + * + * @retval >0 + * A valid participant handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_get_participant(dds_entity_t entity); + +/** + * @brief Get entity children. + * @ingroup entity + * + * This operation returns the children that the entity contains. + * For instance, it will return all the Topics, Publishers and Subscribers + * of the Participant that was used to create those entities (when that + * Participant is provided here). + * + * This functions takes a pre-allocated list to put the children in and + * will return the number of found children. It is possible that the given + * size of the list is not the same as the number of found children. If + * less children are found, then the last few entries in the list are + * untouched. When more children are found, then only 'size' number of + * entries are inserted into the list, but still complete count of the + * found children is returned. Which children are returned in the latter + * case is undefined. + * + * When supplying NULL as list and 0 as size, you can use this to acquire + * the number of children without having to pre-allocate a list. + * + * When a reader or a writer are created with a participant, then a + * subscriber or publisher are created implicitly. + * When used on the participant, this function will return the implicit + * subscriber and/or publisher and not the related reader/writer. + * + * @param[in] entity Entity from which to get its children. + * @param[out] children Pre-allocated array to contain the found children. + * @param[in] size Size of the pre-allocated children's list. + * + * @returns Number of children or an error code. + * + * @retval >=0 + * Number of found children (can be larger than 'size'). + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The children parameter is NULL, while a size is provided. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +/* TODO: Link to generic dds entity relations documentation. */ +DDS_EXPORT dds_return_t +dds_get_children(dds_entity_t entity, dds_entity_t *children, size_t size); + +/** + * @brief Get the domain id to which this entity is attached. + * @ingroup entity + * + * When creating a participant entity, it is attached to a certain domain. + * All the children (like Publishers) and childrens' children (like + * DataReaders), etc are also attached to that domain. + * + * This function will return the original domain ID when called on + * any of the entities within that hierarchy. For entities not associated + * with a domain, the id is set to DDS_DOMAIN_DEFAULT. + * + * @param[in] entity Entity from which to get its children. + * @param[out] id Pointer to put the domain ID in. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Domain ID was returned. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The id parameter is NULL. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_domainid(dds_entity_t entity, dds_domainid_t *id); + +/** + * @brief Get participants of a domain. + * @ingroup domain + * + * This operation acquires the participants created on a domain and returns + * the number of found participants. + * + * This function takes a domain id with the size of pre-allocated participant's + * list in and will return the number of found participants. It is possible that + * the given size of the list is not the same as the number of found participants. + * If less participants are found, then the last few entries in an array stay + * untouched. If more participants are found and the array is too small, then the + * participants returned are undefined. + * + * @param[in] domain_id The domain id. + * @param[out] participants The participant for domain. + * @param[in] size Size of the pre-allocated participant's list. + * + * @returns Number of participants found or and error code. + * + * @retval >0 + * Number of participants found. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The participant parameter is NULL, while a size is provided. + */ +DDS_EXPORT dds_return_t +dds_lookup_participant( + dds_domainid_t domain_id, + dds_entity_t *participants, + size_t size); + +/** + * @defgroup topic (Topic) + * @ingroup dds + */ + +/** + * @brief Creates a new topic with default type handling. + * @ingroup topic + * + * The type name for the topic is taken from the generated descriptor. Topic + * matching is done on a combination of topic name and type name. Each successful + * call to dds_create_topic creates a new topic entity sharing the same QoS + * settings with all other topics of the same name. + * + * @param[in] participant Participant on which to create the topic. + * @param[in] descriptor An IDL generated topic descriptor. + * @param[in] name Name of the topic. + * @param[in] qos QoS to set on the new topic (can be NULL). + * @param[in] listener Any listener functions associated with the new topic (can be NULL). + * + * @returns A valid, unique topic handle or an error code. + * + * @retval >=0 + * A valid unique topic handle. + * @retval DDS_RETCODE_BAD_PARAMETER + * Either participant, descriptor, name or qos is invalid. + * @retval DDS_RETCODE_INCONSISTENT_POLICY + * QoS mismatch between qos and an existing topic's QoS. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Mismatch between type name in descriptor and pre-existing + * topic's type name. + */ +DDS_EXPORT dds_entity_t +dds_create_topic( + dds_entity_t participant, + const dds_topic_descriptor_t *descriptor, + const char *name, + const dds_qos_t *qos, + const dds_listener_t *listener); + + +/** + * @brief Indicates that the library defines the dds_create_topic_sertype function + * @ingroup topic + * Introduced to help with the change from sertopic to sertype. If you are using + * a modern CycloneDDS version you will not need this. + */ +#define DDS_HAS_CREATE_TOPIC_SERTYPE 1 + +/** + * @brief Creates a new topic with provided type handling. + * @ingroup topic + * + * The name for the type is taken from the provided "sertype" object. Type + * matching is done on a combination of topic name and type name. Each successful + * call to dds_create_topic creates a new topic entity sharing the same QoS + * settings with all other topics of the same name. + * + * In case this function returns a valid handle, the ownership of the provided + * sertype is handed over to Cyclone. On return, the caller gets in the sertype parameter a + * pointer to the sertype that is actually used by the topic. This can be the provided sertype + * (if this sertype was not yet known in the domain), or a sertype thas was + * already known in the domain. + * + * @param[in] participant Participant on which to create the topic. + * @param[in] name Topic name + * @param[in,out] sertype Internal description of the type . On return, the sertype parameter is set to the actual sertype that is used by the topic. + * @param[in] qos QoS to set on the new topic (can be NULL). + * @param[in] listener Any listener functions associated with the new topic (can be NULL). + * @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published). + * + * @returns A valid, unique topic handle or an error code. Iff a valid handle, the domain takes ownership of provided serdata. + * + * @retval >=0 + * A valid unique topic handle. + * @retval DDS_RETCODE_BAD_PARAMETER + * Either participant, descriptor, name or qos is invalid. + * @retval DDS_RETCODE_INCONSISTENT_POLICY + * QoS mismatch between qos and an existing topic's QoS. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Mismatch between type name in sertype and pre-existing + * topic's type name. + */ +DDS_EXPORT dds_entity_t +dds_create_topic_sertype ( + dds_entity_t participant, + const char *name, + struct ddsi_sertype **sertype, + const dds_qos_t *qos, + const dds_listener_t *listener, + const struct ddsi_plist *sedp_plist); + +/** + * @brief Indicates that the library defines the dds_create_topic_generic function + * @ingroup topic + * Introduced to help with the change from sertopic to sertype. You should probably + * move to using sertype instead of sertopic and ignore this. + */ +#define DDS_HAS_CREATE_TOPIC_GENERIC 1 + +/** + * @anchor dds_create_topic_generic + * @brief Creates a new topic with provided type handling. + * @ingroup topic + * + * DOC_TODO: this description does not make any sense, this is for the legacy sertopic? + * deprecate? + * + * The name for the type is taken from the provided "sertype" object. Type + * matching is done on a combination of topic name and type name. Each successful + * call to dds_create_topic creates a new topic entity sharing the same QoS + * settings with all other topics of the same name. + * + * In case this function returns a valid handle, the ownership of the provided + * sertype is handed over to Cyclone. On return, the caller gets in the sertype parameter a + * pointer to the sertype that is actually used by the topic. This can be the provided sertype + * (if this sertype was not yet known in the domain), or a sertype thas was + * already known in the domain. + * + * @param[in] participant Participant on which to create the topic. + * @param[in,out] sertopic Legacy internal description of the type. On return, the sertype parameter is set to the actual sertype that is used by the topic. + * @param[in] qos QoS to set on the new topic (can be NULL). + * @param[in] listener Any listener functions associated with the new topic (can be NULL). + * @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published). + * + * @returns A valid, unique topic handle or an error code. Iff a valid handle, the domain takes ownership of provided serdata. + * + * @retval >=0 + * A valid unique topic handle. + * @retval DDS_RETCODE_BAD_PARAMETER + * Either participant, descriptor, name or qos is invalid. + * @retval DDS_RETCODE_INCONSISTENT_POLICY + * QoS mismatch between qos and an existing topic's QoS. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Mismatch between type name in sertype and pre-existing + * topic's type name. + */ +DDS_EXPORT dds_entity_t +dds_create_topic_generic ( + dds_entity_t participant, + struct ddsi_sertopic **sertopic, + const dds_qos_t *qos, + const dds_listener_t *listener, + const struct ddsi_plist *sedp_plist); + +/** + * @deprecated Creates a new topic with provided type handling. + * @ingroup deprecated + * Use @ref dds_create_topic_sertype instead. + * + * @param[in] participant Participant on which to create the topic. + * @param[in,out] sertopic Legacy internal description of the type. On return, the sertype parameter is set to the actual sertype that is used by the topic. + * @param[in] qos QoS to set on the new topic (can be NULL). + * @param[in] listener Any listener functions associated with the new topic (can be NULL). + * @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published). + * + * @returns A valid, unique topic handle or an error code. + */ +DDS_DEPRECATED_EXPORT dds_entity_t +dds_create_topic_arbitrary ( + dds_entity_t participant, + struct ddsi_sertopic *sertopic, + const dds_qos_t *qos, + const dds_listener_t *listener, + const struct ddsi_plist *sedp_plist); + +/** + * @brief Finds a locally created or discovered remote topic by topic name and type information + * @ingroup topic + * + * Finds a locally created topic or a discovered remote topic based on the topic + * name and type. In case the topic is not found, this function will wait for + * the topic to become available until the provided time out. + * + * When using the scope DDS_FIND_SCOPE_LOCAL_DOMAIN, there will be no requests sent + * over the network for resolving the type in case it is unresolved. This also applies + * to dependent types: in case a dependency of the provided type is unresolved, no + * requests will be sent for resolving the type when using LOCAL_DOMAIN scope. + * + * In case the scope is DDS_FIND_SCOPE_GLOBAL, for unresolved types (or dependencies) + * a type lookup request will be sent. + * + * In case no type information is provided and multiple (discovered) topics exist + * with the provided name, an arbitrary topic with that name will be returned. + * In this scenario, it would be better to read DCPSTopic data and use that to + * get the required topic meta-data. + * + * The returned topic should be released with dds_delete. + * + * @param[in] scope The scope used to find the topic. In case topic discovery is not enabled in the build, SCOPE_GLOBAL cannot be used. + * @param[in] participant The handle of the participant the found topic will be created in + * @param[in] name The name of the topic to find. + * @param[in] type_info The type information of the topic to find. Optional, and should not be provided in case topic discovery is not enabled in the build. + * @param[in] timeout The timeout for waiting for the topic to become available + * + * @returns A valid topic handle or an error code. + * + * @retval >0 + * A valid topic handle. + * @retval 0 + * No topic of this name exists + * @retval DDS_RETCODE_BAD_PARAMETER + * Participant or type information was invalid. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The provided type could not be found. + */ +DDS_EXPORT dds_entity_t +dds_find_topic (dds_find_scope_t scope, dds_entity_t participant, const char *name, const dds_typeinfo_t *type_info, dds_duration_t timeout); + +/** + * @deprecated Finds a locally created or discovered remote topic by topic name + * @ingroup deprecated + * Use @ref dds_find_topic instead. + * + * Finds a locally created topic or a discovered remote topic based on the topic + * name. In case the topic is not found, this function will wait for the topic + * to become available until the provided time out. + * + * In case multiple (discovered) topics exist with the provided name, this function + * will return randomly one of these topic. The caller can decide to read DCPSTopic + * data and select one of the topic definitions to create the topic. + * + * The returned topic should be released with dds_delete. + * + * @param[in] scope The scope used to find the topic + * @param[in] participant The handle of the participant the found topic will be created in + * @param[in] name The name of the topic to find. + * @param[in] timeout The timeout for waiting for the topic to become available + * + * @returns A valid topic handle or an error code. + * + * @retval >0 + * A valid topic handle. + * @retval 0 + * No topic of this name existed yet + * @retval DDS_RETCODE_BAD_PARAMETER + * Participant handle or scope invalid + */ +DDS_DEPRECATED_EXPORT dds_entity_t +dds_find_topic_scoped (dds_find_scope_t scope, dds_entity_t participant, const char *name, dds_duration_t timeout); + + +/** + * @ingroup topic + * @brief Creates topic descriptor for the provided type_info + * + * @param[in] scope The scope used to find the type: DDS_FIND_SCOPE_LOCAL_DOMAIN or DDS_FIND_SCOPE_GLOBAL. In case DDS_FIND_SCOPE_GLOBAL is used, a type lookup request will be sent to other nodes. + * @param[in] participant The handle of the participant. + * @param[in] type_info The type (dds_typeinfo_t) of the topic to find. + * @param[in] timeout The timeout for waiting for the type to become available + * @param[out] descriptor - Pointer to a dds_topic_descriptor_t pointer that will be allocated and populated. To free allocated memory for this descriptor, use dds_delete_topic_descriptor. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The topic descriptor has been succesfully created. + * @retval DDS_RETCODE_BAD_PARAMETER + * Type_info or descriptor parameter not provided, invalid entity (not a participant) or scope invalid. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The participant or the type_id was not found. + * @retval DDS_RETCODE_TIMEOUT + * Type was not resolved within the provided timeout + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) + */ +DDS_EXPORT dds_return_t +dds_create_topic_descriptor (dds_find_scope_t scope, dds_entity_t participant, const dds_typeinfo_t *type_info, dds_duration_t timeout, dds_topic_descriptor_t **descriptor); + +/** + * @ingroup topic + * @brief Delete memory allocated to the provided topic descriptor + * + * @param[in] descriptor - Pointer to a dds_topic_descriptor_t + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The topic descriptor has been succesfully deleted. + * @retval DDS_RETCODE_BAD_PARAMETER + * No descriptor provided + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) + */ +DDS_EXPORT dds_return_t +dds_delete_topic_descriptor (dds_topic_descriptor_t *descriptor); + +/** + * @brief Returns the name of a given topic. + * @ingroup topic + * + * @param[in] topic The topic. + * @param[out] name Buffer to write the topic name to. + * @param[in] size Number of bytes available in the buffer. + * + * @returns A dds_return_t indicating success or failure. + * + * @return Actual length of topic name (name is truncated if return value >= size) or error + */ +DDS_EXPORT dds_return_t +dds_get_name(dds_entity_t topic, char *name, size_t size); + +/** + * @brief Returns the type name of a given topic. + * @ingroup topic + * + * @param[in] topic The topic. + * @param[out] name Buffer to write the topic type name to. + * @param[in] size Number of bytes available in the buffer. + * + * @returns A dds_return_t indicating success or failure. + * + * @return Actual length of type name (name is truncated if return value >= size) or error + */ +DDS_EXPORT dds_return_t +dds_get_type_name(dds_entity_t topic, char *name, size_t size); + +/** + * @defgroup topic_filter (Topic filters) + * @ingroup topic + * Topic filter functions. + * @warning part of the Unstable API: no guarantee that any + * of this will be maintained for backwards compatibility. + * + * Sampleinfo is all zero when filtering in a write call (i.e., writer created + * using a filtered topic, which one perhaps shouldn't be doing), otherwise it + * has as much filled in correctly as is possible given the context and the rest + * fixed: + * - sample_state DDS_SST_NOT_READ; + * - publication_handle set to writer's instance handle + * - source_timestamp set to source timestamp of sample + * - ranks 0 + * - valid_data true + * - instance_handle set to instance handle of existing instance if the + * sample matches an existing instance, otherwise to what + * the instance handle will be if it passes the filter + * - view_state set to instance view state if sample being filtered + * matches an existing instance, NEW if not + * - instance_state set to instance state if sample being filtered + * matches an existing instance, NEW if not + * - generation counts set to instance's generation counts if the sample + * matches an existing instance instance, 0 if not + */ + +/** + * @anchor dds_topic_filter_sample_fn + * @brief Topic filter function that only needs to look at the sample. + * @ingroup topic_filter + * @warning Unstable API + */ +typedef bool (*dds_topic_filter_sample_fn) (const void * sample); + +/** + * @anchor dds_topic_filter_sample_arg_fn + * @brief Topic filter function that only needs to look at the sample and a custom argument. + * @ingroup topic_filter + * @warning Unstable API + */ +typedef bool (*dds_topic_filter_sample_arg_fn) (const void * sample, void * arg); + +/** + * @anchor dds_topic_filter_sampleinfo_arg_fn + * @brief Topic filter function that only needs to look at the sampleinfo and a custom argument. + * @ingroup topic_filter + * @warning Unstable API + */ +typedef bool (*dds_topic_filter_sampleinfo_arg_fn) (const dds_sample_info_t * sampleinfo, void * arg); + +/** + * @anchor dds_topic_filter_sample_sampleinfo_arg_fn + * @brief Topic filter function that needs to look at the sample, the sampleinfo and a custom argument. + * @ingroup topic_filter + * @warning Unstable API + */ +typedef bool (*dds_topic_filter_sample_sampleinfo_arg_fn) (const void * sample, const dds_sample_info_t * sampleinfo, void * arg); + +/** + * @anchor dds_topic_filter_fn + * @brief See \ref dds_topic_filter_sample_fn + * @ingroup topic_filter + * @warning Unstable API + */ +typedef dds_topic_filter_sample_fn dds_topic_filter_fn; + +/** + * @anchor dds_topic_filter_arg_fn + * @brief See \ref dds_topic_filter_sample_arg_fn + * @ingroup topic_filter + * @warning Unstable API + */ +typedef dds_topic_filter_sample_arg_fn dds_topic_filter_arg_fn; + +/** + * @brief Topic filter mode; + * @ingroup topic_filter + * @warning Unstable API + */ +enum dds_topic_filter_mode { + DDS_TOPIC_FILTER_NONE, /**< Can be used to reset topic filter */ + DDS_TOPIC_FILTER_SAMPLE, /**< Use with \ref dds_topic_filter_sample_fn */ + DDS_TOPIC_FILTER_SAMPLE_ARG, /**< Use with \ref dds_topic_filter_sample_arg_fn */ + DDS_TOPIC_FILTER_SAMPLEINFO_ARG, /**< Use with \ref dds_topic_filter_sampleinfo_arg_fn */ + DDS_TOPIC_FILTER_SAMPLE_SAMPLEINFO_ARG, /**< Use with \ref dds_topic_filter_sample_sampleinfo_arg_fn */ +}; + +/** + * @brief Union of all filter function types; + * @ingroup topic_filter + * @warning Unstable API +*/ +union dds_topic_filter_function_union { + dds_topic_filter_sample_fn sample; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE */ + dds_topic_filter_sample_arg_fn sample_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE_ARG */ + dds_topic_filter_sampleinfo_arg_fn sampleinfo_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLEINFO_ARG */ + dds_topic_filter_sample_sampleinfo_arg_fn sample_sampleinfo_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE_SAMPLEINFO_ARG */ +}; + +/** + * @brief Full topic filter container; + * @ingroup topic_filter + * @warning Unstable API + */ +struct dds_topic_filter { + enum dds_topic_filter_mode mode; /**< Provide a mode */ + union dds_topic_filter_function_union f; /**< Provide a filter function */ + void *arg; /**< Provide an argument, can be NULL */ +}; + +/** + * @brief Sets a filter on a topic. To be replaced by proper filtering on readers, + * @ingroup topic_filter + * @warning Unstable API + * @deprecated use @ref dds_set_topic_filter_and_arg or @ref dds_set_topic_filter_extended instead + * + * Not thread-safe with respect to data being read/written using readers/writers + * using this topic. Be sure to create a topic entity specific to the reader you + * want to filter, then set the filter function, and only then create the reader. + * And don't change it unless you know there are no concurrent writes. + * + * @param[in] topic The topic on which the content filter is set. + * @param[in] filter The filter function used to filter topic samples. + */ +DDS_DEPRECATED_EXPORT void +dds_set_topic_filter(dds_entity_t topic, dds_topic_filter_fn filter); + +/** + * @brief Sets a filter on a topic. To be replaced by proper filtering on readers, + * @ingroup topic_filter + * @warning Unstable API + * @deprecated use @ref dds_set_topic_filter_and_arg or @ref dds_set_topic_filter_extended instead + * + * Not thread-safe with respect to data being read/written using readers/writers + * using this topic. Be sure to create a topic entity specific to the reader you + * want to filter, then set the filter function, and only then create the reader. + * And don't change it unless you know there are no concurrent writes. + * + * @param[in] topic The topic on which the content filter is set. + * @param[in] filter The filter function used to filter topic samples. + */ +DDS_DEPRECATED_EXPORT void +dds_topic_set_filter(dds_entity_t topic, dds_topic_filter_fn filter); + +/** + * @anchor dds_set_topic_filter_and_arg + * @brief Sets a filter and filter argument on a topic. + * @ingroup topic_filter + * @warning Unstable API + * To be replaced by proper filtering on readers. + * + * Not thread-safe with respect to data being read/written using readers/writers + * using this topic. Be sure to create a topic entity specific to the reader you + * want to filter, then set the filter function, and only then create the reader. + * And don't change it unless you know there are no concurrent writes. + * + * @param[in] topic The topic on which the content filter is set. + * @param[in] filter The filter function used to filter topic samples. + * @param[in] arg Argument for the filter function. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK Filter set successfully + * @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid +*/ +DDS_EXPORT dds_return_t +dds_set_topic_filter_and_arg( + dds_entity_t topic, + dds_topic_filter_arg_fn filter, + void *arg); + +/** + * @anchor dds_set_topic_filter_extended + * @brief Sets a filter and filter argument on a topic. + * @ingroup topic_filter + * @warning Unstable API + * To be replaced by proper filtering on readers. + * + * Not thread-safe with respect to data being read/written using readers/writers + * using this topic. Be sure to create a topic entity specific to the reader you + * want to filter, then set the filter function, and only then create the reader. + * And don't change it unless you know there are no concurrent writes. + * + * @param[in] topic The topic on which the content filter is set. + * @param[in] filter The filter specification. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK Filter set successfully + * @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid +*/ +DDS_EXPORT dds_return_t +dds_set_topic_filter_extended( + dds_entity_t topic, + const struct dds_topic_filter *filter); + +/** + * @brief Gets the filter for a topic. + * @ingroup topic_filter + * @deprecated Use dds_get_topic_filter_and_arg() or dds_get_topic_filter_extended() instead. + * @warning Unstable API + * + * To be replaced by proper filtering on readers. + * + * @param[in] topic The topic from which to get the filter. + * + * @returns The topic filter, or 0 when of type other than "sample". + */ +DDS_DEPRECATED_EXPORT dds_topic_filter_fn +dds_get_topic_filter(dds_entity_t topic); + +/** + * @brief Gets the filter for a topic. + * @ingroup topic_filter + * @deprecated Use dds_get_topic_filter_and_arg() or dds_get_topic_filter_extended() instead. + * @warning Unstable API + * + * To be replaced by proper filtering on readers. + * + * @param[in] topic The topic from which to get the filter. + * + * @returns The topic filter, or 0 when of type other than "sample". + */ +DDS_DEPRECATED_EXPORT dds_topic_filter_fn +dds_topic_get_filter(dds_entity_t topic); + +/** + * @brief Gets the filter for a topic. + * @ingroup topic_filter + * @warning Unstable API + * + * To be replaced by proper filtering on readers + * + * @param[in] topic The topic from which to get the filter. + * @param[out] fn The topic filter function (fn may be NULL). + * @param[out] arg Filter function argument (arg may be NULL). + * + * @retval DDS_RETCODE_OK Filter set successfully + * @retval DDS_RETCODE_PRECONDITION_NOT_MET Filter is not of "none" or "sample_arg" + * @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid + */ +DDS_EXPORT dds_return_t +dds_get_topic_filter_and_arg ( + dds_entity_t topic, + dds_topic_filter_arg_fn *fn, + void **arg); + +/** + * @brief Gets the filter for a topic. + * @ingroup topic_filter + * @warning Unstable API + * + * To be replaced by proper filtering on readers + * + * @param[in] topic The topic from which to get the filter. + * @param[out] filter The topic filter specification. + * + * @retval DDS_RETCODE_OK Filter set successfully + * @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid + */ +DDS_EXPORT dds_return_t +dds_get_topic_filter_extended ( + dds_entity_t topic, + struct dds_topic_filter *filter); + +/** + * @defgroup subscriber (Subscriber) + * @ingroup subscription + * DOC_TODO The Subscriber is a DDS Entity + */ + +/** + * @brief Creates a new instance of a DDS subscriber + * @ingroup subscriber + * + * @param[in] participant The participant on which the subscriber is being created. + * @param[in] qos The QoS to set on the new subscriber (can be NULL). + * @param[in] listener Any listener functions associated with the new subscriber (can be NULL). + * + * @returns A valid subscriber handle or an error code. + * + * @retval >0 + * A valid subscriber handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the parameters is invalid. + */ +DDS_EXPORT dds_entity_t +dds_create_subscriber( + dds_entity_t participant, + const dds_qos_t *qos, + const dds_listener_t *listener); + + +/** + * @defgroup publication (Publication) + * @ingroup dds + * DOC_TODO This contains the definitions regarding publication of data. + */ + +/** + * @defgroup publisher (Publisher) + * @ingroup publication + * DOC_TODO The Publisher is a DDS Entity + */ + +/** + * @brief Creates a new instance of a DDS publisher + * @ingroup publisher + * + * @param[in] participant The participant to create a publisher for. + * @param[in] qos The QoS to set on the new publisher (can be NULL). + * @param[in] listener Any listener functions associated with the new publisher (can be NULL). + * + * @returns A valid publisher handle or an error code. + * + * @retval >0 + * A valid publisher handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + */ +/* TODO: Check list of error codes is complete. */ +DDS_EXPORT dds_entity_t +dds_create_publisher( + dds_entity_t participant, + const dds_qos_t *qos, + const dds_listener_t *listener); + +/** + * @brief Suspends the publications of the Publisher + * @ingroup publisher + * + * This operation is a hint to the Service so it can optimize its performance by e.g., collecting + * modifications to DDS writers and then batching them. The Service is not required to use the hint. + * + * Every invocation of this operation must be matched by a corresponding call to @see dds_resume + * indicating that the set of modifications has completed. + * + * @param[in] publisher The publisher for which all publications will be suspended. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Publications suspended successfully. + * @retval DDS_RETCODE_BAD_PARAMETER + * The pub parameter is not a valid publisher. + * @retval DDS_RETCODE_UNSUPPORTED + * Operation is not supported. + */ +DDS_EXPORT dds_return_t +dds_suspend(dds_entity_t publisher); + +/** + * @brief Resumes the publications of the Publisher + * @ingroup publisher + * + * This operation is a hint to the Service to indicate that the application has + * completed changes initiated by a previous dds_suspend(). The Service is not + * required to use the hint. + * + * The call to resume_publications must match a previous call to @see suspend_publications. + * + * @param[in] publisher The publisher for which all publications will be resumed. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Publications resumed successfully. + * @retval DDS_RETCODE_BAD_PARAMETER + * The pub parameter is not a valid publisher. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * No previous matching dds_suspend(). + * @retval DDS_RETCODE_UNSUPPORTED + * Operation is not supported. + */ +DDS_EXPORT dds_return_t +dds_resume(dds_entity_t publisher); + +/** + * @brief Waits at most for the duration timeout for acks for data in the publisher or writer. + * @ingroup publication + * + * This operation blocks the calling thread until either all data written by the publisher + * or writer is acknowledged by all matched reliable reader entities, or else the duration + * specified by the timeout parameter elapses, whichever happens first. + * + * @param[in] publisher_or_writer Publisher or writer whose acknowledgments must be waited for + * @param[in] timeout How long to wait for acknowledgments before time out + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * All acknowledgments successfully received with the timeout. + * @retval DDS_RETCODE_BAD_PARAMETER + * The publisher_or_writer is not a valid publisher or writer. + * @retval DDS_RETCODE_TIMEOUT + * Timeout expired before all acknowledgments from reliable reader entities were received. + * @retval DDS_RETCODE_UNSUPPORTED + * Operation is not supported. + */ +DDS_EXPORT dds_return_t +dds_wait_for_acks(dds_entity_t publisher_or_writer, dds_duration_t timeout); + + +/** + * @defgroup reader (Reader) + * @ingroup subscription + * DOC_TODO The reader is a DDS Entity + */ + +/** + * @brief Creates a new instance of a DDS reader. + * @ingroup reader + * + * When a participant is used to create a reader, an implicit subscriber is created. + * This implicit subscriber will be deleted automatically when the created reader + * is deleted. + * + * @param[in] participant_or_subscriber The participant or subscriber on which the reader is being created. + * @param[in] topic The topic to read. + * @param[in] qos The QoS to set on the new reader (can be NULL). + * @param[in] listener Any listener functions associated with the new reader (can be NULL). + * + * @returns A valid reader handle or an error code. + * + * @retval >0 + * A valid reader handle. + * @retval DDS_RETCODE_ERROR + * An internal error occurred. + * + * DOC_TODO: Complete list of error codes + */ +DDS_EXPORT dds_entity_t +dds_create_reader( + dds_entity_t participant_or_subscriber, + dds_entity_t topic, + const dds_qos_t *qos, + const dds_listener_t *listener); + +/** + * @brief Creates a new instance of a DDS reader with a custom history cache. + * @ingroup reader + * + * When a participant is used to create a reader, an implicit subscriber is created. + * This implicit subscriber will be deleted automatically when the created reader + * is deleted. + * + * @param[in] participant_or_subscriber The participant or subscriber on which the reader is being created. + * @param[in] topic The topic to read. + * @param[in] qos The QoS to set on the new reader (can be NULL). + * @param[in] listener Any listener functions associated with the new reader (can be NULL). + * @param[in] rhc Reader history cache to use, reader becomes the owner + * + * @returns A valid reader handle or an error code. + * + * @retval >0 + * A valid reader handle. + * @retval DDS_RETCODE_ERROR + * An internal error occurred. + * + * DOC_TODO: Complete list of error codes + */ +DDS_EXPORT dds_entity_t +dds_create_reader_rhc( + dds_entity_t participant_or_subscriber, + dds_entity_t topic, + const dds_qos_t *qos, + const dds_listener_t *listener, + struct dds_rhc *rhc); + +/** + * @brief Wait until reader receives all historic data + * @ingroup reader + * + * The operation blocks the calling thread until either all "historical" data is + * received, or else the duration specified by the max_wait parameter elapses, whichever happens + * first. A return value of 0 indicates that all the "historical" data was received; a return + * value of TIMEOUT indicates that max_wait elapsed before all the data was received. + * + * @param[in] reader The reader on which to wait for historical data. + * @param[in] max_wait How long to wait for historical data before time out. + * + * @returns a status, 0 on success, TIMEOUT on timeout or a negative value to indicate error. + * + * DOC_TODO: Complete list of error codes + */ +DDS_EXPORT dds_return_t +dds_reader_wait_for_historical_data( + dds_entity_t reader, + dds_duration_t max_wait); + +/** + * @defgroup writer (Writer) + * @ingroup publication + * DOC_TODO The writer is a DDS Entity + */ + +/** + * @brief Creates a new instance of a DDS writer. + * @ingroup writer + * + * When a participant is used to create a writer, an implicit publisher is created. + * This implicit publisher will be deleted automatically when the created writer + * is deleted. + * + * @param[in] participant_or_publisher The participant or publisher on which the writer is being created. + * @param[in] topic The topic to write. + * @param[in] qos The QoS to set on the new writer (can be NULL). + * @param[in] listener Any listener functions associated with the new writer (can be NULL). + * + * @returns A valid writer handle or an error code. + * + * @returns >0 + * A valid writer handle. + * @returns DDS_RETCODE_ERROR + * An internal error occurred. + * + * DOC_TODO: Complete list of error codes + */ +DDS_EXPORT dds_entity_t +dds_create_writer( + dds_entity_t participant_or_publisher, + dds_entity_t topic, + const dds_qos_t *qos, + const dds_listener_t *listener); + + +/** + * @defgroup writing (Writing data) + * @ingroup writer + * Writing data (and variants of it) is straightforward. The first set + * is equivalent to the second set with -1 passed for "timestamp", + * meaning, substitute the result of a call to time(). The dispose + * and unregister operations take an object of the topic's type, but + * only touch the key fields; the remained may be undefined. +*/ + +/** + * @brief Registers an instance + * @ingroup writing + * + * This operation registers an instance with a key value to the data writer and + * returns an instance handle that could be used for successive write & dispose + * operations. When the handle is not allocated, the function will return an + * error and the handle will be un-touched. + * + * @param[in] writer The writer to which instance has be associated. + * @param[out] handle The instance handle. + * @param[in] data The instance with the key value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_register_instance( + dds_entity_t writer, + dds_instance_handle_t *handle, + const void *data); + +/** + * @brief Unregisters an instance by instance + * @ingroup writing + * + * This operation reverses the action of register instance, removes all information regarding + * the instance and unregisters an instance with a key value from the data writer. + * + * @param[in] writer The writer to which instance is associated. + * @param[in] data The instance with the key value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_unregister_instance(dds_entity_t writer, const void *data); + +/** + * @brief Unregisters an instance by instance handle + * @ingroup writing + * + * This operation unregisters the instance which is identified by the key fields of the given + * typed instance handle. + * + * @param[in] writer The writer to which instance is associated. + * @param[in] handle The instance handle. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_unregister_instance_ih(dds_entity_t writer, dds_instance_handle_t handle); + +/** + * @brief Unregisters an instance by instance with timestamp + * @ingroup writing + * + * This operation reverses the action of register instance, removes all information regarding + * the instance and unregisters an instance with a key value from the data writer. It also + * provides a value for the timestamp explicitly. + * + * @param[in] writer The writer to which instance is associated. + * @param[in] data The instance with the key value. + * @param[in] timestamp The timestamp used at registration. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_unregister_instance_ts( + dds_entity_t writer, + const void *data, + dds_time_t timestamp); + +/** + * @brief Unregisters an instance by instance handle with timestamp + * @ingroup writing + * + * This operation unregisters an instance with a key value from the handle. Instance can be identified + * from instance handle. If an unregistered key ID is passed as an instance data, an error is logged and + * not flagged as return value. + * + * @param[in] writer The writer to which instance is associated. + * @param[in] handle The instance handle. + * @param[in] timestamp The timestamp used at registration. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object + */ +DDS_EXPORT dds_return_t +dds_unregister_instance_ih_ts( + dds_entity_t writer, + dds_instance_handle_t handle, + dds_time_t timestamp); + +/** + * @brief This operation modifies and disposes a data instance. + * @ingroup writing + * + * This operation requests the Data Distribution Service to modify the instance and + * mark it for deletion. Copies of the instance and its corresponding samples, which are + * stored in every connected reader and, dependent on the QoS policy settings (also in + * the Transient and Persistent stores) will be modified and marked for deletion by + * setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED. + * + * @par Blocking + * If the history QoS policy is set to DDS_HISTORY_KEEP_ALL, the + * dds_writedispose operation on the writer may block if the modification + * would cause data to be lost because one of the limits, specified in the + * resource_limits QoS policy, to be exceeded. In case the synchronous + * attribute value of the reliability Qos policy is set to true for + * communicating writers and readers then the writer will wait until + * all synchronous readers have acknowledged the data. Under these + * circumstances, the max_blocking_time attribute of the reliability + * QoS policy configures the maximum time the dds_writedispose operation + * may block. + * If max_blocking_time elapses before the writer is able to store the + * modification without exceeding the limits and all expected acknowledgements + * are received, the dds_writedispose operation will fail and returns + * DDS_RETCODE_TIMEOUT. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] data The data to be written and disposed. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_TIMEOUT + * Either the current action overflowed the available resources as + * specified by the combination of the reliability QoS policy, + * history QoS policy and resource_limits QoS policy, or the + * current action was waiting for data delivery acknowledgement + * by synchronous readers. This caused blocking of this operation, + * which could not be resolved before max_blocking_time of the + * reliability QoS policy elapsed. + */ +DDS_EXPORT dds_return_t +dds_writedispose(dds_entity_t writer, const void *data); + +/** + * @brief This operation modifies and disposes a data instance with a specific + * timestamp. + * @ingroup writing + * + * This operation performs the same functions as dds_writedispose() except that + * the application provides the value for the source_timestamp that is made + * available to connected reader objects. This timestamp is important for the + * interpretation of the destination_order QoS policy. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] data The data to be written and disposed. + * @param[in] timestamp The timestamp used as source timestamp. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_TIMEOUT + * Either the current action overflowed the available resources as + * specified by the combination of the reliability QoS policy, + * history QoS policy and resource_limits QoS policy, or the + * current action was waiting for data delivery acknowledgement + * by synchronous readers. This caused blocking of this operation, + * which could not be resolved before max_blocking_time of the + * reliability QoS policy elapsed. + */ +DDS_EXPORT dds_return_t +dds_writedispose_ts( + dds_entity_t writer, + const void *data, + dds_time_t timestamp); + +/** + * @brief This operation disposes an instance, identified by the data sample. + * @ingroup writing + * + * This operation requests the Data Distribution Service to modify the instance and + * mark it for deletion. Copies of the instance and its corresponding samples, which are + * stored in every connected reader and, dependent on the QoS policy settings (also in + * the Transient and Persistent stores) will be modified and marked for deletion by + * setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED. + * + * @par Blocking + * If the history QoS policy is set to DDS_HISTORY_KEEP_ALL, the + * dds_writedispose operation on the writer may block if the modification + * would cause data to be lost because one of the limits, specified in the + * resource_limits QoS policy, to be exceeded. In case the synchronous + * attribute value of the reliability Qos policy is set to true for + * communicating writers and readers then the writer will wait until + * all synchronous readers have acknowledged the data. Under these + * circumstances, the max_blocking_time attribute of the reliability + * QoS policy configures the maximum time the dds_writedispose operation + * may block. + * If max_blocking_time elapses before the writer is able to store the + * modification without exceeding the limits and all expected acknowledgements + * are received, the dds_writedispose operation will fail and returns + * DDS_RETCODE_TIMEOUT. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] data The data sample that identifies the instance + * to be disposed. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_TIMEOUT + * Either the current action overflowed the available resources as + * specified by the combination of the reliability QoS policy, + * history QoS policy and resource_limits QoS policy, or the + * current action was waiting for data delivery acknowledgement + * by synchronous readers. This caused blocking of this operation, + * which could not be resolved before max_blocking_time of the + * reliability QoS policy elapsed. + */ +DDS_EXPORT dds_return_t +dds_dispose(dds_entity_t writer, const void *data); + +/** + * @brief This operation disposes an instance with a specific timestamp, identified by the data sample. + * @ingroup writing + * + * This operation performs the same functions as dds_dispose() except that + * the application provides the value for the source_timestamp that is made + * available to connected reader objects. This timestamp is important for the + * interpretation of the destination_order QoS policy. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] data The data sample that identifies the instance + * to be disposed. + * @param[in] timestamp The timestamp used as source timestamp. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion + * @retval DDS_RETCODE_ERROR + * An internal error has occurred + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted + * @retval DDS_RETCODE_TIMEOUT + * Either the current action overflowed the available resources as + * specified by the combination of the reliability QoS policy, + * history QoS policy and resource_limits QoS policy, or the + * current action was waiting for data delivery acknowledgment + * by synchronous readers. This caused blocking of this operation, + * which could not be resolved before max_blocking_time of the + * reliability QoS policy elapsed. + */ +DDS_EXPORT dds_return_t +dds_dispose_ts( + dds_entity_t writer, + const void *data, + dds_time_t timestamp); + +/** + * @brief This operation disposes an instance, identified by the instance handle. + * @ingroup writing + * + * This operation requests the Data Distribution Service to modify the instance and + * mark it for deletion. Copies of the instance and its corresponding samples, which are + * stored in every connected reader and, dependent on the QoS policy settings (also in + * the Transient and Persistent stores) will be modified and marked for deletion by + * setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED. + * + * @par Instance Handle + * The given instance handle must correspond to the value that was returned by either + * the dds_register_instance operation, dds_register_instance_ts or dds_lookup_instance. + * If there is no correspondence, then the result of the operation is unspecified. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] handle The handle to identify an instance. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this writer + */ +DDS_EXPORT dds_return_t +dds_dispose_ih(dds_entity_t writer, dds_instance_handle_t handle); + +/** + * @brief This operation disposes an instance with a specific timestamp, identified by the instance handle. + * @ingroup writing + * + * This operation performs the same functions as dds_dispose_ih() except that + * the application provides the value for the source_timestamp that is made + * available to connected reader objects. This timestamp is important for the + * interpretation of the destination_order QoS policy. + * + * @param[in] writer The writer to dispose the data instance from. + * @param[in] handle The handle to identify an instance. + * @param[in] timestamp The timestamp used as source timestamp. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The sample is written and the instance is marked for deletion. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * At least one of the arguments is invalid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this writer. + */ +DDS_EXPORT dds_return_t +dds_dispose_ih_ts( + dds_entity_t writer, + dds_instance_handle_t handle, + dds_time_t timestamp); + +/** + * @brief Write the value of a data instance + * @ingroup writing + * + * With this API, the value of the source timestamp is automatically made + * available to the data reader by the service. + * + * @param[in] writer The writer entity. + * @param[in] data Value to be written. + * + * @returns dds_return_t indicating success or failure. + */ +DDS_EXPORT dds_return_t +dds_write(dds_entity_t writer, const void *data); + +/** + * @brief Flush a writers batched writes + * @ingroup writing + * + * When using the WriteBatch mode you can manually batch small writes into larger + * datapackets for network efficiency. The normal dds_write() calls will no longer + * automatically decide when to send data, you will do that manually using this function. + * + * DOC_TODO check if my assumptions about how this function works are correct + * + * @param[in] writer The writer entity. + */ +DDS_EXPORT void +dds_write_flush(dds_entity_t writer); + +/** + * @brief Write a serialized value of a data instance + * @ingroup writing + * + * This call causes the writer to write the serialized value that is provided + * in the serdata argument. Timestamp and statusinfo fields are set to the + * current time and 0 (indicating a regular write), respectively. + * + * @param[in] writer The writer entity. + * @param[in] serdata Serialized value to be written. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The writer successfully wrote the serialized value. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_TIMEOUT + * The writer failed to write the serialized value reliably within the specified max_blocking_time. + */ +DDS_EXPORT dds_return_t +dds_writecdr(dds_entity_t writer, struct ddsi_serdata *serdata); + +/** + * @brief Write a serialized value of a data instance + * @ingroup writing + * + * This call causes the writer to write the serialized value that is provided + * in the serdata argument. Timestamp and statusinfo are used as is. + * + * @param[in] writer The writer entity. + * @param[in] serdata Serialized value to be written. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The writer successfully wrote the serialized value. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_TIMEOUT + * The writer failed to write the serialized value reliably within the specified max_blocking_time. + */ +DDS_EXPORT dds_return_t +dds_forwardcdr(dds_entity_t writer, struct ddsi_serdata *serdata); + +/** + * @brief Write the value of a data instance along with the source timestamp passed. + * @ingroup writing + * + * @param[in] writer The writer entity. + * @param[in] data Value to be written. + * @param[in] timestamp Source timestamp. + * + * @returns A dds_return_t indicating success or failure. + */ +DDS_EXPORT dds_return_t +dds_write_ts( + dds_entity_t writer, + const void *data, + dds_time_t timestamp); + +/** + * @defgroup readcondition (ReadCondition) + * @ingroup condition + */ +/** + * @defgroup querycondition (QueryCondition) + * @ingroup condition + */ +/** + * @defgroup guardcondition (GuardCondition) + * @ingroup condition + */ + +/** + * @brief Creates a readcondition associated to the given reader. + * @ingroup readcondition + * + * The readcondition allows specifying which samples are of interest in + * a data reader's history, by means of a mask. The mask is or'd with + * the flags that are dds_sample_state_t, dds_view_state_t and + * dds_instance_state_t. + * + * Based on the mask value set, the readcondition gets triggered when + * data is available on the reader. + * + * Waitsets allow waiting for an event on some of any set of entities. + * This means that the readcondition can be used to wake up a waitset when + * data is in the reader history with states that matches the given mask. + * + * @note The parent reader and every of its associated conditions (whether + * they are readconditions or queryconditions) share the same resources. + * This means that one of these entities reads or takes data, the states + * of the data will change for other entities automatically. For instance, + * if one reads a sample, then the sample state will become 'read' for all + * associated reader/conditions. Or if one takes a sample, then it's not + * available to any other associated reader/condition. + * + * @param[in] reader Reader to associate the condition to. + * @param[in] mask Interest (dds_sample_state_t|dds_view_state_t|dds_instance_state_t). + * + * @returns A valid condition handle or an error code. + * + * @retval >0 + * A valid condition handle + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_create_readcondition(dds_entity_t reader, uint32_t mask); + +/** + * @brief Function signature for a querycondition filter + * @ingroup querycondition + */ +typedef bool (*dds_querycondition_filter_fn) (const void * sample); + +/** + * @brief Creates a queryondition associated to the given reader. + * @ingroup querycondition + * + * The queryondition allows specifying which samples are of interest in + * a data reader's history, by means of a mask and a filter. The mask is + * or'd with the flags that are dds_sample_state_t, dds_view_state_t and + * dds_instance_state_t. + * + * Based on the mask value set and data that matches the filter, the + * querycondition gets triggered when data is available on the reader. + * + * Waitsets allow waiting for an event on some of any set of entities. + * This means that the querycondition can be used to wake up a waitset when + * data is in the reader history with states that matches the given mask + * and filter. + * + * @note The parent reader and every of its associated conditions (whether + * they are readconditions or queryconditions) share the same resources. + * This means that one of these entities reads or takes data, the states + * of the data will change for other entities automatically. For instance, + * if one reads a sample, then the sample state will become 'read' for all + * associated reader/conditions. Or if one takes a sample, then it's not + * available to any other associated reader/condition. + * + * @param[in] reader Reader to associate the condition to. + * @param[in] mask Interest (dds_sample_state_t|dds_view_state_t|dds_instance_state_t). + * @param[in] filter Callback that the application can use to filter specific samples. + * + * @returns A valid condition handle or an error code + * + * @retval >=0 + * A valid condition handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_create_querycondition( + dds_entity_t reader, + uint32_t mask, + dds_querycondition_filter_fn filter); + +/** + * @brief Creates a guardcondition. + * @ingroup guardcondition + * + * Waitsets allow waiting for an event on some of any set of entities. + * This means that the guardcondition can be used to wake up a waitset when + * data is in the reader history with states that matches the given mask. + * + * @param[in] participant Participant on which to create the guardcondition. + * + * @returns A valid condition handle or an error code. + * + * @retval >0 + * A valid condition handle + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_create_guardcondition(dds_entity_t participant); + +/** + * @brief Sets the trigger status of a guardcondition. + * @ingroup guardcondition + * + * @param[in] guardcond Guard condition to set the trigger status of. + * @param[in] triggered The triggered status to set. + * + * @retval DDS_RETCODE_OK + * Operation successful + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_set_guardcondition(dds_entity_t guardcond, bool triggered); + +/** + * @brief Reads the trigger status of a guardcondition. + * @ingroup guardcondition + * + * @param[in] guardcond Guard condition to read the trigger status of. + * @param[out] triggered The triggered status read from the guard condition. + * + * @retval DDS_RETCODE_OK + * Operation successful + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_guardcondition(dds_entity_t guardcond, bool *triggered); + +/** + * @brief Reads and resets the trigger status of a guardcondition. + * @ingroup guardcondition + * + * @param[in] guardcond Guard condition to read and reset the trigger status of. + * @param[out] triggered The triggered status read from the guard condition. + * + * @retval DDS_RETCODE_OK + * Operation successful + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_guardcondition(dds_entity_t guardcond, bool *triggered); + +/** + * @defgroup waitset (WaitSet) + * @ingroup dds + */ + +/** + * @brief Waitset attachment argument. + * @ingroup waitset + * + * Every entity that is attached to the waitset can be accompanied by such + * an attachment argument. When the waitset wait is unblocked because of an + * entity that triggered, then the returning array will be populated with + * these attachment arguments that are related to the triggered entity. + */ +typedef intptr_t dds_attach_t; + +/** + * @brief Create a waitset and allocate the resources required + * @ingroup waitset + * + * A WaitSet object allows an application to wait until one or more of the + * conditions of the attached entities evaluates to TRUE or until the timeout + * expires. + * + * @param[in] participant Domain participant which the WaitSet contains. + * + * @returns A valid waitset handle or an error code. + * + * @retval >=0 + * A valid waitset handle. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_create_waitset(dds_entity_t participant); + +/** + * @brief Acquire previously attached entities. + * @ingroup waitset + * + * This functions takes a pre-allocated list to put the entities in and + * will return the number of found entities. It is possible that the given + * size of the list is not the same as the number of found entities. If + * less entities are found, then the last few entries in the list are + * untouched. When more entities are found, then only 'size' number of + * entries are inserted into the list, but still the complete count of the + * found entities is returned. Which entities are returned in the latter + * case is undefined. + * + * @param[in] waitset Waitset from which to get its attached entities. + * @param[out] entities Pre-allocated array to contain the found entities. + * @param[in] size Size of the pre-allocated entities' list. + * + * @returns A dds_return_t with the number of children or an error code. + * + * @retval >=0 + * Number of children found (can be larger than 'size'). + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entities parameter is NULL, while a size is provided. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_waitset_get_entities( + dds_entity_t waitset, + dds_entity_t *entities, + size_t size); + +/** + * @brief This operation attaches an Entity to the WaitSet. + * @ingroup waitset + * + * This operation attaches an Entity to the WaitSet. The dds_waitset_wait() + * will block when none of the attached entities are triggered. 'Triggered' + * (dds_triggered()) doesn't mean the same for every entity: + * - Reader/Writer/Publisher/Subscriber/Topic/Participant + * - These are triggered when their status changed. + * - WaitSet + * - Triggered when trigger value was set to true by the application. + * It stays triggered until application sets the trigger value to + * false (dds_waitset_set_trigger()). This can be used to wake up an + * waitset for different reasons (f.i. termination) than the 'normal' + * status change (like new data). + * - ReadCondition/QueryCondition + * - Triggered when data is available on the related Reader that matches + * the Condition. + * + * Multiple entities can be attached to a single waitset. A particular entity + * can be attached to multiple waitsets. However, a particular entity can not + * be attached to a particular waitset multiple times. + * + * @param[in] waitset The waitset to attach the given entity to. + * @param[in] entity The entity to attach. + * @param[in] x Blob that will be supplied when the waitset wait is + * triggered by the given entity. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Entity attached. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The given waitset or entity are not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The entity was already attached. + */ +DDS_EXPORT dds_return_t +dds_waitset_attach( + dds_entity_t waitset, + dds_entity_t entity, + dds_attach_t x); + +/** + * @brief This operation detaches an Entity from the WaitSet. + * @ingroup waitset + * + * @param[in] waitset The waitset to detach the given entity from. + * @param[in] entity The entity to detach. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Entity detached. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The given waitset or entity are not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The entity is not attached. + */ +DDS_EXPORT dds_return_t +dds_waitset_detach( + dds_entity_t waitset, + dds_entity_t entity); + +/** + * @brief Sets the trigger_value associated with a waitset. + * @ingroup waitset + * + * When the waitset is attached to itself and the trigger value is + * set to 'true', then the waitset will wake up just like with an + * other status change of the attached entities. + * + * This can be used to forcefully wake up a waitset, for instance + * when the application wants to shut down. So, when the trigger + * value is true, the waitset will wake up or not wait at all. + * + * The trigger value will remain true until the application sets it + * false again deliberately. + * + * @param[in] waitset The waitset to set the trigger value on. + * @param[in] trigger The trigger value to set. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * Trigger value set. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The given waitset is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_waitset_set_trigger( + dds_entity_t waitset, + bool trigger); + +/** + * @brief This operation allows an application thread to wait for the a status + * change or other trigger on (one of) the entities that are attached to + * the WaitSet. + * @ingroup waitset + * + * The dds_waitset_wait() operation blocks until the some of the attached + * entities have triggered or "reltimeout" has elapsed. + * 'Triggered' (dds_triggered()) doesn't mean the same for every entity: + * - Reader/Writer/Publisher/Subscriber/Topic/Participant + * - These are triggered when their status changed. + * - WaitSet + * - Triggered when trigger value was set to true by the application. + * It stays triggered until application sets the trigger value to + * false (dds_waitset_set_trigger()). This can be used to wake up an + * waitset for different reasons (f.i. termination) than the 'normal' + * status change (like new data). + * - ReadCondition/QueryCondition + * - Triggered when data is available on the related Reader that matches + * the Condition. + * + * This functions takes a pre-allocated list to put the "xs" blobs in (that + * were provided during the attach of the related entities) and will return + * the number of triggered entities. It is possible that the given size + * of the list is not the same as the number of triggered entities. If less + * entities were triggered, then the last few entries in the list are + * untouched. When more entities are triggered, then only 'size' number of + * entries are inserted into the list, but still the complete count of the + * triggered entities is returned. Which "xs" blobs are returned in the + * latter case is undefined. + * + * In case of a time out, the return value is 0. + * + * Deleting the waitset while the application is blocked results in an + * error code (i.e. < 0) returned by "wait". + * + * Multiple threads may block on a single waitset at the same time; + * the calls are entirely independent. + * + * An empty waitset never triggers (i.e., dds_waitset_wait on an empty + * waitset is essentially equivalent to a sleep). + * + * The "dds_waitset_wait_until" operation is the same as the + * "dds_waitset_wait" except that it takes an absolute timeout. + * + * @param[in] waitset The waitset to set the trigger value on. + * @param[out] xs Pre-allocated list to store the 'blobs' that were + * provided during the attach of the triggered entities. + * @param[in] nxs The size of the pre-allocated blobs list. + * @param[in] reltimeout Relative timeout + * + * @returns A dds_return_t with the number of entities triggered or an error code + * + * @retval >0 + * Number of entities triggered. + * @retval 0 + * Time out (no entities were triggered). + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The given waitset is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_waitset_wait( + dds_entity_t waitset, + dds_attach_t *xs, + size_t nxs, + dds_duration_t reltimeout); + +/** + * @brief This operation allows an application thread to wait for the a status + * change or other trigger on (one of) the entities that are attached to + * the WaitSet. + * @ingroup waitset + * + * The dds_waitset_wait() operation blocks until the some of the attached + * entities have triggered or "abstimeout" has been reached. + * 'Triggered' (dds_triggered()) doesn't mean the same for every entity: + * - Reader/Writer/Publisher/Subscriber/Topic/Participant + * - These are triggered when their status changed. + * - WaitSet + * - Triggered when trigger value was set to true by the application. + * It stays triggered until application sets the trigger value to + * false (dds_waitset_set_trigger()). This can be used to wake up an + * waitset for different reasons (f.i. termination) than the 'normal' + * status change (like new data). + * - ReadCondition/QueryCondition + * - Triggered when data is available on the related Reader that matches + * the Condition. + * + * This functions takes a pre-allocated list to put the "xs" blobs in (that + * were provided during the attach of the related entities) and will return + * the number of triggered entities. It is possible that the given size + * of the list is not the same as the number of triggered entities. If less + * entities were triggered, then the last few entries in the list are + * untouched. When more entities are triggered, then only 'size' number of + * entries are inserted into the list, but still the complete count of the + * triggered entities is returned. Which "xs" blobs are returned in the + * latter case is undefined. + * + * In case of a time out, the return value is 0. + * + * Deleting the waitset while the application is blocked results in an + * error code (i.e. < 0) returned by "wait". + * + * Multiple threads may block on a single waitset at the same time; + * the calls are entirely independent. + * + * An empty waitset never triggers (i.e., dds_waitset_wait on an empty + * waitset is essentially equivalent to a sleep). + * + * The "dds_waitset_wait" operation is the same as the + * "dds_waitset_wait_until" except that it takes an relative timeout. + * + * The "dds_waitset_wait" operation is the same as the "dds_wait" + * except that it takes an absolute timeout. + * + * @param[in] waitset The waitset to set the trigger value on. + * @param[out] xs Pre-allocated list to store the 'blobs' that were + * provided during the attach of the triggered entities. + * @param[in] nxs The size of the pre-allocated blobs list. + * @param[in] abstimeout Absolute timeout + * + * @returns A dds_return_t with the number of entities triggered or an error code. + * + * @retval >0 + * Number of entities triggered. + * @retval 0 + * Time out (no entities were triggered). + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The given waitset is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The waitset has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_waitset_wait_until( + dds_entity_t waitset, + dds_attach_t *xs, + size_t nxs, + dds_time_t abstimeout); + +/** + * @defgroup reading (Reading Data) + * @ingroup reader + * There are a number of ways to aquire data, divided into variations of "read" and "take". + * The return value of a read/take operation is the number of elements returned. "max_samples" + * should have the same type, as one can't return more than MAX_INT + * this way, anyway. X, Y, CX, CY return to the various filtering + * options, see the DCPS spec. + * + * O ::= read | take + * + * X => CX + * (empty) (empty) + * _next_instance instance_handle_t prev + * + * Y => CY + * (empty) uint32_t mask + * _cond cond_t cond -- refers to a read condition (or query if implemented) + */ + +/** + * @brief Access and read the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition. + * @ingroup reading + * + * Return value provides information about number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain data to be read only + * when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the Data. + * Data values once read will remain in the buffer with the sample_state set to READ + * and view_state set to NOT_NEW. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs); + +/** + * @brief Access and read loaned samples of data reader, readcondition or querycondition. + * @ingroup reading + * + * After dds_read_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL) + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value + * @param[in] maxs Maximum number of samples to read + * + * @returns A dds_return_t with the number of samples read or an error code + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs); + +/** + * @brief Read the collection of data values and sample info from the data reader, readcondition + * or querycondition based on mask. + * @ingroup reading + * + * When using a readcondition or querycondition, their masks are or'd with the given mask. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_mask( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + uint32_t mask); + +/** + * @brief Access and read loaned samples of data reader, readcondition + * or querycondition based on mask + * @ingroup reading + * + * When using a readcondition or querycondition, their masks are or'd with the given mask. + * + * After dds_read_mask_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_mask_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + uint32_t mask); + +/** + * @brief Access and read the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition, coped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_read, except that only data scoped to + * the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_read_instance( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + dds_instance_handle_t handle); + +/** + * @brief Access and read loaned samples of data reader, readcondition or querycondition, + * scoped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_read_wl, except that only data + * scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_read_instance_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + dds_instance_handle_t handle); + +/** + * @brief Read the collection of data values and sample info from the data reader, readcondition + * or querycondition based on mask and scoped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_read_mask, except that only data + * scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_read_instance_mask( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + dds_instance_handle_t handle, + uint32_t mask); + +/** + * @brief Access and read loaned samples of data reader, readcondition or + * querycondition based on mask, scoped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_read_mask_wl, except that + * only data scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_read_instance_mask_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + dds_instance_handle_t handle, + uint32_t mask); + +/** + * @brief Access the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition. + * @ingroup reading + * + * Data value once read is removed from the Data Reader cannot to + * 'read' or 'taken' again. + * Return value provides information about number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain data to be read only + * when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the Data. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs); + +/** + * @brief Access loaned samples of data reader, readcondition or querycondition. + * @ingroup reading + * + * After dds_take_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs); + +/** + * @brief Take the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition based on mask + * @ingroup reading + * + * When using a readcondition or querycondition, their masks are or'd with the given mask. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_mask( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + uint32_t mask); + +/** + * @brief Access loaned samples of data reader, readcondition or querycondition based on mask. + * @ingroup reading + * + * When using a readcondition or querycondition, their masks are or'd with the given mask. + * + * After dds_take_mask_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_mask_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + uint32_t mask); + +/** + * @anchor DDS_HAS_READCDR + * @ingroup reading + * @brief Set when function dds_has_readcdr is defined. + */ +#define DDS_HAS_READCDR 1 + +/** + * @brief Access the collection of serialized data values (of same type) and + * sample info from the data reader, readcondition or querycondition. + * @ingroup reading + * + * This call accesses the serialized data from the data reader, readcondition or + * querycondition and makes it available to the application. The serialized data + * is made available through @ref ddsi_serdata structures. Returned samples are + * marked as READ. + * + * Return value provides information about the number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain serialized data to be + * read only when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the data. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain + * the serialized data. The pointers can be NULL. + * @param[in] maxs Maximum number of samples to read. + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The precondition for this operation is not met. + */ +DDS_EXPORT dds_return_t +dds_readcdr( + dds_entity_t reader_or_condition, + struct ddsi_serdata **buf, + uint32_t maxs, + dds_sample_info_t *si, + uint32_t mask); + +/** + * @brief Access the collection of serialized data values (of same type) and + * sample info from the data reader, readcondition or querycondition + * scoped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_read_instance_wl, except that + * samples are now in their serialized form. The serialized data is made available through + * @ref ddsi_serdata structures. Returned samples are marked as READ. + * + * Return value provides information about the number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain serialized data to be + * read only when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the data. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain + * the serialized data. The pointers can be NULL. + * @param[in] maxs Maximum number of samples to read. + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_readcdr_instance ( + dds_entity_t reader_or_condition, + struct ddsi_serdata **buf, + uint32_t maxs, + dds_sample_info_t *si, + dds_instance_handle_t handle, + uint32_t mask); + +/** + * @brief Access the collection of serialized data values (of same type) and + * sample info from the data reader, readcondition or querycondition. + * @ingroup reading + * + * This call accesses the serialized data from the data reader, readcondition or + * querycondition and makes it available to the application. The serialized data + * is made available through @ref ddsi_serdata structures. Once read the data is + * removed from the reader and cannot be 'read' or 'taken' again. + * + * Return value provides information about the number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain serialized data to be + * read only when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the data. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain + * the serialized data. The pointers can be NULL. + * @param[in] maxs Maximum number of samples to read. + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The precondition for this operation is not met. + */ +DDS_EXPORT dds_return_t +dds_takecdr( + dds_entity_t reader_or_condition, + struct ddsi_serdata **buf, + uint32_t maxs, + dds_sample_info_t *si, + uint32_t mask); + +/** + * @brief Access the collection of serialized data values (of same type) and + * sample info from the data reader, readcondition or querycondition + * scoped by the provided instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_take_instance_wl, except that + * samples are now in their serialized form. The serialized data is made available through + * @ref ddsi_serdata structures. Returned samples are marked as READ. + * + * Return value provides information about the number of samples read, which will + * be <= maxs. Based on the count, the buffer will contain serialized data to be + * read only when valid_data bit in sample info structure is set. + * The buffer required for data values, could be allocated explicitly or can + * use the memory from data reader to prevent copy. In the latter case, buffer and + * sample_info should be returned back, once it is no longer using the data. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain + * the serialized data. The pointers can be NULL. + * @param[in] maxs Maximum number of samples to read. + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_takecdr_instance ( + dds_entity_t reader_or_condition, + struct ddsi_serdata **buf, + uint32_t maxs, + dds_sample_info_t *si, + dds_instance_handle_t handle, + uint32_t mask); + + +/** + * @brief Access the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition but scoped by the given + * instance handle. + * @ingroup reading + * + * This operation mplements the same functionality as dds_take, except that only data + * scoped to the provided instance handle is taken. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_take_instance( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + dds_instance_handle_t handle); + +/** + * @brief Access loaned samples of data reader, readcondition or querycondition, + * scoped by the given instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_take_wl, except that + * only data scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_take_instance_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + dds_instance_handle_t handle); + +/** + * @brief Take the collection of data values (of same type) and sample info from the + * data reader, readcondition or querycondition based on mask and scoped + * by the given instance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_take_mask, except that only + * data scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] bufsz The size of buffer provided. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples read or an error code. + * + * @retval >=0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_take_instance_mask( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + size_t bufsz, + uint32_t maxs, + dds_instance_handle_t handle, + uint32_t mask); + +/** + * @brief Access loaned samples of data reader, readcondition or querycondition based + * on mask and scoped by the given intance handle. + * @ingroup reading + * + * This operation implements the same functionality as dds_take_mask_wl, except that + * only data scoped to the provided instance handle is read. + * + * @param[in] reader_or_condition Reader, readcondition or querycondition entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value. + * @param[in] maxs Maximum number of samples to read. + * @param[in] handle Instance handle related to the samples to read. + * @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t. + * + * @returns A dds_return_t with the number of samples or an error code. + * + * @retval >= 0 + * Number of samples read. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * The instance handle has not been registered with this reader. + */ +DDS_EXPORT dds_return_t +dds_take_instance_mask_wl( + dds_entity_t reader_or_condition, + void **buf, + dds_sample_info_t *si, + uint32_t maxs, + dds_instance_handle_t handle, + uint32_t mask); + +/** + * @brief Read, copy and remove the status set for the entity + * @ingroup reading + * + * This operation copies the next, non-previously accessed + * data value and corresponding sample info and removes from + * the data reader. As an entity, only reader is accepted. + * + * The read/take next functions return a single sample. The returned sample + * has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an + * instance state of ANY_INSTANCE_STATE. + * + * @param[in] reader The reader entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si The pointer to @ref dds_sample_info_t returned for a data value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_next( + dds_entity_t reader, + void **buf, + dds_sample_info_t *si); + +/** + * @brief Read, copy and remove the status set for the entity + * @ingroup reading + * + * This operation copies the next, non-previously accessed + * data value and corresponding sample info and removes from + * the data reader. As an entity, only reader is accepted. + * + * The read/take next functions return a single sample. The returned sample + * has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an + * instance state of ANY_INSTANCE_STATE. + * + * After dds_take_next_wl function is being called and the data has been handled, + * dds_return_loan() function must be called to possibly free memory. + * + * @param[in] reader The reader entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si The pointer to @ref dds_sample_info_t returned for a data value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_take_next_wl( + dds_entity_t reader, + void **buf, + dds_sample_info_t *si); + +/** + * @brief Read and copy the status set for the entity + * @ingroup reading + * + * This operation copies the next, non-previously accessed + * data value and corresponding sample info. As an entity, + * only reader is accepted. + * + * The read/take next functions return a single sample. The returned sample + * has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an + * instance state of ANY_INSTANCE_STATE. + * + * @param[in] reader The reader entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si The pointer to @ref dds_sample_info_t returned for a data value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_next( + dds_entity_t reader, + void **buf, + dds_sample_info_t *si); + +/** + * @brief Read and copy the status set for the loaned sample + * @ingroup reading + * + * This operation copies the next, non-previously accessed + * data value and corresponding loaned sample info. As an entity, + * only reader is accepted. + * + * The read/take next functions return a single sample. The returned sample + * has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an + * instance state of ANY_INSTANCE_STATE. + * + * After dds_read_next_wl function is being called and the data has been handled, + * dds_return_loan() function must be called to possibly free memory. + * + * @param[in] reader The reader entity. + * @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL). + * @param[out] si The pointer to @ref dds_sample_info_t returned for a data value. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_read_next_wl( + dds_entity_t reader, + void **buf, + dds_sample_info_t *si); + + +/** + * @defgroup loan (Loans API) + * @ingroup dds + */ + +/** + * @brief Return loaned samples to a reader or writer + * @ingroup loan + * + * Used to release sample buffers returned by a read/take operation (a reader-loan) + * or, in case shared memory is enabled, of the loan_sample operation (a writer-loan). + * + * When the application provides an empty buffer to a reader-loan, memory is allocated and + * managed by DDS. By calling dds_return_loan(), the reader-loan is released so that the buffer + * can be reused during a successive read/take operation. When a condition is provided, the + * reader to which the condition belongs is looked up. + * + * Writer-loans are normally released implicitly when writing a loaned sample, but you can + * cancel a writer-loan prematurely by invoking the return_loan() operation. For writer loans, buf is + * overwritten with null pointers for all successfully returned entries. Any failure causes it to abort, + * possibly midway through buf. + * + * @param[in] entity The entity that the loan belongs to. + * @param[in,out] buf An array of (pointers to) samples, some or all of which will be set to null pointers. + * @param[in] bufsz The number of (pointers to) samples stored in buf. + * + * @returns A dds_return_t indicating success or failure + * @retval DDS_RETCODE_OK + * - the operation was successful; for a writer loan, all entries in buf are set to null + * - this specifically includes cases where bufsz <= 0 while entity is valid + * @retval DDS_RETCODE_BAD_PARAMETER + * - the entity parameter is not a valid parameter + * - buf is null, or bufsz > 0 and buf[0] = null + * - (for writer loans) buf[0 <= i < bufsz] is null; operation is aborted, all buf[j < i] = null on return + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * - (for reader loans) buf was already returned (not guaranteed to be detected) + * - (for writer loans) buf[0 <= i < bufsz] does not correspond to an outstanding loan, all buf[j < i] = null on return + * @retval DDS_RETCODE_UNSUPPORTED + * - (for writer loans) invoked on a writer not supporting loans. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * - the operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_return_loan( + dds_entity_t entity, + void **buf, + int32_t bufsz); + +/** + * @defgroup instance_handle (Instance Handles) + * @ingroup dds + * Instance handle <=> key value mapping. + * Functions exactly as read w.r.t. treatment of data + * parameter. On output, only key values set. + * @code{c} + * T x = { ... }; + * T y; + * dds_instance_handle_t ih; + * ih = dds_lookup_instance (e, &x); + * dds_instance_get_key (e, ih, &y); + * @endcode +*/ + +/** + * @brief This operation takes a sample and returns an instance handle to be used for subsequent operations. + * @ingroup instance_handle + * + * @param[in] entity Reader or Writer entity. + * @param[in] data Sample with a key fields set. + * + * @returns instance handle or DDS_HANDLE_NIL if instance could not be found from key. + */ +DDS_EXPORT dds_instance_handle_t +dds_lookup_instance(dds_entity_t entity, const void *data); + +/** + * @deprecated Get enabled status on entity. Use \ref dds_lookup_instance instead. + * @ingroup instance_handle + * + * @param[in] entity Reader or Writer entity. + * @param[in] data Sample with a key fields set. + * + * @returns instance handle or DDS_HANDLE_NIL if instance could not be found from key. + */ +DDS_DEPRECATED_EXPORT dds_instance_handle_t +dds_instance_lookup(dds_entity_t entity, const void *data); + +/** + * @brief This operation takes an instance handle and return a key-value corresponding to it. + * @ingroup instance_handle + * + * @param[in] entity Reader, writer, readcondition or querycondition entity. + * @param[in] inst Instance handle. + * @param[out] data pointer to an instance, to which the key ID corresponding to the instance handle will be + * returned, the sample in the instance should be ignored. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the parameters was invalid or the topic does not exist. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * + * DOC_TODO: Check return codes for completeness + */ +DDS_EXPORT dds_return_t +dds_instance_get_key( + dds_entity_t entity, + dds_instance_handle_t inst, + void *data); + +/** + * @brief Begin coherent publishing or begin accessing a coherent set in a subscriber + * @ingroup publication + * + * Invoking on a Writer or Reader behaves as if dds_begin_coherent was invoked on its parent + * Publisher or Subscriber respectively. + * + * @param[in] entity The entity that is prepared for coherent access. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * The provided entity is invalid or not supported. + */ +DDS_EXPORT dds_return_t +dds_begin_coherent(dds_entity_t entity); + +/** + * @brief End coherent publishing or end accessing a coherent set in a subscriber + * @ingroup publication + * + * Invoking on a Writer or Reader behaves as if dds_end_coherent was invoked on its parent + * Publisher or Subscriber respectively. + * + * @param[in] entity The entity on which coherent access is finished. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The provided entity is invalid or not supported. + */ +DDS_EXPORT dds_return_t +dds_end_coherent(dds_entity_t entity); + +/** + * @brief Trigger DATA_AVAILABLE event on contained readers + * @ingroup subscriber + * + * The DATA_AVAILABLE event is broadcast to all readers owned by this subscriber that currently + * have new data available. Any on_data_available listener callbacks attached to respective + * readers are invoked. + * + * @param[in] subscriber A valid subscriber handle. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The provided subscriber is invalid. + */ +DDS_EXPORT dds_return_t +dds_notify_readers(dds_entity_t subscriber); + +/** + * @brief Checks whether the entity has one of its enabled statuses triggered. + * @ingroup entity + * + * @param[in] entity Entity for which to check for triggered status. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_triggered(dds_entity_t entity); + +/** + * @brief Get the topic + * @ingroup entity + * + * This operation returns a topic (handle) when the function call is done + * with reader, writer, read condition or query condition. For instance, it + * will return the topic when it is used for creating the reader or writer. + * For the conditions, it returns the topic that is used for creating the reader + * which was used to create the condition. + * + * @param[in] entity The entity. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_entity_t +dds_get_topic(dds_entity_t entity); + +/** + * @brief Get instance handles of the data readers matching a writer + * @ingroup builtintopic + * + * This operation fills the provided array with the instance handles + * of the data readers that match the writer. On successful output, + * the number of entries of "rds" set is the minimum of the return + * value and the value of "nrds". + * + * @param[in] writer The writer. + * @param[in] rds The array to be filled. + * @param[in] nrds The size of the rds array, at most the first + * nrds entries will be filled. rds = NULL and nrds = 0 + * is a valid way of determining the number of matched + * readers, but inefficient compared to relying on the + * matched publication status. + * + * @returns A dds_return_t indicating the number of matched readers + * or failure. The return value may be larger than nrds + * if there are more matching readers than the array can + * hold. + * + * @retval >=0 + * The number of matching readers. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not valid or rds = NULL and + * nrds > 0. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_get_matched_subscriptions ( + dds_entity_t writer, + dds_instance_handle_t *rds, + size_t nrds); + +/** + * @brief Get a description of a reader matched with the provided writer + * @ingroup builtintopic + * + * This operation looks up the reader instance handle in the set of + * readers matched with the specified writer, returning a freshly + * allocated sample of the DCPSSubscription built-in topic if found, + * and NULL if not. The caller is responsible for freeing the + * memory allocated, e.g. using dds_builtintopic_free_endpoint. + * + * This operation is similar to performing a read of the given + * instance handle on a reader of the DCPSSubscription built-in + * topic, but this operation additionally filters on whether the + * reader is matched by the provided writer. + * + * @param[in] writer The writer. + * @param[in] ih The instance handle of a reader. + * + * @returns A newly allocated sample containing the information on the + * reader, or a NULL pointer for any kind of failure. + * + * @retval != NULL + * The requested data + * @retval NULL + * The writer is not valid or ih is not an instance handle + * of a matched reader. + */ +DDS_EXPORT dds_builtintopic_endpoint_t * +dds_get_matched_subscription_data ( + dds_entity_t writer, + dds_instance_handle_t ih); + +/** + * @brief Get instance handles of the data writers matching a reader + * @ingroup builtintopic + * + * This operation fills the provided array with the instance handles + * of the data writers that match the reader. On successful output, + * the number of entries of "wrs" set is the minimum of the return + * value and the value of "nwrs". + * + * @param[in] reader The reader. + * @param[in] wrs The array to be filled. + * @param[in] nwrs The size of the wrs array, at most the first + * nwrs entries will be filled. wrs = NULL and wrds = 0 + * is a valid way of determining the number of matched + * readers, but inefficient compared to relying on the + * matched publication status. + * + * @returns A dds_return_t indicating the number of matched writers + * or failure. The return value may be larger than nwrs + * if there are more matching writers than the array can + * hold. + * + * @retval >=0 + * The number of matching writers. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not valid or wrs = NULL and + * nwrs > 0. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_get_matched_publications ( + dds_entity_t reader, + dds_instance_handle_t *wrs, + size_t nwrs); + +/** + * @brief Get a description of a writer matched with the provided reader + * @ingroup builtintopic + * + * This operation looks up the writer instance handle in the set of + * writers matched with the specified reader, returning a freshly + * allocated sample of the DCPSPublication built-in topic if found, + * and NULL if not. The caller is responsible for freeing the + * memory allocated, e.g. using dds_builtintopic_free_endpoint. + * + * This operation is similar to performing a read of the given + * instance handle on a reader of the DCPSPublication built-in + * topic, but this operation additionally filters on whether the + * writer is matched by the provided reader. + * + * @param[in] reader The reader. + * @param[in] ih The instance handle of a writer. + * + * @returns A newly allocated sample containing the information on the + * writer, or a NULL pointer for any kind of failure. + * + * @retval != NULL + * The requested data + * @retval NULL + * The reader is not valid or ih is not an instance handle + * of a matched writer. + */ +DDS_EXPORT dds_builtintopic_endpoint_t * +dds_get_matched_publication_data ( + dds_entity_t reader, + dds_instance_handle_t ih); + +#ifdef DDS_HAS_TYPE_DISCOVERY +/** + * @brief Gets the type information from endpoint information that was + * retrieved by dds_get_matched_subscription_data or + * dds_get_matched_publication_data + * @ingroup builtintopic + * + * @param[in] builtintopic_endpoint The builtintopic endpoint struct + * @param[out] type_info Type information that will be allocated by this function in case of success. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * One or more parameters are invalid + */ +DDS_EXPORT dds_return_t +dds_builtintopic_get_endpoint_type_info ( + dds_builtintopic_endpoint_t * builtintopic_endpoint, + const dds_typeinfo_t ** type_info); +#endif + +/** + * @brief Free the endpoint information that was retrieved by + * dds_get_matched_subscription_data or dds_get_matched_publication_data + * @ingroup builtintopic + * + * This operation deallocates the memory of the fields in a + * dds_builtintopic_endpoint_t struct and deallocates the + * struct itself. + * + * @param[in] builtintopic_endpoint The builtintopic endpoint struct + */ +DDS_EXPORT void +dds_builtintopic_free_endpoint ( + dds_builtintopic_endpoint_t * builtintopic_endpoint); + +/** + * @brief Free the provided topic information + * @ingroup builtintopic + * + * This operation deallocates the memory of the fields in a + * dds_builtintopic_topic_t struct and deallocates the + * struct itself. + * + * @param[in] builtintopic_topic The builtintopic topic struct + */ +DDS_EXPORT void +dds_builtintopic_free_topic ( + dds_builtintopic_topic_t * builtintopic_topic); + +/** + * @brief Free the provided participant information + * @ingroup builtintopic + * + * This operation deallocates the memory of the fields in a + * dds_builtintopic_participant_t struct and deallocates the + * struct itself. + * + * @param[in] builtintopic_participant The builtintopic participant struct + */ +DDS_EXPORT void +dds_builtintopic_free_participant ( + dds_builtintopic_participant_t * builtintopic_participant); + +/** + * @brief This operation manually asserts the liveliness of a writer + * or domain participant. + * @ingroup entity + * + * This operation manually asserts the liveliness of a writer + * or domain participant. This is used in combination with the Liveliness + * QoS policy to indicate that the entity remains active. This operation need + * only be used if the liveliness kind in the QoS is either + * DDS_LIVELINESS_MANUAL_BY_PARTICIPANT or DDS_LIVELINESS_MANUAL_BY_TOPIC. + * + * @param[in] entity A domain participant or writer + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + */ +DDS_EXPORT dds_return_t +dds_assert_liveliness ( + dds_entity_t entity); + + +/** + * @defgroup internal (Internal) + * @ingroup dds + */ + +/** + * @defgroup testing (Testing tools) + * @ingroup internal + */ + +/** + * + * @brief This operation allows making the domain's network stack temporarily deaf and/or mute. + * @ingroup testing + * @warning Unstable API, for testing + * + * This is a support function for testing and, other special uses and is subject to change. + * + * @param[in] entity A domain entity or an entity bound to a domain, such + * as a participant, reader or writer. + * @param[in] deaf Whether to network stack should pretend to be deaf and + * ignore any incoming packets. + * @param[in] mute Whether to network stack should pretend to be mute and + * discard any outgoing packets where it normally would. + * pass them to the operating system kernel for transmission. + * @param[in] reset_after Any value less than INFINITY will cause it to + * set deaf = mute = false after reset_after ns have passed. + * This is done by an event scheduled for the appropriate + * time and otherwise forgotten. These events are not + * affected by subsequent calls to this function. + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. +*/ +DDS_EXPORT dds_return_t +dds_domain_set_deafmute ( + dds_entity_t entity, + bool deaf, + bool mute, + dds_duration_t reset_after); + + +/** + * @defgroup xtypes (XTypes) + * @ingroup dds + * + * CycloneDDS supports XTypes, but most of that functionality outside the new IDL constructs + * happens behind the scenes. However, some API functionality is added that allows inspecting + * types at runtime. Using it in C is not very ergonomic, but dynamic languages like Python can + * make good use of it. + */ + +/** + * @brief This function resolves the type for the provided type identifier, + * which can e.g. be retrieved from endpoint or topic discovery data. + * @ingroup xtypes + * + * @param[in] entity A domain entity or an entity bound to a domain, such + * as a participant, reader or writer. + * @param[in] type_id Type identifier + * @param[in] timeout Timeout for waiting for requested type information to be available + * @param[out] type_obj The type information, untouched if type is not resolved + * + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The entity parameter is not a valid parameter, type_id or type name + * is not provided, or the sertype out parameter is NULL + * @retval DDS_RETCODE_NOT_FOUND + * A type with the provided type_id and type_name was not found + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) +*/ +DDS_EXPORT dds_return_t +dds_get_typeobj ( + dds_entity_t entity, + const dds_typeid_t *type_id, + dds_duration_t timeout, + dds_typeobj_t **type_obj); + +/** + * @brief Free the type object that was retrieved using dds_get_typeobj + * @ingroup xtypes + * + * @param[in] type_obj The type object + * + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The type_obj parameter is NULL + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) +*/ +DDS_EXPORT dds_return_t +dds_free_typeobj ( + dds_typeobj_t *type_obj); + +/** + * @brief This function gets the type information from the + * provided topic, reader or writer + * @ingroup xtypes + * + * @param[in] entity A topic/reader/writer entity + * @param[out] type_info The type information, untouched if returncode indicates failure + * + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The type_info parameter is null + * @retval DDS_RETCODE_NOT_FOUND + * The entity does not have type information set + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) +*/ +DDS_EXPORT dds_return_t +dds_get_typeinfo ( + dds_entity_t entity, + dds_typeinfo_t **type_info); + +/** + * @brief Free the type information that was retrieved using dds_get_typeinfo + * @ingroup xtypes + * + * @param[in] type_info The type information + * + * + * @returns A dds_return_t indicating success or failure. + * + * @retval DDS_RETCODE_OK + * The operation was successful. + * @retval DDS_RETCODE_BAD_PARAMETER + * The type_info parameter is NULL + * @retval DDS_RETCODE_UNSUPPORTED + * Cyclone DDS built without type discovery + * (cf. DDS_HAS_TYPE_DISCOVERY) +*/ +DDS_EXPORT dds_return_t +dds_free_typeinfo ( + dds_typeinfo_t *type_info); + +#if defined (__cplusplus) +} +#endif +#endif /* DDS_H */ diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h new file mode 100644 index 0000000..f112b64 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h @@ -0,0 +1,48 @@ +/* + * Copyright(c) 2006 to 2022 ZettaScale Technology and others + * Copyright(c) 2021 Apex.AI, Inc + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +#ifndef _DDS_BASIC_TYPES_H_ +#define _DDS_BASIC_TYPES_H_ + +#include +#include +#include + +/** + * @brief Handle to an entity + * @ingroup entity + * + * A valid entity handle will always have a positive integer value. + * Should the value be negative, it is one of the DDS_RETCODE_* + * error codes. + */ +typedef int32_t dds_entity_t; + +/** + * @anchor DDS_MIN_PSEUDO_HANDLE + * @ingroup internal + * @brief Pseudo Handle origin + * + * Some handles in CycloneDDS are 'fake', most importantly the builtin topic handles. + * These handles are derived from this constant. + */ +#define DDS_MIN_PSEUDO_HANDLE ((dds_entity_t)0x7fff0000) + +/** + * @anchor DDS_CYCLONEDDS_HANDLE + * @ingroup internal + * @brief Special handle representing the entity corresponding to the CycloneDDS library itself + */ +#define DDS_CYCLONEDDS_HANDLE ((dds_entity_t)(DDS_MIN_PSEUDO_HANDLE + 256)) + +#endif /*_DDS_PUBLIC_TYPES_H_*/ diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_data_allocator.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_data_allocator.h new file mode 100644 index 0000000..190b25c --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_data_allocator.h @@ -0,0 +1,149 @@ +/* + * Copyright(c) 2021 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +#ifndef DDS_DATA_ALLOCATOR_H +#define DDS_DATA_ALLOCATOR_H + +/** + * @defgroup data_allocator (Data Allocator) + * @ingroup dds + * A quick-and-dirty provisional interface + */ + +#include "dds/dds.h" +#include "dds/ddsrt/attributes.h" +#include "dds/export.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +// macOS' mutexes require quite a lot of space, but it is not quite enough +// to make this system-dependent +#define DDS_DATA_ALLOCATOR_MAX_SIZE (12 * sizeof (void *)) + +/** + * @ingroup data_allocator + * @brief Data Allocator structure + * Contains internal details about the data allocator for a given entity + */ +typedef struct dds_data_allocator { + dds_entity_t entity; /**< to which entity this allocator is attached */ + union { + unsigned char bytes[DDS_DATA_ALLOCATOR_MAX_SIZE]; /**< internal details */ + void *align_ptr; /**< internal details */ + uint64_t align_u64; /**< internal details */ + } opaque; /**< internal details */ +} dds_data_allocator_t; + +/** + * @ingroup data_allocator + * @brief Initialize an object for performing allocations/frees in the context of a reader/writer + * + * The operation will fall back to standard heap allocation if nothing better is available. + * + * @param[in] entity the handle of the entity + * @param[out] data_allocator opaque allocator object to initialize + * + * @returns success or a generic error indication + * + * @retval DDS_RETCODE_OK + * the allocator object was successfully initialized + * @retval DDS_RETCODE_BAD_PARAMETER + * entity is invalid, data_allocator is a null pointer + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Cyclone DDS is not initialized + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * operation not supported on this entity + */ +DDS_EXPORT dds_return_t dds_data_allocator_init (dds_entity_t entity, dds_data_allocator_t *data_allocator); + +/** + * @ingroup data_allocator + * @brief Initialize an object for performing standard allocations/frees on the heap + * + * @param[out] data_allocator opaque allocator object to initialize + * + * @returns success or a generic error indication + * + * @retval DDS_RETCODE_OK + * the allocator object was successfully initialized + * @retval DDS_RETCODE_BAD_PARAMETER + * entity is invalid, data_allocator is a null pointer + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Cyclone DDS is not initialized + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * operation not supported on this entity + */ +DDS_EXPORT dds_return_t dds_data_allocator_init_heap (dds_data_allocator_t *data_allocator); + +/** + * @ingroup data_allocator + * @brief Finalize a previously initialized allocator object + * + * @param[in,out] data_allocator object to finalize + * + * @returns success or an error indication + * + * @retval DDS_RETCODE_OK + * the data was successfully finalized + * @retval DDS_RETCODE_BAD_PARAMETER + * data_allocator does not reference a valid entity + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * Cyclone DDS is not initialized + */ +DDS_EXPORT dds_return_t dds_data_allocator_fini (dds_data_allocator_t *data_allocator); + +/** + * @ingroup data_allocator + * @brief Allocate memory using the given allocator + * + * @param[in,out] data_allocator initialized allocator object + * @param[in] size minimum number of bytes to allocate with suitable alignment + * + * @returns a pointer to unaliased, uninitialized memory of at least the requested size, or NULL + */ +DDS_EXPORT void *dds_data_allocator_alloc (dds_data_allocator_t *data_allocator, size_t size) + ddsrt_attribute_warn_unused_result ddsrt_attribute_malloc; + +/** + * @ingroup data_allocator + * @brief Release memory using the given allocator + * + * @param[in,out] data_allocator initialized allocator object + * @param[in] ptr memory to free + * + * @returns success or an error indication + * + * @retval DDS_RETCODE_OK + * the memory was successfully released + * @retval DDS_RETCODE_BAD_PARAMETER + * data_allocator does not reference a valid entity + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * dds_data_allocator already finalized + */ +DDS_EXPORT dds_return_t dds_data_allocator_free (dds_data_allocator_t *data_allocator, void *ptr); + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +/// @note This function declaration is deprecated here and has been moved to +/// dds_loan_api.h. +DDS_EXPORT bool dds_is_loan_available(const dds_entity_t entity); + +/// @note This function declaration is deprecated here and has been moved to +/// dds_loan_api.h. +DDS_EXPORT bool is_loan_available(const dds_entity_t entity); +#endif + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_internal_api.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_internal_api.h new file mode 100644 index 0000000..0ef244a --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_internal_api.h @@ -0,0 +1,56 @@ +/* + * Copyright(c) 2006 to 2020 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + + +/* + * WARNING This file is only needed for the work around for https://github.com/eclipse-cyclonedds/cyclonedds/issues/74 + * Do not include this file in an application! Once issue #74 is solved this header file should be removed. + */ + +#ifndef DDS_INTERNAL_API_H +#define DDS_INTERNAL_API_H + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @anchor DDS_READ_WITHOUT_LOCK + * @ingroup internal + * @brief Constant to use with dds_read() or dds_take() when using dds_reader_lock_samples() + */ +#define DDS_READ_WITHOUT_LOCK (0xFFFFFFED) + +/** + * @ingroup internal + * @brief Returns number of samples in read cache and locks the reader cache, + * to make sure that the samples content doesn't change. + * + * Because the cache is locked, you should be able to read/take without having to + * lock first. This is done by passing the @ref DDS_READ_WITHOUT_LOCK value to the + * read/take call as maxs. Then the read/take will not lock but still unlock. + * + * CycloneDDS doesn't support a read/take that just returns all + * available samples issue #74. As a work around to support LENGTH_UNLIMITED in C++. + * dds_reader_lock_samples() and @ref DDS_READ_WITHOUT_LOCK are needed. + * + * @param[in] reader Reader to lock the cache of. + * + * @returns the number of samples in the reader cache. + */ +DDS_EXPORT uint32_t +dds_reader_lock_samples (dds_entity_t reader); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_loan_api.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_loan_api.h new file mode 100644 index 0000000..f032e34 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_loan_api.h @@ -0,0 +1,95 @@ +/* + * Copyright(c) 2021 ZettaScale Technology + * Copyright(c) 2021 Apex.AI, Inc + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +// API extension +// defines functions needed for loaning and shared memory usage + +#ifndef _DDS_LOAN_API_H_ +#define _DDS_LOAN_API_H_ + +#include "dds/ddsc/dds_basic_types.h" +#include "dds/ddsrt/retcode.h" +#include "dds/export.h" + +#if defined(__cplusplus) +extern "C" { +#endif + +/** + * @ingroup loan + * @brief Check if a Loan is available to reader/writer + * The loan is available if the shared memory is enabled and all the constraints + * to enable shared memory are met and the type is fixed + * @note dds_loan_sample can be used if and only if + * dds_is_loan_available returns true. + * + * @param[in] entity the handle of the entity + * + * @returns loan available or not + */ +DDS_EXPORT bool dds_is_loan_available(const dds_entity_t entity); + +/** + * @ingroup loan + * @brief Check if a shared memory is available to reader/writer. + * + * @note dds_loan_shared_memory_buffer can be used if and only if + * dds_is_shared_memory_available returns true. + * + * @param[in] entity the handle of the entity + * + * @returns true if shared memory is available, false otherwise + */ +DDS_EXPORT bool dds_is_shared_memory_available(const dds_entity_t entity); + +DDS_DEPRECATED_EXPORT bool is_loan_available(const dds_entity_t entity); + +/** + * @ingroup loan + * @brief Loan a shared memory buffer of a specific size from the writer. + * + * @note Currently this function is to be used with dds_writecdr by adding the + * loaned buffer to serdata as iox_chunk. + * @note The function can only be used if dds_is_shared_memory_available is + * true for the writer. + * + * @param[in] writer the writer to loan the buffer from + * @param[in] size the requested buffer size + * @param[out] buffer the loaned buffer + * + * @returns DDS_RETCODE_OK if successful, DDS_RETCODE_ERROR otherwise + */ +DDS_EXPORT dds_return_t dds_loan_shared_memory_buffer(dds_entity_t writer, + size_t size, + void **buffer); + +/** + * @ingroup loan + * @brief Loan a sample from the writer. + * + * @note This function is to be used with dds_write to publish the loaned + * sample. + * @note The function can only be used if dds_is_loan_available is + * true for the writer. + * + * @param[in] writer the writer to loan the buffer from + * @param[out] sample the loaned sample + * + * @returns DDS_RETCODE_OK if successful, DDS_RETCODE_ERROR otherwise + */ +DDS_EXPORT dds_return_t dds_loan_sample(dds_entity_t writer, void **sample); + +#if defined(__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.h new file mode 100644 index 0000000..8a8dcc6 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.h @@ -0,0 +1,626 @@ +/* + * Copyright(c) 2021 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +#ifndef DDS_OPCODES_H +#define DDS_OPCODES_H + +#include "dds/ddsrt/align.h" +#include "dds/ddsrt/static_assert.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @defgroup serialization (Serialization) + * @ingroup dds + * + * Opcodes for (de)serialization of types generated by idlc. Isolated in a + * separate header to share with idlc without the need to pull in the entire + * Eclipse Cyclone DDS C language binding. + * + * One opcode is a uint32 and depending on which code it is can contain several uint32 arguments. + */ + +/** + * @anchor DDS_OP_MASK + * @ingroup serialization + * @brief Mask for the OP + */ +#define DDS_OP_MASK 0xff000000 + +/** + * @anchor DDS_OP_TYPE_FLAGS_MASK + * @ingroup serialization + * @brief Mask for the OP type flags + */ +#define DDS_OP_TYPE_FLAGS_MASK 0x00800000 + +/** + * @anchor DDS_OP_TYPE_MASK + * @ingroup serialization + * @brief Mask for the OP type + */ +#define DDS_OP_TYPE_MASK 0x007f0000 + +/** + * @anchor DDS_OP_SUBTYPE_MASK + * @ingroup serialization + * @brief Mask for the OP subtype + */ +#define DDS_OP_SUBTYPE_MASK 0x0000ff00 + +/** + * @anchor DDS_OP_JMP_MASK + * @ingroup serialization + * @brief Mask for the OP jump + */ +#define DDS_OP_JMP_MASK 0x0000ffff + +/** + * @anchor DDS_OP_FLAGS_MASK + * @ingroup serialization + * @brief Mask for the OP flags + */ +#define DDS_OP_FLAGS_MASK 0x000000ff + +/** + * @anchor DDS_JEQ_TYPE_FLAGS_MASK + * @ingroup serialization + * @brief Mask for the JEQ type flags + */ +#define DDS_JEQ_TYPE_FLAGS_MASK 0x00800000 + +/** + * @anchor DDS_JEQ_TYPE_MASK + * @ingroup serialization + * @brief Mask for the JEQ type + */ +#define DDS_JEQ_TYPE_MASK 0x007f0000 + +/** + * @anchor DDS_PLM_FLAGS_MASK + * @ingroup serialization + * @brief Mask for the PLM flags + */ +#define DDS_PLM_FLAGS_MASK 0x00ff0000 + +/** + * @anchor DDS_KOF_OFFSET_MASK + * @ingroup serialization + * @brief Mask for the KOF offset + */ +#define DDS_KOF_OFFSET_MASK 0x0000ffff + + + +/** + * @anchor DDS_OP + * @ingroup serialization + * @brief Extract the DDS OP from a uint32 as a \ref dds_stream_opcode + */ +#define DDS_OP(o) ((enum dds_stream_opcode) ((o) & DDS_OP_MASK)) + +/** + * @anchor DDS_OP_TYPE + * @ingroup serialization + * @brief Extract the DDS OP_TYPE from a uint32 as a \ref dds_stream_typecode + */ +#define DDS_OP_TYPE(o) ((enum dds_stream_typecode) (((o) & DDS_OP_TYPE_MASK) >> 16)) + +/** + * @anchor DDS_OP_TYPE_FLAGS + * @ingroup serialization + * @brief Extract the DDS OP_TYPE_FLAGS from a uint32 + * DOC_TODO: possible values? + */ +#define DDS_OP_TYPE_FLAGS(o) ((o) & DDS_OP_TYPE_FLAGS_MASK) + +/** + * @anchor DDS_OP_SUBTYPE + * @ingroup serialization + * @brief Extract the DDS OP_SUBTYPE from a uint32 as a \ref dds_stream_typecode + * Used for collections, the OP_TYPE is array/sequence + */ +#define DDS_OP_SUBTYPE(o) ((enum dds_stream_typecode) (((o) & DDS_OP_SUBTYPE_MASK) >> 8)) + +/** + * @anchor DDS_OP_FLAGS + * @ingroup serialization + * @brief Extract the DDS OP_FLAGS from a uint32 + * DOC_TODO: possible values? + */ +#define DDS_OP_FLAGS(o) ((o) & DDS_OP_FLAGS_MASK) + +/** + * @anchor DDS_OP_ADR_JSR + * @ingroup serialization + * @brief Extract the ADR JSR from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_OP_ADR_JSR(o) ((int16_t) ((o) & DDS_OP_JMP_MASK)) + +/** + * @anchor DDS_OP_ADR_PLM + * @ingroup serialization + * @brief Extract the ADR PLM from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_OP_ADR_PLM(o) ((int16_t) ((o) & DDS_OP_JMP_MASK)) + +/** + * @anchor DDS_OP_LENGTH + * @ingroup serialization + * @brief Extract the LENGTH from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_OP_LENGTH(o) ((uint16_t) ((o) & DDS_OP_JMP_MASK)) + +/** + * @anchor DDS_OP_JUMP + * @ingroup serialization + * @brief Extract the JUMP from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_OP_JUMP(o) ((int16_t) ((o) & DDS_OP_JMP_MASK)) + +/** + * @anchor DDS_OP_ADR_JMP + * @ingroup serialization + * @brief Extract the ADR_JMP from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_OP_ADR_JMP(o) ((o) >> 16) + +/** + * @anchor DDS_JEQ_TYPE + * @ingroup serialization + * @brief Extract the JEQ_TYPE from a uint32 as a \ref dds_stream_typecode + * DOC_TODO: meaning? + */ +#define DDS_JEQ_TYPE(o) ((enum dds_stream_typecode) (((o) & DDS_JEQ_TYPE_MASK) >> 16)) + +/** + * @anchor DDS_JEQ_TYPE_FLAGS + * @ingroup serialization + * @brief Extract the JEQ_TYPE_FLAGS from a uint32 + * DOC_TODO: meaning? + */ +#define DDS_JEQ_TYPE_FLAGS(o) ((o) & DDS_JEQ_TYPE_FLAGS_MASK) + +/** + * @anchor DDS_PLM_FLAGS + * @ingroup serialization + * @brief Extract the PLM_FLAGS from a uint32 as a \ref dds_stream_typecode + * DOC_TODO: meaning? + */ +#define DDS_PLM_FLAGS(o) ((enum dds_stream_typecode) (((o) & DDS_PLM_FLAGS_MASK) >> 16)) + + + +/** + * @ingroup serialization + * @brief Topic encoding instruction types +*/ +enum dds_stream_opcode { + /** return from subroutine, exits top-level + [RTS, 0, 0, 0] */ + DDS_OP_RTS = 0x00 << 24, + + /** data field + [ADR, nBY, 0, f] [offset] + [ADR, BLN, 0, f] [offset] + [ADR, ENU, 0, f] [offset] [max] + [ADR, BMK, 0, f] [offset] [bits-high] [bits-low] + [ADR, STR, 0, f] [offset] + [ADR, BST, 0, f] [offset] [max-size] + + [ADR, SEQ, nBY, f] [offset] + [ADR, SEQ, BLN, f] [offset] + [ADR, SEQ, ENU, f] [offset] [max] + [ADR, SEQ, BMK, f] [offset] [bits-high] [bits-low] + [ADR, SEQ, STR, f] [offset] + [ADR, SEQ, BST, f] [offset] [max-size] + [ADR, SEQ, s, f] [offset] [elem-size] [next-insn, elem-insn] + where s = {SEQ,ARR,UNI,STU,BSQ} + [ADR, SEQ, EXT, f] *** not supported + + [ADR, BSQ, nBY, f] [offset] [sbound] + [ADR, BSQ, BLN, f] [offset] [sbound] + [ADR, BSQ, ENU, f] [offset] [sbound] [max] + [ADR, BSQ, BMK, f] [offset] [sbound] [bits-high] [bits-low] + [ADR, BSQ, STR, f] [offset] [sbound] + [ADR, BSQ, BST, f] [offset] [sbound] [max-size] + [ADR, BSQ, s, f] [offset] [sbound] [elem-size] [next-insn, elem-insn] + where s = {SEQ,ARR,UNI,STU,BSQ} + [ADR, BSQ, EXT, f] *** not supported + + [ADR, ARR, nBY, f] [offset] [alen] + [ADR, ARR, BLN, f] [offset] [alen] + [ADR, ARR, ENU, f] [offset] [alen] [max] + [ADR, ARR, BMK, f] [offset] [alen] [bits-high] [bits-low] + [ADR, ARR, STR, f] [offset] [alen] + [ADR, ARR, BST, f] [offset] [alen] [0] [max-size] + [ADR, ARR, s, f] [offset] [alen] [next-insn, elem-insn] [elem-size] + where s = {SEQ,ARR,UNI,STU,BSQ} + [ADR, ARR, EXT, f] *** not supported + + [ADR, UNI, d, z] [offset] [alen] [next-insn, cases] + [ADR, UNI, ENU, z] [offset] [alen] [next-insn, cases] [max] + [ADR, UNI, EXT, f] *** not supported + where + d = discriminant type of {1BY,2BY,4BY,BLN} + z = default present/not present (DDS_OP_FLAG_DEF) + offset = discriminant offset + max = max enum value + followed by alen case labels: in JEQ format + + [ADR, e | EXT, 0, f] [offset] [next-insn, elem-insn] [elem-size iff "external" flag e is set, or flag f has DDS_OP_FLAG_OPT] + [ADR, STU, 0, f] *** not supported + where + s = subtype + e = external: stored as external data (pointer) (DDS_OP_FLAG_EXT) + f = flags: + - key/not key (DDS_OP_FLAG_KEY) + - base type member, used with EXT type (DDS_OP_FLAG_BASE) + - optional (DDS_OP_FLAG_OPT) + - must-understand (DDS_OP_FLAG_MU) + - storage size, only for ENU and BMK (n << DDS_OP_FLAG_SZ_SHIFT) + [offset] = field offset from start of element in memory + [elem-size] = element size in memory (elem-size is only included in case 'external' flag is set) + [max-size] = string bound + 1 + [max] = max enum value + [bits-..] = identified bits in the bitmask, split into high and low 32 bits + [alen] = array length, number of cases + [sbound] = bounded sequence maximum number of elements + [next-insn] = (unsigned 16 bits) offset to instruction for next field, from start of insn + [elem-insn] = (unsigned 16 bits) offset to first instruction for element, from start of insn + [cases] = (unsigned 16 bits) offset to first case label, from start of insn + */ + DDS_OP_ADR = 0x01 << 24, + + /** jump-to-subroutine (e.g. used for recursive types and appendable unions) + [JSR, 0, e] + where + e = (signed 16 bits) offset to first instruction in subroutine, from start of insn + instruction sequence must end in RTS, execution resumes at instruction + following JSR */ + DDS_OP_JSR = 0x02 << 24, + + /** jump-if-equal, used for union cases: + [JEQ, nBY, 0] [disc] [offset] + [JEQ, BLN, 0] [disc] [offset] + [JEQ, STR, 0] [disc] [offset] + [JEQ, s, i] [disc] [offset] + [JEQ4, e | nBY, 0] [disc] [offset] 0 + [JEQ4, e | STR, 0] [disc] [offset] 0 + [JEQ4, e | ENU, f] [disc] [offset] [max] + [JEQ4, EXT, 0] *** not supported, use STU/UNI for external defined types + [JEQ4, e | s, i] [disc] [offset] [elem-size iff "external" flag e is set, else 0] + where + e = external: stored as external data (pointer) (DDS_OP_FLAG_EXT) + s = subtype other than {nBY,STR} for JEQ and {nBY,STR,ENU,EXT} for JEQ4 + (note that BMK cannot be inline, because it needs 2 additional instructions + for the bits that are identified in the bitmask type) + i = (unsigned 16 bits) offset to first instruction for case, from start of insn + instruction sequence must end in RTS, at which point executes continues + at the next field's instruction as specified by the union + f = size flags for ENU instruction + + Note that the JEQ instruction is deprecated and replaced by the JEQ4 instruction. The + IDL compiler only generates JEQ4 for union cases, the JEQ instruction is included here + for backwards compatibility (topic descriptors generated with a previous version of IDLC) + */ + DDS_OP_JEQ = 0x03 << 24, + + /** XCDR2 delimited CDR (inserts DHEADER before type) + [DLC, 0, 0] + */ + DDS_OP_DLC = 0x04 << 24, + + /** XCDR2 parameter list CDR (inserts DHEADER before type and EMHEADER before each member) + [PLC, 0, 0] + followed by a list of JEQ instructions + */ + DDS_OP_PLC = 0x05 << 24, + + /** + [PLM, f, elem-insn] [member id] + for members of aggregated mutable types (pl-cdr): + where + f = flags: + - jump to base type (DDS_OP_FLAG_BASE) + [elem-insn] = (unsigned 16 bits) offset to instruction for element, from start of insn + when FLAG_BASE is set, this is the offset of the PLM list of the base type + [member id] = id for this member (0 in case FLAG_BASE is set) + */ + DDS_OP_PLM = 0x06 << 24, + + /** Key offset list + [KOF, 0, n] [offset-1] ... [offset-n] + where + n = number of key offsets in following ops + offset = Offset of the key field relative to the previous offset, repeated n times when key is + in a nested struct. In case of inheritance of mutable structs, a single offset of + the key member relative to the first op of the top-level type (index 0). + */ + DDS_OP_KOF = 0x07 << 24, + + /** see comment for JEQ/JEQ4 above */ + DDS_OP_JEQ4 = 0x08 << 24 +}; + +/** + * @ingroup serialization + * @brief datatypes as recognized by serialization VM. + */ +enum dds_stream_typecode { + DDS_OP_VAL_1BY = 0x01, /**< one byte simple type (char, octet) */ + DDS_OP_VAL_2BY = 0x02, /**< two byte simple type ((unsigned) short) */ + DDS_OP_VAL_4BY = 0x03, /**< four byte simple type ((unsigned) long, float) */ + DDS_OP_VAL_8BY = 0x04, /**< eight byte simple type ((unsigned) long long, double) */ + DDS_OP_VAL_STR = 0x05, /**< string */ + DDS_OP_VAL_BST = 0x06, /**< bounded string */ + DDS_OP_VAL_SEQ = 0x07, /**< sequence */ + DDS_OP_VAL_ARR = 0x08, /**< array */ + DDS_OP_VAL_UNI = 0x09, /**< union */ + DDS_OP_VAL_STU = 0x0a, /**< struct */ + DDS_OP_VAL_BSQ = 0x0b, /**< bounded sequence */ + DDS_OP_VAL_ENU = 0x0c, /**< enumerated value (long) */ + DDS_OP_VAL_EXT = 0x0d, /**< field with external definition */ + DDS_OP_VAL_BLN = 0x0e, /**< boolean */ + DDS_OP_VAL_BMK = 0x0f /**< bitmask */ +}; + +/** + * @ingroup serialization + * @brief primary type code for DDS_OP_ADR, DDS_OP_JEQ + * Convinience pre-bitshifted values. + */ +enum dds_stream_typecode_primary { + DDS_OP_TYPE_1BY = DDS_OP_VAL_1BY << 16, /**< one byte simple type (char, octet) */ + DDS_OP_TYPE_2BY = DDS_OP_VAL_2BY << 16, /**< two byte simple type ((unsigned) short) */ + DDS_OP_TYPE_4BY = DDS_OP_VAL_4BY << 16, /**< four byte simple type ((unsigned) long, float) */ + DDS_OP_TYPE_8BY = DDS_OP_VAL_8BY << 16, /**< eight byte simple type ((unsigned) long long, double) */ + DDS_OP_TYPE_STR = DDS_OP_VAL_STR << 16, /**< string */ + DDS_OP_TYPE_BST = DDS_OP_VAL_BST << 16, /**< bounded string */ + DDS_OP_TYPE_SEQ = DDS_OP_VAL_SEQ << 16, /**< sequence */ + DDS_OP_TYPE_ARR = DDS_OP_VAL_ARR << 16, /**< array */ + DDS_OP_TYPE_UNI = DDS_OP_VAL_UNI << 16, /**< union */ + DDS_OP_TYPE_STU = DDS_OP_VAL_STU << 16, /**< struct */ + DDS_OP_TYPE_BSQ = DDS_OP_VAL_BSQ << 16, /**< bounded sequence */ + DDS_OP_TYPE_ENU = DDS_OP_VAL_ENU << 16, /**< enumerated value (long) */ + DDS_OP_TYPE_EXT = DDS_OP_VAL_EXT << 16, /**< field with external definition */ + DDS_OP_TYPE_BLN = DDS_OP_VAL_BLN << 16, /**< boolean */ + DDS_OP_TYPE_BMK = DDS_OP_VAL_BMK << 16 /**< bitmask */ +}; + +/** + * @anchor DDS_OP_FLAG_EXT + * @ingroup serialization + * @brief This flag indicates that the type has external data + * (i.e. a mapped to a pointer type), which can be the case because of (1) the \@external annotation + * in idl or (2) the \@optional annotation (optional fields are also mapped to pointer types as described + * in the XTypes spec). This flag is stored in the most-significant bit of the 'type' part of the + * serializer instruction. + */ +#define DDS_OP_FLAG_EXT (1u << 23) + + + +/** + * @ingroup serialization + * @brief sub-type code + * - encodes element type for DDS_OP_TYPE_{SEQ,ARR}, + * - discriminant type for DDS_OP_TYPE_UNI + * Convinience pre-bitshifted values. + */ +enum dds_stream_typecode_subtype { + DDS_OP_SUBTYPE_1BY = DDS_OP_VAL_1BY << 8, /**< one byte simple type (char, octet) */ + DDS_OP_SUBTYPE_2BY = DDS_OP_VAL_2BY << 8, /**< two byte simple type ((unsigned) short) */ + DDS_OP_SUBTYPE_4BY = DDS_OP_VAL_4BY << 8, /**< four byte simple type ((unsigned) long, float) */ + DDS_OP_SUBTYPE_8BY = DDS_OP_VAL_8BY << 8, /**< eight byte simple type ((unsigned) long long, double) */ + DDS_OP_SUBTYPE_STR = DDS_OP_VAL_STR << 8, /**< string */ + DDS_OP_SUBTYPE_BST = DDS_OP_VAL_BST << 8, /**< bounded string */ + DDS_OP_SUBTYPE_SEQ = DDS_OP_VAL_SEQ << 8, /**< sequence */ + DDS_OP_SUBTYPE_ARR = DDS_OP_VAL_ARR << 8, /**< array */ + DDS_OP_SUBTYPE_UNI = DDS_OP_VAL_UNI << 8, /**< union */ + DDS_OP_SUBTYPE_STU = DDS_OP_VAL_STU << 8, /**< struct */ + DDS_OP_SUBTYPE_BSQ = DDS_OP_VAL_BSQ << 8, /**< bounded sequence */ + DDS_OP_SUBTYPE_ENU = DDS_OP_VAL_ENU << 8, /**< enumerated value (long) */ + DDS_OP_SUBTYPE_BLN = DDS_OP_VAL_BLN << 8, /**< boolean */ + DDS_OP_SUBTYPE_BMK = DDS_OP_VAL_BMK << 8 /**< bitmask */ +}; + +/** + * @anchor DDS_OP_FLAG_KEY + * @ingroup serialization + * @brief mark field as key + * applicable to {1,2,4,8}BY, STR, BST, ARR-of-{1,2,4,8}BY. + * Note that when defining keys in nested types, the key flag should be set + * on both the field(s) in the subtype and on the enclosing STU/EXT field. + */ +#define DDS_OP_FLAG_KEY (1u << 0) + +/** + * @anchor DDS_OP_FLAG_DEF + * @ingroup serialization + * @brief For a union: + * -# the discriminator may be a key field; + * -# there may be a default value; + * -# and the discriminator can be an integral type (or enumerated - here treated as equivalent). + * What it can't be is a floating-point type. So DEF and FP need never be set at the same time. + * There are only a few flag bits, so saving one is not such a bad idea. + * + * union has a default case (for DDS_OP_ADR | DDS_OP_TYPE_UNI) + */ +#define DDS_OP_FLAG_DEF (1u << 1) + +/** + * @anchor DDS_OP_FLAG_FP + * @ingroup serialization + * @brief floating-point, + * applicable to {4,8}BY and arrays, sequences of them + */ +#define DDS_OP_FLAG_FP (1u << 1) + +/** + * @anchor DDS_OP_FLAG_SGN + * @ingroup serialization + * @brief signed, + * applicable to {1,2,4,8}BY and arrays, sequences of them + */ +#define DDS_OP_FLAG_SGN (1u << 2) + +/** + * @anchor DDS_OP_FLAG_MU + * @ingroup serialization + * @brief must-understand flag, + * as defined by the XTypes spec. + */ +#define DDS_OP_FLAG_MU (1u << 3) + +/** + * @anchor DDS_OP_FLAG_BASE + * @ingroup serialization + * @brief jump to base type, + * used with PLM in mutable types and for the TYPE_EXT 'parent' member + * in final and appendable types + */ +#define DDS_OP_FLAG_BASE (1u << 4) + +/** + * @anchor DDS_OP_FLAG_OPT + * @ingroup serialization + * @brief optional flag, + * used with struct members. For non-string types, an optional member + * also gets the FLAG_EXT, see above. + */ +#define DDS_OP_FLAG_OPT (1u << 5) + +/** + * @anchor DDS_OP_FLAG_SZ_SHIFT + * @ingroup serialization + * @brief Enum and bitmask storage size (shift amount) + */ +#define DDS_OP_FLAG_SZ_SHIFT (6) + +/** + * @anchor DDS_OP_FLAG_SZ_MASK + * @ingroup serialization + * @brief Enum and bitmask storage size + * -# 00 = 1 byte, + * -# 01 = 2 bytes, + * -# 10 = 4 bytes, + * -# 11 = 8 bytes (bitmask only) + */ +#define DDS_OP_FLAG_SZ_MASK (3u << DDS_OP_FLAG_SZ_SHIFT) + +/** + * @anchor DDS_OP_FLAGS_SZ + * @ingroup serialization + * @brief Extract the Enum and Bitmask storage size from flags + */ +#define DDS_OP_FLAGS_SZ(f) (1u << (((f) & DDS_OP_FLAG_SZ_MASK) >> DDS_OP_FLAG_SZ_SHIFT)) + +/** + * @anchor DDS_OP_TYPE_SZ + * @ingroup serialization + * @brief Extract the Enum and Bitmask storage size from an uint32 + */ +#define DDS_OP_TYPE_SZ(o) DDS_OP_FLAGS_SZ(DDS_OP_FLAGS(o)) + +/** + * @defgroup topic_flags (Topic flags) + * @ingroup serialization + * There are several flags that can be added to dds_topic_descriptor_t by the IDL compiler. + */ + +/** + * @anchor DDS_TOPIC_NO_OPTIMIZE + * @ingroup topic_flags + * @brief Don't optimize the opcodes to quick memcpy's. + * If a topic includes only plain types and directly nested structs, + * it can be that a simple copy+optional byteswap can produce the right + * C memory layout straight from CDR. If this flag is added it means that + * there is pointer 'magic' involved in decoding the type and no shortcuts should be taken. + * @deprecated Optimizability is determined runtime when creating the sertype_default + * for the type, this flag is not used. + */ +#define DDS_TOPIC_NO_OPTIMIZE (1u << 0) + +/** + * @anchor DDS_TOPIC_FIXED_KEY + * @ingroup topic_flags + * @brief The XCDRV1 serialized key fits in 16 bytes. + * If statically determined that a key always fits in 16 bytes + * the spec specifies that the key of a sample is the resulting CDR. + * If it is longer we must use MD5 to hash the resultant key CDR. + */ +#define DDS_TOPIC_FIXED_KEY (1u << 1) + +/** + * @anchor DDS_TOPIC_CONTAINS_UNION + * @ingroup topic_flags + * @brief at arbitrary deep nesting the topic type contains at least one union. + */ +#define DDS_TOPIC_CONTAINS_UNION (1u << 2) + + +// (1u << 3) unused, was used for DDS_TOPIC_DISABLE_TYPECHECK + +/** + * @anchor DDS_TOPIC_FIXED_SIZE + * @ingroup topic_flags + * @brief The size in memory of a sample of this topic type is fully fixed. + */ +#define DDS_TOPIC_FIXED_SIZE (1u << 4) + +/** + * @anchor DDS_TOPIC_FIXED_KEY_XCDR2 + * @ingroup topic_flags + * @brief The XCDRV2 serialized key fits in 16 bytes. + * If statically determined that a key always fits in 16 bytes + * the spec specifies that the key of a sample is the resulting CDR. + * If it is longer we must use MD5 to hash the resultant key CDR. + * + * This is separate from the XCDRV1 version because it can differ due + * to the change in alignment of 8byte types. + */ +#define DDS_TOPIC_FIXED_KEY_XCDR2 (1u << 5) + +/** + * @anchor DDS_TOPIC_XTYPES_METADATA + * @ingroup topic_flags + * @brief Set if XTypes meta-data is present for this topic + */ +#define DDS_TOPIC_XTYPES_METADATA (1u << 6) + +/** + * @anchor DDS_TOPIC_RESTRICT_DATA_REPRESENTATION + * @ingroup topic_flags + * @brief Set if data representation restrictions for the top-level type are present in the topic descriptor + */ +#define DDS_TOPIC_RESTRICT_DATA_REPRESENTATION (1u << 7) + +/** + * @anchor DDS_FIXED_KEY_MAX_SIZE + * @ingroup topic_flags + * @brief Max size of fixed key + */ +#define DDS_FIXED_KEY_MAX_SIZE (16) + +#if defined(__cplusplus) +} +#endif + +#endif /* DDS_OPCODES_H */ diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h new file mode 100644 index 0000000..d6e6417 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h @@ -0,0 +1,156 @@ +/* + * Copyright(c) 2006 to 2019 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +/* TODO: do we really need to expose this as an API? */ + +/** @file + * + * @brief DDS C Allocation API + * + * This header file defines the public API of allocation convenience functions + * in the Eclipse Cyclone DDS C language binding. + */ +#ifndef DDS_ALLOC_H +#define DDS_ALLOC_H + +#include + +#include "dds/export.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +struct dds_topic_descriptor; +struct dds_sequence; + +/** + * @anchor DDS_FREE_KEY_BIT + * @ingroup alloc + * @brief Instruction to free all keyfields in sample + */ +#define DDS_FREE_KEY_BIT 0x01 + +/** + * @anchor DDS_FREE_CONTENTS_BIT + * @ingroup alloc + * @brief Instruction to free all non-keyfields in sample + */ +#define DDS_FREE_CONTENTS_BIT 0x02 + +/** + * @anchor DDS_FREE_ALL_BIT + * @ingroup alloc + * @brief Instruction to free outer sample + */ +#define DDS_FREE_ALL_BIT 0x04 + +/** + * @brief Freeing operation type + * @ingroup alloc + * What part of a sample to free + */ +typedef enum +{ + DDS_FREE_ALL = DDS_FREE_KEY_BIT | DDS_FREE_CONTENTS_BIT | DDS_FREE_ALL_BIT, /**< free full sample */ + DDS_FREE_CONTENTS = DDS_FREE_KEY_BIT | DDS_FREE_CONTENTS_BIT, /**< free all sample contents, but leave sample pointer intact */ + DDS_FREE_KEY = DDS_FREE_KEY_BIT /**< free only the keyfields in a sample */ +} +dds_free_op_t; + +/** + * @brief DDS Allocator + * @ingroup alloc + * C-Style allocator API + */ +typedef struct dds_allocator +{ + void * (*malloc) (size_t size); /**< behave like C malloc */ + void * (*realloc) (void *ptr, size_t size); /**< behave like C realloc, may be null */ + void (*free) (void *ptr); /**< behave like C free */ +} +dds_allocator_t; + +/** + * @brief Perform an alloc() with the default allocator. + * + * @param[in] size number of bytes + * @returns new pointer or NULL if out of memory + */ +DDS_EXPORT void * dds_alloc (size_t size); + +/** + * @brief Perform a realloc() with the default allocator. + * + * @param[in] ptr previously alloc()'ed pointer + * @param[in] size new size + * @return new pointer or NULL if out of memory + */ +DDS_EXPORT void * dds_realloc (void * ptr, size_t size); + +/** + * @brief Perform a realloc() with the default allocator. Zero out memory. + * + * @param[in] ptr previously alloc()'ed pointer + * @param[in] size new size + * @return new pointer or NULL if out of memory + */ +DDS_EXPORT void * dds_realloc_zero (void * ptr, size_t size); + +/** + * @brief Perform a free() on a memory fragment allocated with the default allocator. + * + * @param[in] ptr previously alloc()'ed pointer + */ +DDS_EXPORT void dds_free (void * ptr); + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +typedef void * (*dds_alloc_fn_t) (size_t); +typedef void * (*dds_realloc_fn_t) (void *, size_t); +typedef void (*dds_free_fn_t) (void *); +#endif // DOXYGEN_SHOULD_SKIP_THIS + +/** + * @brief Allocated a string with size, accounting for the null terminator. + * + * @param[in] size number of characters + * @returns newly allocated string or NULL if out of memory + */ +DDS_EXPORT char * dds_string_alloc (size_t size); + +/** + * @brief Duplicate a null-terminated string + * + * @param[in] str string to duplicate + * @returns newly allocated duplicate string, or NULL if out of memory + */ +DDS_EXPORT char * dds_string_dup (const char * str); + +/** + * @brief Free a string, equivalent to dds_free + * + * @param[in] str string to free + */ +DDS_EXPORT void dds_string_free (char * str); + +/** + * @brief Free (parts of) a sample according to the \ref dds_free_op_t + * + * @param[in] sample sample to free + * @param[in] desc topic descriptor of the type this sample was created from. + * @param[in] op Which parts of the sample to free. + */ +DDS_EXPORT void dds_sample_free (void * sample, const struct dds_topic_descriptor * desc, dds_free_op_t op); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h new file mode 100644 index 0000000..3866124 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h @@ -0,0 +1,56 @@ +/* + * Copyright(c) 2006 to 2019 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +/** @file + * + * @brief DDS C Error API + * + * This header file defines the public API of error values and convenience + * functions in the CycloneDDS C language binding. + */ +#ifndef DDS_ERROR_H +#define DDS_ERROR_H + +#include "dds/export.h" +#include "dds/ddsrt/log.h" +#include "dds/ddsrt/retcode.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/* ** DEPRECATED ** */ +#ifndef DOXYGEN_SHOULD_SKIP_THIS + +/* Error masks for returned status values */ + +#define DDS_ERR_NR_MASK 0x000000ff +#define DDS_ERR_LINE_MASK 0x003fff00 +#define DDS_ERR_FILE_ID_MASK 0x7fc00000 + +/* Error code handling functions */ + +/** Macro to extract error number */ +#define dds_err_nr(e) (e) + +/** Macro to extract line number */ +#define dds_err_line(e) (0) + +/** Macro to extract file identifier */ +#define dds_err_file_id(e) (0) + +#endif // DOXYGEN_SHOULD_SKIP_THIS + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_impl.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_impl.h new file mode 100644 index 0000000..5fc45d3 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_impl.h @@ -0,0 +1,350 @@ +/* + * Copyright(c) 2006 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +/* TODO: do we really need to expose all of this as an API? maybe some, but all? */ + +/** @file + * + * @brief DDS C Implementation API + * + * This header file defines the public API for all kinds of things in the + * Eclipse Cyclone DDS C language binding. + */ +#ifndef DDS_IMPL_H +#define DDS_IMPL_H + +#include +#include +#include "dds/export.h" +#include "dds/features.h" +#include "dds/ddsrt/align.h" +#include "dds/ddsc/dds_public_alloc.h" +#include "dds/ddsc/dds_opcodes.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @defgroup implementation (Public Implementation Details) + * @ingroup dds + * Miscellaneous types and functions that are required to be public, since they are + * in the output of the IDL compiler, but are not intended for direct use. + */ + +/** + * @ingroup implementation + * @brief Datastructure of a Sequence type + * Container for a sequence of bytes. The general model of this type is also used in IDL output, + * where the uint8_t * _buffer is replaced by the appropriate subtype of what is contained. + */ +typedef struct dds_sequence +{ + uint32_t _maximum; /**< Allocated space in _buffer */ + uint32_t _length; /**< Used space in _buffer */ + uint8_t * _buffer; /**< Sequence of bytes */ + bool _release; /**< Whether a CycloneDDS _free method should free the contained buffer. + if you put in your own allocated _buffer set this to false to avoid + CycloneDDS calling free() on it. */ +} +dds_sequence_t; + +/** + * @ingroup implementation + * @brief Key Descriptor + * Used to describe a named key field in a type with the offset from the start of a struct. + */ +typedef struct dds_key_descriptor +{ + const char * m_name; /**< name of keyfield */ + uint32_t m_offset; /**< offset from pointer */ + uint32_t m_idx; /**< m_idx'th key of type */ +} +dds_key_descriptor_t; + +/** + * @defgroup topic_definition (Topic Definition) + * @ingroup implementation + * Topic definitions are output by the IDL compiler and have an + * implementation-private definition. The only thing exposed on the + * API is a pointer to the "dds_topic_descriptor_t" struct type. + */ + +/** + * @ingroup topic_definition + * @brief Simple sized byte container to hold serialized type info + * Holds XTypes information (TypeInformation, TypeMapping) for a + * type + */ +struct dds_type_meta_ser +{ + unsigned char * data; /**< data pointer */ + uint32_t sz; /**< data size */ +}; + +/** + * @anchor DDS_DATA_REPRESENTATION_XCDR1 + * @ingroup topic_definition + * @brief Data representation XCDR1 + * Type can be represented using XCDR1 + */ +#define DDS_DATA_REPRESENTATION_XCDR1 0 + +/** + * @anchor DDS_DATA_REPRESENTATION_XML + * @ingroup topic_definition + * @brief Data representation XML + * Type can be represented using XML + */ +#define DDS_DATA_REPRESENTATION_XML 1 + +/** + * @anchor DDS_DATA_REPRESENTATION_XCDR2 + * @ingroup topic_definition + * @brief Data representation XCDR2 + * Type can be represented using XCDR2 + */ +#define DDS_DATA_REPRESENTATION_XCDR2 2 + + +/** + * @anchor DDS_DATA_REPRESENTATION_FLAG_XCDR1 + * @ingroup topic_definition + * @brief Data representation XCDR1 flag + * Type can be represented using XCDR1, preshifted + */ +#define DDS_DATA_REPRESENTATION_FLAG_XCDR1 (1u << DDS_DATA_REPRESENTATION_XCDR1) + +/** + * @anchor DDS_DATA_REPRESENTATION_FLAG_XML + * @ingroup topic_definition + * @brief Data representation XML flag + * Type can be represented using XML, preshifted + */ +#define DDS_DATA_REPRESENTATION_FLAG_XML (1u << DDS_DATA_REPRESENTATION_XML) + +/** + * @anchor DDS_DATA_REPRESENTATION_FLAG_XCDR2 + * @ingroup topic_definition + * @brief Data representation XCDR2 flag + * Type can be represented using XCDR2, preshifted + */ +#define DDS_DATA_REPRESENTATION_FLAG_XCDR2 (1u << DDS_DATA_REPRESENTATION_XCDR2) + +/** + * @anchor DDS_DATA_REPRESENTATION_RESTRICT_DEFAULT + * @ingroup topic_definition + * @brief Default datarepresentation flag, XCDR1 and XCDR2 flags + */ +#define DDS_DATA_REPRESENTATION_RESTRICT_DEFAULT (DDS_DATA_REPRESENTATION_FLAG_XCDR1 | DDS_DATA_REPRESENTATION_FLAG_XCDR2) + +/** + * @brief Topic Descriptor + * @ingroup topic_definition + * @warning Unstable/Private API + * Contains all meta information about a type, usually produced by the IDL compiler + * Since this type is not intended for public consumption it can change without warning. + */ +typedef struct dds_topic_descriptor +{ + const uint32_t m_size; /**< Size of topic type */ + const uint32_t m_align; /**< Alignment of topic type */ + const uint32_t m_flagset; /**< Flags */ + const uint32_t m_nkeys; /**< Number of keys (can be 0) */ + const char * m_typename; /**< Type name */ + const dds_key_descriptor_t * m_keys; /**< Key descriptors (NULL iff m_nkeys 0) */ + const uint32_t m_nops; /**< Number of ops in m_ops */ + const uint32_t * m_ops; /**< Marshalling meta data */ + const char * m_meta; /**< XML topic description meta data */ + struct dds_type_meta_ser type_information; /**< XCDR2 serialized TypeInformation, only present if flag DDS_TOPIC_XTYPES_METADATA is set */ + struct dds_type_meta_ser type_mapping; /**< XCDR2 serialized TypeMapping: maps type-id to type object and minimal to complete type id, + only present if flag DDS_TOPIC_XTYPES_METADATA is set */ + const uint32_t restrict_data_representation; /**< restrictions on the data representations allowed for the top-level type for this topic, + only present if flag DDS_TOPIC_RESTRICT_DATA_REPRESENTATION */ +} +dds_topic_descriptor_t; + +/** + * @defgroup reading_masks (Reading Masks) + * @ingroup conditions + * Masks for read condition, read, take: there is only one mask here, + * which combines the sample, view and instance states. +*/ + +/** + * @anchor DDS_READ_SAMPLE_STATE + * @ingroup reading_masks + * @brief Samples that were already returned once by a read/take operation + */ +#define DDS_READ_SAMPLE_STATE 1u + +/** + * @anchor DDS_NOT_READ_SAMPLE_STATE + * @ingroup reading_masks + * @brief Samples that have not been returned by a read/take operation yet + */ +#define DDS_NOT_READ_SAMPLE_STATE 2u + +/** + * @anchor DDS_ANY_SAMPLE_STATE + * @ingroup reading_masks + * @brief Samples \ref DDS_READ_SAMPLE_STATE or \ref DDS_NOT_READ_SAMPLE_STATE + */ +#define DDS_ANY_SAMPLE_STATE (1u | 2u) + + +/** + * @anchor DDS_NEW_VIEW_STATE + * @ingroup reading_masks + * @brief Samples that belong to a new instance (unique key value) + */ +#define DDS_NEW_VIEW_STATE 4u + +/** + * @anchor DDS_NOT_NEW_VIEW_STATE + * @ingroup reading_masks + * @brief Samples that belong to an existing instance (previously received key value) + */ +#define DDS_NOT_NEW_VIEW_STATE 8u + +/** + * @anchor DDS_ANY_VIEW_STATE + * @ingroup reading_masks + * @brief Samples \ref DDS_NEW_VIEW_STATE or \ref DDS_NOT_NEW_VIEW_STATE + */ +#define DDS_ANY_VIEW_STATE (4u | 8u) + + +/** + * @anchor DDS_ALIVE_INSTANCE_STATE + * @ingroup reading_masks + * @brief Samples that belong to a write + */ +#define DDS_ALIVE_INSTANCE_STATE 16u + +/** + * @anchor DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE + * @ingroup reading_masks + * @brief Samples that belong to a (write)dispose + */ +#define DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE 32u + +/** + * @anchor DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE + * @ingroup reading_masks + * @brief Samples that belong a writer that is gone + */ +#define DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE 64u + +/** + * @anchor DDS_ANY_INSTANCE_STATE + * @ingroup reading_masks + * @brief Samples \ref DDS_ALIVE_INSTANCE_STATE, \ref DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE or \ref DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE + */ +#define DDS_ANY_INSTANCE_STATE (16u | 32u | 64u) + +/** + * @anchor DDS_ANY_STATE + * @ingroup reading_masks + * @brief Any and all samples + * Equivalen to \ref DDS_ANY_SAMPLE_STATE | \ref DDS_ANY_VIEW_STATE | \ref DDS_ANY_INSTANCE_STATE + */ +#define DDS_ANY_STATE (DDS_ANY_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_ANY_INSTANCE_STATE) + +/** + * @anchor DDS_DOMAIN_DEFAULT + * @ingroup domain + * @brief Select the default domain + */ +#define DDS_DOMAIN_DEFAULT ((uint32_t) 0xffffffffu) + +#ifndef DOXYGEN_SHOULD_SKIP_THIS +#define DDS_HANDLE_NIL 0 +#define DDS_ENTITY_NIL 0 +#endif + +/** + * @brief DDS Entity Kind constants + * @ingroup internal + * @warning Unstable/Private API + * Used throughout the library to indicate what entity is what. + */ +typedef enum dds_entity_kind +{ + DDS_KIND_DONTCARE, /**< Retrieving any entity */ + DDS_KIND_TOPIC, /**< Topic entity */ + DDS_KIND_PARTICIPANT, /**< Domain Participant entity */ + DDS_KIND_READER, /**< Reader entity */ + DDS_KIND_WRITER, /**< Writer entity */ + DDS_KIND_SUBSCRIBER, /**< Subscriber entity */ + DDS_KIND_PUBLISHER, /**< Publisher entity */ + DDS_KIND_COND_READ, /**< ReadCondition entity */ + DDS_KIND_COND_QUERY, /**< QueryCondition entity */ + DDS_KIND_COND_GUARD, /**< GuardCondition entity */ + DDS_KIND_WAITSET, /**< WaitSet entity */ + DDS_KIND_DOMAIN, /**< Domain entity */ + DDS_KIND_CYCLONEDDS /**< CycloneDDS library entity */ +} dds_entity_kind_t; +/** + * @anchor DDS_KIND_MAX + * @ingroup internal + * @brief Max entity kind, used for loops. + */ +#define DDS_KIND_MAX DDS_KIND_CYCLONEDDS + +/** + * @ingroup internal + * @warning Private API + * @brief Instance handles are uint64_t behind the scenes + */ +typedef uint64_t dds_instance_handle_t; + +/** + * @ingroup domain + * @brief Domain IDs are 32 bit unsigned integers. + */ +typedef uint32_t dds_domainid_t; + +/** + * @ingroup topic + * @brief Scope for dds_find_topic() + */ +typedef enum dds_find_scope +{ + DDS_FIND_SCOPE_GLOBAL, /**< locate the topic anywhere CycloneDDS knows about */ + DDS_FIND_SCOPE_LOCAL_DOMAIN, /**< locate the topic locally within domain boundaries */ + DDS_FIND_SCOPE_PARTICIPANT /**< locate the topic within the current participant */ +} +dds_find_scope_t; + +/** + * @ingroup builtintopic + * @brief Type identifier kind for getting endpoint type identifier + */ +typedef enum dds_typeid_kind +{ + DDS_TYPEID_MINIMAL, /**< XTypes Minimal Type ID */ + DDS_TYPEID_COMPLETE /**< XTypes Complete Type ID */ +} +dds_typeid_kind_t; + +/** + * @brief Enable or disable write batching. + * Overrides default configuration setting for write batching (Internal/WriteBatch). + * + * @param[in] enable Enables or disables write batching for all writers. + */ +DDS_EXPORT void dds_write_set_batch (bool enable); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h new file mode 100644 index 0000000..82ad1be --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h @@ -0,0 +1,813 @@ +/* + * Copyright(c) 2006 to 2021 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +/** + * @defgroup listener (Listener API) + * @ingroup dds + * + * This defines the public API of listeners in the + * Eclipse Cyclone DDS C language binding. + */ +#ifndef _DDS_PUBLIC_LISTENER_H_ +#define _DDS_PUBLIC_LISTENER_H_ + +#include "dds/export.h" +#include "dds/ddsc/dds_public_impl.h" +#include "dds/ddsc/dds_public_status.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/* Listener callbacks */ +typedef void (*dds_on_inconsistent_topic_fn) (dds_entity_t topic, const dds_inconsistent_topic_status_t status, void* arg); +typedef void (*dds_on_liveliness_lost_fn) (dds_entity_t writer, const dds_liveliness_lost_status_t status, void* arg); +typedef void (*dds_on_offered_deadline_missed_fn) (dds_entity_t writer, const dds_offered_deadline_missed_status_t status, void* arg); +typedef void (*dds_on_offered_incompatible_qos_fn) (dds_entity_t writer, const dds_offered_incompatible_qos_status_t status, void* arg); +typedef void (*dds_on_data_on_readers_fn) (dds_entity_t subscriber, void* arg); +typedef void (*dds_on_sample_lost_fn) (dds_entity_t reader, const dds_sample_lost_status_t status, void* arg); +typedef void (*dds_on_data_available_fn) (dds_entity_t reader, void* arg); +typedef void (*dds_on_sample_rejected_fn) (dds_entity_t reader, const dds_sample_rejected_status_t status, void* arg); +typedef void (*dds_on_liveliness_changed_fn) (dds_entity_t reader, const dds_liveliness_changed_status_t status, void* arg); +typedef void (*dds_on_requested_deadline_missed_fn) (dds_entity_t reader, const dds_requested_deadline_missed_status_t status, void* arg); +typedef void (*dds_on_requested_incompatible_qos_fn) (dds_entity_t reader, const dds_requested_incompatible_qos_status_t status, void* arg); +typedef void (*dds_on_publication_matched_fn) (dds_entity_t writer, const dds_publication_matched_status_t status, void* arg); +typedef void (*dds_on_subscription_matched_fn) (dds_entity_t reader, const dds_subscription_matched_status_t status, void* arg); + +/** + * @anchor DDS_LUNSET + * @ingroup internal + * @brief Default initial value (nullptr) for listener functions. + */ +#define DDS_LUNSET 0 + +/** + * @brief DDS Listener struct (opaque) + * @ingroup listener + */ +struct dds_listener; + +/** + * @brief DDS Listener type (opaque) + * @ingroup listener + */ +typedef struct dds_listener dds_listener_t; + +/** + * @ingroup listener + * @brief Allocate memory and initializes to default values (@ref DDS_LUNSET) of a listener + * + * @param[in] arg optional pointer that will be passed on to the listener callbacks + * + * @returns Returns a pointer to the allocated memory for dds_listener_t structure. + */ +DDS_EXPORT dds_listener_t* dds_create_listener(void* arg); + +/** + * @ingroup deprecated + * @deprecated use \ref dds_create_listener instead. + * Allocate memory and initializes to default values (@ref DDS_LUNSET) of a listener + * + * @param[in] arg optional pointer that will be passed on to the listener callbacks + * + * @return Returns a pointer to the allocated memory for dds_listener_t structure. + */ +DDS_DEPRECATED_EXPORT dds_listener_t* dds_listener_create (void* arg); + +/** + * @ingroup listener + * @brief Delete the memory allocated to listener structure + * + * @param[in] listener pointer to the listener struct to delete + */ +DDS_EXPORT void dds_delete_listener (dds_listener_t * __restrict listener); +DDS_DEPRECATED_EXPORT void dds_listener_delete (dds_listener_t * __restrict listener); + +/** + * @ingroup listener + * @brief Reset the listener structure contents to @ref DDS_LUNSET + * + * @param[in,out] listener pointer to the listener struct to reset + */ +DDS_EXPORT void dds_reset_listener (dds_listener_t * __restrict listener); +DDS_DEPRECATED_EXPORT void dds_listener_reset (dds_listener_t * __restrict listener); + +/** + * @ingroup listener + * @brief Copy the listener callbacks from source to destination + * + * @param[in,out] dst The pointer to the destination listener structure, where the content is to copied + * @param[in] src The pointer to the source listener structure to be copied + */ +DDS_EXPORT void dds_copy_listener (dds_listener_t * __restrict dst, const dds_listener_t * __restrict src); +DDS_DEPRECATED_EXPORT void dds_listener_copy (dds_listener_t * __restrict dst, const dds_listener_t * __restrict src); + +/** + * @ingroup listener + * @brief Copy the listener callbacks from source to destination, unless already set + * + * Any listener callbacks already set in @p dst (including NULL) are skipped, only + * those set to DDS_LUNSET are copied from @p src. + * + * @param[in,out] dst The pointer to the destination listener structure, where the content is merged + * @param[in] src The pointer to the source listener structure to be copied + */ +DDS_EXPORT void dds_merge_listener (dds_listener_t * __restrict dst, const dds_listener_t * __restrict src); +DDS_DEPRECATED_EXPORT void dds_listener_merge (dds_listener_t * __restrict dst, const dds_listener_t * __restrict src); + +/************************************************************************************************ + * Setters + ************************************************************************************************/ + +/** + * @defgroup listener_setters (Setters) + * @ingroup listener + */ + +/** + * @ingroup listener_setters + * @brief Set the data_available callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_data_available_arg (dds_listener_t * __restrict listener, dds_on_data_available_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the data_on_readers callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_data_on_readers_arg (dds_listener_t * __restrict listener, dds_on_data_on_readers_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the inconsistent_topic callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_inconsistent_topic_arg (dds_listener_t * __restrict listener, dds_on_inconsistent_topic_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the liveliness_changed callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_liveliness_changed_arg (dds_listener_t * __restrict listener, dds_on_liveliness_changed_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the liveliness_lost callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_liveliness_lost_arg (dds_listener_t * __restrict listener, dds_on_liveliness_lost_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the offered_deadline_missed callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_offered_deadline_missed_arg (dds_listener_t * __restrict listener, dds_on_offered_deadline_missed_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the offered_incompatible_qos callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_offered_incompatible_qos_arg (dds_listener_t * __restrict listener, dds_on_offered_incompatible_qos_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the publication_matched callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_publication_matched_arg (dds_listener_t * __restrict listener, dds_on_publication_matched_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the requested_deadline_missed callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_requested_deadline_missed_arg (dds_listener_t * __restrict listener, dds_on_requested_deadline_missed_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the requested_incompatible_qos callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_requested_incompatible_qos_arg (dds_listener_t * __restrict listener, dds_on_requested_incompatible_qos_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the sample_lost callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_sample_lost_arg (dds_listener_t * __restrict listener, dds_on_sample_lost_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the sample_rejected callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_sample_rejected_arg (dds_listener_t * __restrict listener, dds_on_sample_rejected_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the subscription_matched callback and argument in the listener structure. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + * @param[in] arg callback argument that is passed uninterpreted to the callback function + * @param[in] reset_on_invoke whether or not the status should be cleared when the listener callback is invoked + * + * @retval DDS_RETCODE_OK success + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lset_subscription_matched_arg (dds_listener_t * __restrict listener, dds_on_subscription_matched_fn callback, void *arg, bool reset_on_invoke); + +/** + * @ingroup listener_setters + * @brief Set the inconsistent_topic callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_inconsistent_topic_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_inconsistent_topic (dds_listener_t * __restrict listener, dds_on_inconsistent_topic_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the liveliness_lost callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_liveliness_lost_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_liveliness_lost (dds_listener_t * __restrict listener, dds_on_liveliness_lost_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the offered_deadline_missed callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_offered_deadline_missed_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_offered_deadline_missed (dds_listener_t * __restrict listener, dds_on_offered_deadline_missed_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the offered_incompatible_qos callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_offered_incompatible_qos_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_offered_incompatible_qos (dds_listener_t * __restrict listener, dds_on_offered_incompatible_qos_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the data_on_readers callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_data_on_readers_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_data_on_readers (dds_listener_t * __restrict listener, dds_on_data_on_readers_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the sample_lost callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_sample_lost_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_sample_lost (dds_listener_t * __restrict listener, dds_on_sample_lost_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the data_available callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_data_available_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_data_available (dds_listener_t * __restrict listener, dds_on_data_available_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the sample_rejected callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_sample_rejected_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_sample_rejected (dds_listener_t * __restrict listener, dds_on_sample_rejected_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the liveliness_changed callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_liveliness_changed_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_liveliness_changed (dds_listener_t * __restrict listener, dds_on_liveliness_changed_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the requested_deadline_missed callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_requested_deadline_missed_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_requested_deadline_missed (dds_listener_t * __restrict listener, dds_on_requested_deadline_missed_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the requested_incompatible_qos callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_requested_incompatible_qos_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_requested_incompatible_qos (dds_listener_t * __restrict listener, dds_on_requested_incompatible_qos_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the publication_matched callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_publication_matched_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_publication_matched (dds_listener_t * __restrict listener, dds_on_publication_matched_fn callback); + +/** + * @ingroup listener_setters + * @brief Set the subscription_matched callback in the listener structure. + * + * Equivalent to calling @ref dds_lset_subscription_matched_arg with arg set to the argument passed in + * dds_create_listener() and reset_on_invoke to true, and throwing away the result. + * + * @param[in,out] listener listener structure to update + * @param[in] callback the callback to set or a null pointer + */ +DDS_EXPORT void dds_lset_subscription_matched (dds_listener_t * __restrict listener, dds_on_subscription_matched_fn callback); + + +/************************************************************************************************ + * Getters + ************************************************************************************************/ + +/** + * @defgroup listener_getters (Getters) + * @ingroup listener + */ + +/** + * @ingroup listener_getters + * @brief Get the data_available callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_data_available_arg (const dds_listener_t * __restrict listener, dds_on_data_available_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the data_on_readers callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_data_on_readers_arg (const dds_listener_t * __restrict listener, dds_on_data_on_readers_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the inconsistent_topic callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_inconsistent_topic_arg (const dds_listener_t * __restrict listener, dds_on_inconsistent_topic_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the liveliness_changed callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_liveliness_changed_arg (const dds_listener_t * __restrict listener, dds_on_liveliness_changed_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the liveliness_lost callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_liveliness_lost_arg (const dds_listener_t * __restrict listener, dds_on_liveliness_lost_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the offered_deadline_missed callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_offered_deadline_missed_arg (const dds_listener_t * __restrict listener, dds_on_offered_deadline_missed_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the offered_incompatible_qos callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_offered_incompatible_qos_arg (const dds_listener_t * __restrict listener, dds_on_offered_incompatible_qos_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the publication_matched callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_publication_matched_arg (const dds_listener_t * __restrict listener, dds_on_publication_matched_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the subscription_matched callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_requested_deadline_missed_arg (const dds_listener_t * __restrict listener, dds_on_requested_deadline_missed_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the requested_incompatible_qos callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_requested_incompatible_qos_arg (const dds_listener_t * __restrict listener, dds_on_requested_incompatible_qos_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the sample_lost callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_sample_lost_arg (const dds_listener_t * __restrict listener, dds_on_sample_lost_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the sample_rejected callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_sample_rejected_arg (const dds_listener_t * __restrict listener, dds_on_sample_rejected_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the subscription_matched callback from the listener structure. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + * @param[out] arg Callback argument pointer; may be a null pointer + * @param[out] reset_on_invoke Whether the status is reset by listener invocation; may be a null pointer + * + * @retval DDS_RETCODE_OK if successful + * @retval DDS_RETCODE_BAD_PARAMETER listener is a null pointer + */ +DDS_EXPORT dds_return_t dds_lget_subscription_matched_arg (const dds_listener_t * __restrict listener, dds_on_subscription_matched_fn *callback, void **arg, bool *reset_on_invoke); + +/** + * @ingroup listener_getters + * @brief Get the inconsistent_topic callback from the listener structure + * + * Equivalent to calling @ref dds_lget_inconsistent_topic_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_inconsistent_topic (const dds_listener_t * __restrict listener, dds_on_inconsistent_topic_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the liveliness_lost callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_liveliness_lost_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_liveliness_lost (const dds_listener_t * __restrict listener, dds_on_liveliness_lost_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the offered_deadline_missed callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_offered_deadline_missed_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_offered_deadline_missed (const dds_listener_t * __restrict listener, dds_on_offered_deadline_missed_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the offered_incompatible_qos callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_offered_incompatible_qos_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_offered_incompatible_qos (const dds_listener_t * __restrict listener, dds_on_offered_incompatible_qos_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the data_on_readers callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_data_on_readers_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_data_on_readers (const dds_listener_t * __restrict listener, dds_on_data_on_readers_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the sample_lost callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_sample_lost_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_sample_lost (const dds_listener_t *__restrict listener, dds_on_sample_lost_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the data_available callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_data_available_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_data_available (const dds_listener_t *__restrict listener, dds_on_data_available_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the sample_rejected callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_sample_rejected_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_sample_rejected (const dds_listener_t *__restrict listener, dds_on_sample_rejected_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the liveliness_changed callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_liveliness_changed_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_liveliness_changed (const dds_listener_t * __restrict listener, dds_on_liveliness_changed_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the requested_deadline_missed callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_requested_deadline_missed_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_requested_deadline_missed (const dds_listener_t * __restrict listener, dds_on_requested_deadline_missed_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the requested_incompatible_qos callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_requested_incompatible_qos_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_requested_incompatible_qos (const dds_listener_t * __restrict listener, dds_on_requested_incompatible_qos_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the publication_matched callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_publication_matched_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_publication_matched (const dds_listener_t * __restrict listener, dds_on_publication_matched_fn *callback); + +/** + * @ingroup listener_getters + * @brief Get the subscription_matched callback from the listener structure. + * + * Equivalent to calling @ref dds_lget_subscription_matched_arg with arg and reset_on_invoke set to a null pointer and throwing away the result. + * + * @param[in] listener The pointer to the listener structure, where the callback will be retrieved from + * @param[out] callback Callback function; may be a null pointer + */ +DDS_EXPORT void dds_lget_subscription_matched (const dds_listener_t * __restrict listener, dds_on_subscription_matched_fn *callback); + +#if defined (__cplusplus) +} +#endif + +#endif /*_DDS_PUBLIC_LISTENER_H_*/ diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h new file mode 100644 index 0000000..22e0552 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h @@ -0,0 +1,1021 @@ +/* + * Copyright(c) 2006 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +/** + * @defgroup qos (DDS C QoS API) + * @ingroup dds + * + * This defines the public API of QoS and Policies in the + * Eclipse Cyclone DDS C language binding. + */ +#ifndef DDS_QOS_H +#define DDS_QOS_H + +#include "dds/export.h" +#include "dds/ddsc/dds_public_qosdefs.h" + +/** + * @anchor DDS_HAS_PROPERTY_LIST_QOS + * @ingroup qos + * @brief Whether or not the "property list" QoS setting is supported in this version. If it is, + * the "dds.sec." properties are treated specially, preventing the accidental creation of + * an non-secure participant by an implementation built without support for DDS Security. + */ +#define DDS_HAS_PROPERTY_LIST_QOS 1 + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @ingroup qos + * @brief Allocate memory and initialize default QoS-policies + * + * @returns - Pointer to the initialized dds_qos_t structure, NULL if unsuccessful. + */ +DDS_EXPORT +dds_qos_t * dds_create_qos (void); + +/** + * @ingroup deprecated + * @deprecated use \ref dds_create_qos instead. + * Allocate memory and initialize default QoS-policies + * + * @returns - Pointer to the initialized dds_qos_t structure, NULL if unsuccessful. + */ +DDS_DEPRECATED_EXPORT +dds_qos_t * dds_qos_create (void); + +/** + * @ingroup qos + * @brief Delete memory allocated to QoS-policies structure + * + * @param[in] qos - Pointer to dds_qos_t structure + */ +DDS_EXPORT void +dds_delete_qos (dds_qos_t * __restrict qos); + +DDS_DEPRECATED_EXPORT void +dds_qos_delete (dds_qos_t * __restrict qos); + +/** + * @ingroup qos + * @brief Reset a QoS-policies structure to default values + * + * @param[in,out] qos - Pointer to the dds_qos_t structure + */ +DDS_EXPORT void +dds_reset_qos(dds_qos_t * __restrict qos); + +DDS_DEPRECATED_EXPORT +void dds_qos_reset (dds_qos_t * __restrict qos +); + +/** + * @ingroup qos + * @brief Copy all QoS-policies from one structure to another + * + * @param[in,out] dst - Pointer to the destination dds_qos_t structure + * @param[in] src - Pointer to the source dds_qos_t structure + * + * @returns - Return-code indicating success or failure + */ +DDS_EXPORT dds_return_t +dds_copy_qos (dds_qos_t * __restrict dst, const dds_qos_t * __restrict src); + +DDS_DEPRECATED_EXPORT dds_return_t +dds_qos_copy (dds_qos_t * __restrict dst, const dds_qos_t * __restrict src); + +/** + * @ingroup qos + * @brief Copy all QoS-policies from one structure to another, unless already set + * + * Policies are copied from src to dst, unless src already has the policy set to a non-default value. + * + * @param[in,out] dst - Pointer to the destination qos structure + * @param[in] src - Pointer to the source qos structure + */ +DDS_EXPORT void +dds_merge_qos (dds_qos_t * __restrict dst, const dds_qos_t * __restrict src); + +DDS_DEPRECATED_EXPORT void +dds_qos_merge (dds_qos_t * __restrict dst, const dds_qos_t * __restrict src); + +/** + * @ingroup qos + * @brief Copy all QoS-policies from one structure to another, unless already set + * + * Policies are copied from src to dst, unless src already has the policy set to a non-default value. + * + * @param[in,out] a - Pointer to the destination qos structure + * @param[in] b - Pointer to the source qos structure + * + * @returns whether the copy was successful. + */ +DDS_EXPORT bool +dds_qos_equal (const dds_qos_t * __restrict a, const dds_qos_t * __restrict b); + +/** + * @defgroup qos_setters (Qos Setters) + * @ingroup qos + */ + +/** + * @ingroup qos_setters + * @brief Set the userdata of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the userdata + * @param[in] value - Pointer to the userdata + * @param[in] sz - Size of userdata stored in value + */ +DDS_EXPORT void +dds_qset_userdata ( + dds_qos_t * __restrict qos, + const void * __restrict value, + size_t sz); + +/** + * @ingroup qos_setters + * @brief Set the topicdata of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the topicdata + * @param[in] value - Pointer to the topicdata + * @param[in] sz - Size of the topicdata stored in value + */ +DDS_EXPORT void +dds_qset_topicdata ( + dds_qos_t * __restrict qos, + const void * __restrict value, + size_t sz); + +/** + * @ingroup qos_setters + * @brief Set the groupdata of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the groupdata + * @param[in] value - Pointer to the group data + * @param[in] sz - Size of groupdata stored in value + */ +DDS_EXPORT void +dds_qset_groupdata ( + dds_qos_t * __restrict qos, + const void * __restrict value, + size_t sz); + +/** + * @ingroup qos_setters + * @brief Set the durability policy of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Durability kind value + */ +DDS_EXPORT void +dds_qset_durability (dds_qos_t * __restrict qos, dds_durability_kind_t kind); + +/** + * @ingroup qos_setters + * @brief Set the history policy of a qos structure. + * + * Note that depth is only relevant for keep last. If you want limited history for keep all, use dds_qset_resource_limits(). + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - History kind value + * @param[in] depth - History depth value + */ +DDS_EXPORT void +dds_qset_history ( + dds_qos_t * __restrict qos, + dds_history_kind_t kind, + int32_t depth); + +/** + * @ingroup qos_setters + * @brief Set the resource limits policy of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] max_samples - Number of samples resource-limit value + * @param[in] max_instances - Number of instances resource-limit value + * @param[in] max_samples_per_instance - Number of samples per instance resource-limit value + */ +DDS_EXPORT void +dds_qset_resource_limits ( + dds_qos_t * __restrict qos, + int32_t max_samples, + int32_t max_instances, + int32_t max_samples_per_instance); + +/** + * @ingroup qos_setters + * @brief Set the presentation policy of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] access_scope - Access-scope kind + * @param[in] coherent_access - Coherent access enable value + * @param[in] ordered_access - Ordered access enable value + */ +DDS_EXPORT void +dds_qset_presentation ( + dds_qos_t * __restrict qos, + dds_presentation_access_scope_kind_t access_scope, + bool coherent_access, + bool ordered_access); + +/** + * @ingroup qos_setters + * @brief Set the lifespan policy of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] lifespan - Lifespan duration (expiration time relative to source timestamp of a sample) + */ +DDS_EXPORT void +dds_qset_lifespan ( + dds_qos_t * __restrict qos, + dds_duration_t lifespan); + +/** + * @ingroup qos_setters + * @brief Set the deadline policy of a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] deadline - Deadline duration + */ +DDS_EXPORT void +dds_qset_deadline ( + dds_qos_t * __restrict qos, + dds_duration_t deadline); + +/** + * @ingroup qos_setters + * @brief Set the latency-budget policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] duration - Latency budget duration + */ +DDS_EXPORT void +dds_qset_latency_budget ( + dds_qos_t * __restrict qos, + dds_duration_t duration); + +/** + * @ingroup qos_setters + * @brief Set the ownership policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Ownership kind + */ +DDS_EXPORT void +dds_qset_ownership ( + dds_qos_t * __restrict qos, + dds_ownership_kind_t kind); + +/** + * @ingroup qos_setters + * @brief Set the ownership strength policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] value - Ownership strength value + */ +DDS_EXPORT void +dds_qset_ownership_strength (dds_qos_t * __restrict qos, int32_t value); + +/** + * @ingroup qos_setters + * @brief Set the liveliness policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Liveliness kind + * @param[in] lease_duration - Lease duration + */ +DDS_EXPORT void +dds_qset_liveliness ( + dds_qos_t * __restrict qos, + dds_liveliness_kind_t kind, + dds_duration_t lease_duration); + +/** + * @ingroup qos_setters + * @brief Set the time-based filter policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] minimum_separation - Minimum duration between sample delivery for an instance + */ +DDS_EXPORT void +dds_qset_time_based_filter ( + dds_qos_t * __restrict qos, + dds_duration_t minimum_separation); + +/** + * @ingroup qos_setters + * @brief Set the partition policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] n - Number of partitions stored in ps + * @param[in] ps - Pointer to string(s) storing partition name(s) + */ +DDS_EXPORT void +dds_qset_partition ( + dds_qos_t * __restrict qos, + uint32_t n, + const char ** __restrict ps); + +/** + * @ingroup qos_setters + * @brief Convenience function to set the partition policy of a qos structure to a + * single name. Name may be a null pointer. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] name - Pointer to the name + */ +DDS_EXPORT void +dds_qset_partition1 ( + dds_qos_t * __restrict qos, + const char * __restrict name); + +/** + * @ingroup qos_setters + * @brief Set the reliability policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Reliability kind + * @param[in] max_blocking_time - Max blocking duration applied when kind is reliable. This is how long the writer will block when its history is full. + */ +DDS_EXPORT void +dds_qset_reliability ( + dds_qos_t * __restrict qos, + dds_reliability_kind_t kind, + dds_duration_t max_blocking_time); + +/** + * @ingroup qos_setters + * @brief Set the transport-priority policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] value - Priority value + */ +DDS_EXPORT void +dds_qset_transport_priority (dds_qos_t * __restrict qos, int32_t value); + +/** + * @ingroup qos_setters + * @brief Set the destination-order policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Destination-order kind + */ +DDS_EXPORT void +dds_qset_destination_order ( + dds_qos_t * __restrict qos, + dds_destination_order_kind_t kind); + +/** + * @ingroup qos_setters + * @brief Set the writer data-lifecycle policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] autodispose - Automatic disposal of unregistered instances + */ +DDS_EXPORT void +dds_qset_writer_data_lifecycle (dds_qos_t * __restrict qos, bool autodispose); + +/** + * @ingroup qos_setters + * @brief Set the reader data-lifecycle policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] autopurge_nowriter_samples_delay - Delay for purging of samples from instances in a no-writers state + * @param[in] autopurge_disposed_samples_delay - Delay for purging of samples from disposed instances + */ +DDS_EXPORT void +dds_qset_reader_data_lifecycle ( + dds_qos_t * __restrict qos, + dds_duration_t autopurge_nowriter_samples_delay, + dds_duration_t autopurge_disposed_samples_delay); + +/** + * @ingroup qos_setters + * @brief Set the durability-service policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] service_cleanup_delay - Delay for purging of abandoned instances from the durability service + * @param[in] history_kind - History policy kind applied by the durability service + * @param[in] history_depth - History policy depth applied by the durability service + * @param[in] max_samples - Number of samples resource-limit policy applied by the durability service + * @param[in] max_instances - Number of instances resource-limit policy applied by the durability service + * @param[in] max_samples_per_instance - Number of samples per instance resource-limit policy applied by the durability service + */ +DDS_EXPORT void +dds_qset_durability_service ( + dds_qos_t * __restrict qos, + dds_duration_t service_cleanup_delay, + dds_history_kind_t history_kind, + int32_t history_depth, + int32_t max_samples, + int32_t max_instances, + int32_t max_samples_per_instance); + +/** + * @ingroup qos_setters + * @brief Set the ignore-local policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] ignore - True if readers and writers owned by the same participant should be ignored + */ +DDS_EXPORT void +dds_qset_ignorelocal ( + dds_qos_t * __restrict qos, + dds_ignorelocal_kind_t ignore); + +/** + * @ingroup qos_setters + * @brief Stores a property with the provided name and string value in a qos structure. + * + * In the case a property with the provided name already exists in the qos structure, + * the value for this entry is overwritten with the provided string value. If more than + * one property with the provided name exists, only the value of the first of these + * properties is updated. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the property + * @param[in] name - Pointer to name of the property + * @param[in] value - Pointer to a (null-terminated) string that will be stored + */ +DDS_EXPORT void +dds_qset_prop ( + dds_qos_t * __restrict qos, + const char * name, + const char * value); + +/** + * @ingroup qos_setters + * @brief Removes the property with the provided name from a qos structure. + * + * In case more than one property exists with this name, only the first property + * is removed. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains the property + * @param[in] name - Pointer to name of the property + */ +DDS_EXPORT void +dds_qunset_prop ( + dds_qos_t * __restrict qos, + const char * name); + +/** + * @ingroup qos_setters + * @brief Stores the provided binary data as a property in a qos structure + * + * In the case a property with the provided name already exists in the qos structure, + * the value for this entry is overwritten with the provided data. If more than one + * property with the provided name exists, only the value of the first of these + * properties is updated. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the property + * @param[in] name - Pointer to name of the property + * @param[in] value - Pointer to data to be stored in the property + * @param[in] sz - Size of the data + */ +DDS_EXPORT void +dds_qset_bprop ( + dds_qos_t * __restrict qos, + const char * name, + const void * value, + const size_t sz); + +/** + * @ingroup qos_setters + * @brief Removes the binary property with the provided name from a qos structure. + * + * In case more than one binary property exists with this name, only the first binary + * property is removed. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains the binary property + * @param[in] name - Pointer to name of the property + */ +DDS_EXPORT void +dds_qunset_bprop ( + dds_qos_t * __restrict qos, + const char * name); + +/** + * @ingroup qos_setters + * @brief Set the type consistency enforcement policy of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] kind - Type consistency policy kind + * @param[in] ignore_sequence_bounds - Ignore sequence bounds in type assignability checking + * @param[in] ignore_string_bounds - Ignore string bounds in type assignability checking + * @param[in] ignore_member_names - Ignore member names in type assignability checking + * @param[in] prevent_type_widening - Prevent type widening in type assignability checking + * @param[in] force_type_validation - Force type validation in assignability checking + */ +DDS_EXPORT void +dds_qset_type_consistency ( + dds_qos_t * __restrict qos, + dds_type_consistency_kind_t kind, + bool ignore_sequence_bounds, + bool ignore_string_bounds, + bool ignore_member_names, + bool prevent_type_widening, + bool force_type_validation); + +/** + * @ingroup qos_setters + * @brief Set the data representation of a qos structure + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the policy + * @param[in] n - Number of data representation values + * @param[in] values - Data representation values + */ +DDS_EXPORT void +dds_qset_data_representation ( + dds_qos_t * __restrict qos, + uint32_t n, + const dds_data_representation_id_t *values); + +/** + * @ingroup qos_setters + * @brief Set the entity name. + * + * When using this QoS to initialize a participant, publisher, subscriber, reader or writer + * it will take the name set here. This name is visible over discovery and can be used + * to make sense of network in tooling. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that will store the entity name. + * @param[in] name - Pointer to the entity name to set. + */ +DDS_EXPORT void +dds_qset_entity_name ( + dds_qos_t * __restrict qos, + const char * name); + + +/** + * @defgroup qos_getters (QoS Getters) + * @ingroup qos + */ + +/** + * @ingroup qos_getters + * @brief Get the userdata from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] value - Pointer that will store the userdata. If sz = 0, then a null pointer, else it is a pointer to an allocated buffer of sz+1 bytes where the last byte is always 0 + * @param[in,out] sz - Pointer that will store the size of userdata + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool dds_qget_userdata (const dds_qos_t * __restrict qos, void **value, size_t *sz); + +/** + * @ingroup qos_getters + * @brief Get the topicdata from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] value - Pointer that will store the topicdata. If sz = 0, then a null pointer, else it is a pointer to an allocated buffer of sz+1 bytes where the last byte is always 0 + * @param[in,out] sz - Pointer that will store the size of topicdata + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object +*/ +DDS_EXPORT bool dds_qget_topicdata (const dds_qos_t * __restrict qos, void **value, size_t *sz); + +/** + * @ingroup qos_getters + * @brief Get the groupdata from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] value - Pointer that will store the groupdata. If sz = 0, then a null pointer, else it is a pointer to an allocated buffer of sz+1 bytes where the last byte is always 0 + * @param[in,out] sz - Pointer that will store the size of groupdata + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool dds_qget_groupdata (const dds_qos_t * __restrict qos, void **value, size_t *sz); + +/** + * @ingroup qos_getters + * @brief Get the durability policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the durability kind + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool dds_qget_durability (const dds_qos_t * __restrict qos, dds_durability_kind_t *kind); + +/** + * @ingroup qos_getters + * @brief Get the history policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the history kind (optional) + * @param[in,out] depth - Pointer that will store the history depth (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool dds_qget_history (const dds_qos_t * __restrict qos, dds_history_kind_t *kind, int32_t *depth); + +/** + * @ingroup qos_getters + * @brief Get the resource-limits policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] max_samples - Pointer that will store the number of samples resource-limit (optional) + * @param[in,out] max_instances - Pointer that will store the number of instances resource-limit (optional) + * @param[in,out] max_samples_per_instance - Pointer that will store the number of samples per instance resource-limit (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_resource_limits ( + const dds_qos_t * __restrict qos, + int32_t *max_samples, + int32_t *max_instances, + int32_t *max_samples_per_instance); + +/** + * @ingroup qos_getters + * @brief Get the presentation policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] access_scope - Pointer that will store access scope kind (optional) + * @param[in,out] coherent_access - Pointer that will store coherent access enable value (optional) + * @param[in,out] ordered_access - Pointer that will store orderede access enable value (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_presentation ( + const dds_qos_t * __restrict qos, + dds_presentation_access_scope_kind_t *access_scope, + bool *coherent_access, + bool *ordered_access); + +/** + * @ingroup qos_getters + * @brief Get the lifespan policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] lifespan - Pointer that will store lifespan duration + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_lifespan ( + const dds_qos_t * __restrict qos, + dds_duration_t *lifespan); + +/** + * @ingroup qos_getters + * @brief Get the deadline policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] deadline - Pointer that will store deadline duration + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_deadline ( + const dds_qos_t * __restrict qos, + dds_duration_t *deadline); + +/** + * @ingroup qos_getters + * @brief Get the latency-budget policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] duration - Pointer that will store latency-budget duration + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_latency_budget ( + const dds_qos_t * __restrict qos, + dds_duration_t *duration); + +/** + * @ingroup qos_getters + * @brief Get the ownership policy from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the ownership kind + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_ownership ( + const dds_qos_t * __restrict qos, + dds_ownership_kind_t *kind); + +/** + * @ingroup qos_getters + * @brief Get the ownership strength qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] value - Pointer that will store the ownership strength value + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_ownership_strength ( + const dds_qos_t * __restrict qos, + int32_t *value); + +/** + * @ingroup qos_getters + * @brief Get the liveliness qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the liveliness kind (optional) + * @param[in,out] lease_duration - Pointer that will store the liveliness lease duration (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_liveliness ( + const dds_qos_t * __restrict qos, + dds_liveliness_kind_t *kind, + dds_duration_t *lease_duration); + +/** + * @ingroup qos_getters + * @brief Get the time-based filter qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] minimum_separation - Pointer that will store the minimum separation duration (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_time_based_filter ( + const dds_qos_t * __restrict qos, + dds_duration_t *minimum_separation); + +/** + * @ingroup qos_getters + * @brief Get the partition qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] n - Pointer that will store the number of partitions (optional) + * @param[in,out] ps - Pointer that will store the string(s) containing partition name(s) (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_partition ( + const dds_qos_t * __restrict qos, + uint32_t *n, + char ***ps); + +/** + * @ingroup qos_getters + * @brief Get the reliability qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the reliability kind (optional) + * @param[in,out] max_blocking_time - Pointer that will store the max blocking time for reliable reliability (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_reliability ( + const dds_qos_t * __restrict qos, + dds_reliability_kind_t *kind, + dds_duration_t *max_blocking_time); + +/** + * @ingroup qos_getters + * @brief Get the transport priority qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] value - Pointer that will store the transport priority value + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_transport_priority ( + const dds_qos_t * __restrict qos, + int32_t *value); + +/** + * @ingroup qos_getters + * @brief Get the destination-order qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the destination-order kind + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_destination_order ( + const dds_qos_t * __restrict qos, + dds_destination_order_kind_t *kind); + +/** + * @ingroup qos_getters + * @brief Get the writer data-lifecycle qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] autodispose - Pointer that will store the autodispose unregistered instances enable value + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_writer_data_lifecycle ( + const dds_qos_t * __restrict qos, + bool *autodispose); + +/** + * @ingroup qos_getters + * @brief Get the reader data-lifecycle qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] autopurge_nowriter_samples_delay - Pointer that will store the delay for auto-purging samples from instances in a no-writer state (optional) + * @param[in,out] autopurge_disposed_samples_delay - Pointer that will store the delay for auto-purging of disposed instances (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_reader_data_lifecycle ( + const dds_qos_t * __restrict qos, + dds_duration_t *autopurge_nowriter_samples_delay, + dds_duration_t *autopurge_disposed_samples_delay); + +/** + * @ingroup qos_getters + * @brief Get the durability-service qos policy values. + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] service_cleanup_delay - Pointer that will store the delay for purging of abandoned instances from the durability service (optional) + * @param[in,out] history_kind - Pointer that will store history policy kind applied by the durability service (optional) + * @param[in,out] history_depth - Pointer that will store history policy depth applied by the durability service (optional) + * @param[in,out] max_samples - Pointer that will store number of samples resource-limit policy applied by the durability service (optional) + * @param[in,out] max_instances - Pointer that will store number of instances resource-limit policy applied by the durability service (optional) + * @param[in,out] max_samples_per_instance - Pointer that will store number of samples per instance resource-limit policy applied by the durability service (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_durability_service ( + const dds_qos_t * __restrict qos, + dds_duration_t *service_cleanup_delay, + dds_history_kind_t *history_kind, + int32_t *history_depth, + int32_t *max_samples, + int32_t *max_instances, + int32_t *max_samples_per_instance); + +/** + * @ingroup qos_getters + * @brief Get the ignore-local qos policy + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] ignore - Pointer that will store whether to ignore readers/writers owned by the same participant (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_ignorelocal ( + const dds_qos_t * __restrict qos, + dds_ignorelocal_kind_t *ignore); + +/** + * @ingroup qos_getters + * @brief Gets the names of the properties from a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains properties + * @param[in,out] n - Pointer to number of property names that are returned (optional) + * @param[in,out] names - Pointer that will store the string(s) containing property name(s) (optional). This function will allocate the memory for the list of names and for the strings containing the names; the caller gets ownership of the allocated memory + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_propnames ( + const dds_qos_t * __restrict qos, + uint32_t * n, + char *** names); + +/** + * @ingroup qos_getters + * @brief Get the value of the property with the provided name from a qos structure. + * + * In case more than one property exists with this name, the value for the first + * property with this name will be returned. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains the property + * @param[in] name - Pointer to name of the property + * @param[in,out] value - Pointer to a string that will store the value of the property. The memory for storing the string value will be allocated by this function and the caller gets ownership of the allocated memory + * + * @returns - false iff any of the arguments is invalid, the qos is not present in the qos object or there was no property found with the provided name + */ +DDS_EXPORT bool +dds_qget_prop ( + const dds_qos_t * __restrict qos, + const char * name, + char ** value); + +/** + * @ingroup qos_getters + * @brief Gets the names of the binary properties from a qos structure. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains binary properties + * @param[in,out] n - Pointer to number of binary property names that are returned (optional) + * @param[in,out] names - Pointer that will store the string(s) containing binary property name(s) (optional). This function will allocate the memory for the list of names and for the strings containing the names; the caller gets ownership of the allocated memory + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_bpropnames ( + const dds_qos_t * __restrict qos, + uint32_t * n, + char *** names); + +/** + * @ingroup qos_getters + * @brief Get the value of the binary property with the provided name from a qos structure. + * + * In case more than one binary property exists with this name, the value for the first + * binary property with this name will be returned. + * + * @param[in,out] qos - Pointer to a dds_qos_t structure that contains the property + * @param[in] name - Pointer to name of the binary property + * @param[in,out] value - Pointer to a buffer that will store the value of the property. If sz = 0 then a NULL pointer. The memory for storing the value will be allocated by this function and the caller gets ownership of the allocated memory + * @param[in,out] sz - Pointer that will store the size of the returned buffer. + * + * @returns - false iff any of the arguments is invalid, the qos is not present in the qos object or there was no binary property found with the provided name + */ +DDS_EXPORT bool +dds_qget_bprop ( + const dds_qos_t * __restrict qos, + const char * name, + void ** value, + size_t * sz); + +/** + * @ingroup qos_getters + * @brief Get the type consistency enforcement qos policy values. + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] kind - Pointer that will store the type consistency enforcement kind (optional) + * @param[in,out] ignore_sequence_bounds - Pointer that will store the boolean value for ignoring sequence bounds in type assignability checking (optional) + * @param[in,out] ignore_string_bounds - Pointer that will store the boolean value for ignoring string bounds in type assignability checking (optional) + * @param[in,out] ignore_member_names - Pointer that will store the boolean value for ignoring member names in type assignability checking (optional) + * @param[in,out] prevent_type_widening - Pointer that will store the boolean value to prevent type widening in type assignability checking (optional) + * @param[in,out] force_type_validation - Pointer that will store the boolean value to force type validation in assignability checking (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_type_consistency ( + const dds_qos_t * __restrict qos, + dds_type_consistency_kind_t *kind, + bool *ignore_sequence_bounds, + bool *ignore_string_bounds, + bool *ignore_member_names, + bool *prevent_type_widening, + bool *force_type_validation); + +/** + * @ingroup qos_getters + * @brief Get the data representation qos policy value. + * + * Returns the data representation values that are set in the provided QoS object + * and stores the number of values in out parameter 'n'. In case the 'values' parameter + * is provided, this function will allocate a buffer that contains the data representation + * values, and set 'values' to point to this buffer. It is the responsibility of the caller + * to free the memory of this buffer. + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the policy + * @param[in,out] n - Pointer that will store the number of data representation values + * @param[in,out] values - Pointer that will store the data representation values (optional) + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + */ +DDS_EXPORT bool +dds_qget_data_representation ( + const dds_qos_t * __restrict qos, + uint32_t *n, + dds_data_representation_id_t **values); + +/** + * @ingroup qos_getters + * @brief Get the entity name from a qos structure + * + * @param[in] qos - Pointer to a dds_qos_t structure storing the entity name + * @param[in,out] name - Pointer to a string that will store the returned entity name + * + * @returns - false iff any of the arguments is invalid or the qos is not present in the qos object + * or if a buffer to store the name could not be allocated. + */ +DDS_EXPORT bool dds_qget_entity_name (const dds_qos_t * __restrict qos, char **name); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qosdefs.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qosdefs.h new file mode 100644 index 0000000..6011ec9 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qosdefs.h @@ -0,0 +1,184 @@ +/* + * Copyright(c) 2006 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +#ifndef DDS_QOSDEFS_H +#define DDS_QOSDEFS_H + +#include + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @anchor DDS_LENGTH_UNLIMITED + * @ingroup qos + * @brief Used for indicating unlimited length in dds_qset_resource_limits() + */ +#define DDS_LENGTH_UNLIMITED -1 + +/** + * @brief Qos Policy IDs + * @ingroup internal + * Used internally to mark the QoS policy type + */ +typedef enum dds_qos_policy_id { + DDS_INVALID_QOS_POLICY_ID, /**< Invalid Policy */ + DDS_USERDATA_QOS_POLICY_ID, /**< Userdata policy dds_qset_userdata() */ + DDS_DURABILITY_QOS_POLICY_ID, /**< Durability policy dds_qset_durability() */ + DDS_PRESENTATION_QOS_POLICY_ID, /**< Presentation policy dds_qset_presentation() */ + DDS_DEADLINE_QOS_POLICY_ID, /**< Deadline policy dds_qset_deadline() */ + DDS_LATENCYBUDGET_QOS_POLICY_ID, /**< LatencyBudget policy dds_qset_latency_budget() */ + DDS_OWNERSHIP_QOS_POLICY_ID, /**< Ownership policy dds_qset_ownership() */ + DDS_OWNERSHIPSTRENGTH_QOS_POLICY_ID, /**< OwnershipStrength policy dds_qset_ownership_strength() */ + DDS_LIVELINESS_QOS_POLICY_ID, /**< Liveliness policy dds_qset_liveliness() */ + DDS_TIMEBASEDFILTER_QOS_POLICY_ID, /**< TimeBasedFilter policy dds_qset_time_based_filter() */ + DDS_PARTITION_QOS_POLICY_ID, /**< Partition policy dds_qset_partition() */ + DDS_RELIABILITY_QOS_POLICY_ID, /**< Reliability policy dds_qset_reliability() */ + DDS_DESTINATIONORDER_QOS_POLICY_ID, /**< DestinationOrder policy dds_qset_destination_order() */ + DDS_HISTORY_QOS_POLICY_ID, /**< History policy dds_qset_history() */ + DDS_RESOURCELIMITS_QOS_POLICY_ID, /**< ResourceLimits policy dds_qset_resource_limits() */ + DDS_ENTITYFACTORY_QOS_POLICY_ID, /**< EntityFactory policy */ + DDS_WRITERDATALIFECYCLE_QOS_POLICY_ID, /**< WriterDataLifecycle policy dds_qset_writer_data_lifecycle() */ + DDS_READERDATALIFECYCLE_QOS_POLICY_ID, /**< ReaderDataLifecycle policy dds_qset_reader_data_lifecycle() */ + DDS_TOPICDATA_QOS_POLICY_ID, /**< Topicdata policy dds_qset_topicdata() */ + DDS_GROUPDATA_QOS_POLICY_ID, /**< Groupdata policy dds_qset_groupdata() */ + DDS_TRANSPORTPRIORITY_QOS_POLICY_ID, /**< TransportPriority policy dds_qset_transport_priority() */ + DDS_LIFESPAN_QOS_POLICY_ID, /**< Livespan policy dds_qset_lifespan() */ + DDS_DURABILITYSERVICE_QOS_POLICY_ID, /**< DurabilityService policy dds_qset_durability_service() */ + DDS_PROPERTY_QOS_POLICY_ID, /**< Property policy dds_qset_property() */ + DDS_TYPE_CONSISTENCY_ENFORCEMENT_QOS_POLICY_ID, /**< TypeConsistencyEnforcement policy dds_qset_type_consistency_enforcements() */ + DDS_DATA_REPRESENTATION_QOS_POLICY_ID /**< DataRepresentation policy dds_qset_data_representation() */ +} dds_qos_policy_id_t; + + +/** + * @brief QoS datatype + * @ingroup qos + * QoS structure is opaque + */ +typedef struct dds_qos dds_qos_t; + +/** + * @brief Durability QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_durability_kind +{ + DDS_DURABILITY_VOLATILE, /**< Volatile durability */ + DDS_DURABILITY_TRANSIENT_LOCAL, /**< Transient Local durability */ + DDS_DURABILITY_TRANSIENT, /**< Transient durability */ + DDS_DURABILITY_PERSISTENT /**< Persistent durability */ +} +dds_durability_kind_t; + +/** + * @brief History QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_history_kind +{ + DDS_HISTORY_KEEP_LAST, /**< Keep Last history */ + DDS_HISTORY_KEEP_ALL /**< Keep All history */ +} +dds_history_kind_t; + +/** + * @brief Ownership QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_ownership_kind +{ + DDS_OWNERSHIP_SHARED, /**< Shared Ownership */ + DDS_OWNERSHIP_EXCLUSIVE /**< Exclusive Ownership */ +} +dds_ownership_kind_t; + +/** + * @brief Liveliness QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_liveliness_kind +{ + DDS_LIVELINESS_AUTOMATIC, /**< Automatic liveliness */ + DDS_LIVELINESS_MANUAL_BY_PARTICIPANT, /**< Manual by Participant liveliness */ + DDS_LIVELINESS_MANUAL_BY_TOPIC /**< Manual by Topic liveliness */ +} +dds_liveliness_kind_t; + +/** + * @brief Reliability QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_reliability_kind +{ + DDS_RELIABILITY_BEST_EFFORT, /**< Best Effort reliability */ + DDS_RELIABILITY_RELIABLE /**< Reliable reliability */ +} +dds_reliability_kind_t; + +/** + * @brief DestinationOrder QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_destination_order_kind +{ + DDS_DESTINATIONORDER_BY_RECEPTION_TIMESTAMP, /**< order by reception timestamp */ + DDS_DESTINATIONORDER_BY_SOURCE_TIMESTAMP /**< order by source timestamp */ +} +dds_destination_order_kind_t; + +/** + * @brief Presentation QoS: Applies to Publisher, Subscriber + * @ingroup qos + */ +typedef enum dds_presentation_access_scope_kind +{ + DDS_PRESENTATION_INSTANCE, /**< presentation scope per instance */ + DDS_PRESENTATION_TOPIC, /**< presentation scope per topic */ + DDS_PRESENTATION_GROUP /**< presentation scope per group */ +} +dds_presentation_access_scope_kind_t; + +/** + * @brief Ignore-local QoS: Applies to DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_ignorelocal_kind +{ + DDS_IGNORELOCAL_NONE, /**< Don't ignore local data */ + DDS_IGNORELOCAL_PARTICIPANT, /**< Ignore local data from same participant */ + DDS_IGNORELOCAL_PROCESS /**< Ignore local data from same process */ +} +dds_ignorelocal_kind_t; + +/** + * @brief Type-consistency QoS: Applies to DataReader, DataWriter + * @ingroup qos + */ +typedef enum dds_type_consistency_kind +{ + DDS_TYPE_CONSISTENCY_DISALLOW_TYPE_COERCION, /**< Do not allow type coercion */ + DDS_TYPE_CONSISTENCY_ALLOW_TYPE_COERCION /**< Allow type coercion */ +} +dds_type_consistency_kind_t; + +/** + * @brief Data Representation QoS: Applies to Topic, DataReader, DataWriter + * @ingroup qos + */ +typedef int16_t dds_data_representation_id_t; + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h new file mode 100644 index 0000000..04d4c4a --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h @@ -0,0 +1,512 @@ +/* + * Copyright(c) 2006 to 2019 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +/** + * @defgroup dcps_status (DDS C Communication Status API) + * @ingroup dds + * This defines the public API of the Communication Status in the + * Eclipse Cyclone DDS C language binding. Listeners are implemented + * as structs containing callback functions that take listener status types + * as arguments. + */ +#ifndef DDS_STATUS_H +#define DDS_STATUS_H + +#include "dds/export.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @ingroup dcps_status + * @brief DCPS_Status_OfferedDeadlineMissed + * DOC_TODO + */ +typedef struct dds_offered_deadline_missed_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + dds_instance_handle_t last_instance_handle; /**< DOC_TODO */ +} +dds_offered_deadline_missed_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_OfferedIncompatibleQoS + * DOC_TODO + */ +typedef struct dds_offered_incompatible_qos_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + uint32_t last_policy_id; /**< DOC_TODO */ +} +dds_offered_incompatible_qos_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_PublicationMatched + * DOC_TODO + */ +typedef struct dds_publication_matched_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + uint32_t current_count; /**< DOC_TODO */ + int32_t current_count_change; /**< DOC_TODO */ + dds_instance_handle_t last_subscription_handle; /**< DOC_TODO */ +} +dds_publication_matched_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_LivelinessLost + * DOC_TODO + */ +typedef struct dds_liveliness_lost_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ +} +dds_liveliness_lost_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_SubscriptionMatched + * DOC_TODO + */ +typedef struct dds_subscription_matched_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + uint32_t current_count; /**< DOC_TODO */ + int32_t current_count_change; /**< DOC_TODO */ + dds_instance_handle_t last_publication_handle; /**< DOC_TODO */ +} +dds_subscription_matched_status_t; + +/** + * @ingroup dcps_status + * @brief Rejected Status + * DOC_TODO + */ +typedef enum +{ + DDS_NOT_REJECTED, /**< DOC_TODO */ + DDS_REJECTED_BY_INSTANCES_LIMIT, /**< DOC_TODO */ + DDS_REJECTED_BY_SAMPLES_LIMIT, /**< DOC_TODO */ + DDS_REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT /**< DOC_TODO */ +} +dds_sample_rejected_status_kind; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_SampleRejected + * DOC_TODO + */ +typedef struct dds_sample_rejected_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + dds_sample_rejected_status_kind last_reason; /**< DOC_TODO */ + dds_instance_handle_t last_instance_handle; /**< DOC_TODO */ +} +dds_sample_rejected_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_LivelinessChanged + * DOC_TODO + */ +typedef struct dds_liveliness_changed_status +{ + uint32_t alive_count; /**< DOC_TODO */ + uint32_t not_alive_count; /**< DOC_TODO */ + int32_t alive_count_change; /**< DOC_TODO */ + int32_t not_alive_count_change; /**< DOC_TODO */ + dds_instance_handle_t last_publication_handle; /**< DOC_TODO */ +} +dds_liveliness_changed_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_RequestedDeadlineMissed + * DOC_TODO + */ +typedef struct dds_requested_deadline_missed_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + dds_instance_handle_t last_instance_handle; /**< DOC_TODO */ +} +dds_requested_deadline_missed_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_RequestedIncompatibleQoS + * DOC_TODO + */ +typedef struct dds_requested_incompatible_qos_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ + uint32_t last_policy_id; /**< DOC_TODO */ +} +dds_requested_incompatible_qos_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_SampleLost + * DOC_TODO + */ +typedef struct dds_sample_lost_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ +} +dds_sample_lost_status_t; + +/** + * @ingroup dcps_status + * @brief DCPS_Status_InconsistentTopic + * DOC_TODO + */ +typedef struct dds_inconsistent_topic_status +{ + uint32_t total_count; /**< DOC_TODO */ + int32_t total_count_change; /**< DOC_TODO */ +} +dds_inconsistent_topic_status_t; + + +/** + * @defgroup dcps_status_getters (DCPS Status Getters) + * @ingroup dcps_status + * get_ APIs return the status of an entity and resets the status +*/ + +/** + * @ingroup dcps_status_getters + * @brief Get INCONSISTENT_TOPIC status + * + * This operation gets the status value corresponding to INCONSISTENT_TOPIC + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] topic The entity to get the status + * @param[out] status The pointer to @ref dds_inconsistent_topic_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_inconsistent_topic_status ( + dds_entity_t topic, + dds_inconsistent_topic_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get PUBLICATION_MATCHED status + * + * This operation gets the status value corresponding to PUBLICATION_MATCHED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] writer The entity to get the status + * @param[out] status The pointer to @ref dds_publication_matched_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_publication_matched_status ( + dds_entity_t writer, + dds_publication_matched_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get LIVELINESS_LOST status + * + * This operation gets the status value corresponding to LIVELINESS_LOST + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] writer The entity to get the status + * @param[out] status The pointer to @ref dds_liveliness_lost_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_liveliness_lost_status ( + dds_entity_t writer, + dds_liveliness_lost_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get OFFERED_DEADLINE_MISSED status + * + * This operation gets the status value corresponding to OFFERED_DEADLINE_MISSED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] writer The entity to get the status + * @param[out] status The pointer to @ref dds_offered_deadline_missed_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_offered_deadline_missed_status( + dds_entity_t writer, + dds_offered_deadline_missed_status_t *status); + +/** + * @ingroup dcps_status_getters + * @brief Get OFFERED_INCOMPATIBLE_QOS status + * + * This operation gets the status value corresponding to OFFERED_INCOMPATIBLE_QOS + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] writer The writer entity to get the status + * @param[out] status The pointer to @ref dds_offered_incompatible_qos_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_offered_incompatible_qos_status ( + dds_entity_t writer, + dds_offered_incompatible_qos_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get SUBSCRIPTION_MATCHED status + * + * This operation gets the status value corresponding to SUBSCRIPTION_MATCHED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The reader entity to get the status + * @param[out] status The pointer to @ref dds_subscription_matched_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_subscription_matched_status ( + dds_entity_t reader, + dds_subscription_matched_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get LIVELINESS_CHANGED status + * + * This operation gets the status value corresponding to LIVELINESS_CHANGED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The entity to get the status + * @param[out] status The pointer to @ref dds_liveliness_changed_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_liveliness_changed_status ( + dds_entity_t reader, + dds_liveliness_changed_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get SAMPLE_REJECTED status + * + * This operation gets the status value corresponding to SAMPLE_REJECTED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The entity to get the status + * @param[out] status The pointer to @ref dds_sample_rejected_status_t to get the status + * + * @returns 0 - Success + * @returns <0 - Failure + * + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_sample_rejected_status ( + dds_entity_t reader, + dds_sample_rejected_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get SAMPLE_LOST status + * + * This operation gets the status value corresponding to SAMPLE_LOST + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The entity to get the status + * @param[out] status The pointer to @ref dds_sample_lost_status_t to get the status + * + * @returns A dds_return_t indicating success or failure + * + * @retval DDS_RETCODE_OK + * Success + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_sample_lost_status ( + dds_entity_t reader, + dds_sample_lost_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get REQUESTED_DEADLINE_MISSED status + * + * This operation gets the status value corresponding to REQUESTED_DEADLINE_MISSED + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The entity to get the status + * @param[out] status The pointer to @ref dds_requested_deadline_missed_status_t to get the status + * + * @returns A dds_return_t indicating success or failure + * + * @retval DDS_RETCODE_OK + * Success + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_requested_deadline_missed_status ( + dds_entity_t reader, + dds_requested_deadline_missed_status_t * status); + +/** + * @ingroup dcps_status_getters + * @brief Get REQUESTED_INCOMPATIBLE_QOS status + * + * This operation gets the status value corresponding to REQUESTED_INCOMPATIBLE_QOS + * and reset the status. The value can be obtained, only if the status is enabled for an entity. + * NULL value for status is allowed and it will reset the trigger value when status is enabled. + * + * @param[in] reader The entity to get the status + * @param[out] status The pointer to @ref dds_requested_incompatible_qos_status_t to get the status + * + * @returns A dds_return_t indicating success or failure + * + * @retval DDS_RETCODE_OK + * Success + * @retval DDS_RETCODE_ERROR + * An internal error has occurred. + * @retval DDS_RETCODE_BAD_PARAMETER + * One of the given arguments is not valid. + * @retval DDS_RETCODE_ILLEGAL_OPERATION + * The operation is invoked on an inappropriate object. + * @retval DDS_RETCODE_ALREADY_DELETED + * The entity has already been deleted. + */ +DDS_EXPORT dds_return_t +dds_get_requested_incompatible_qos_status ( + dds_entity_t reader, + dds_requested_incompatible_qos_status_t * status); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_rhc.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_rhc.h new file mode 100644 index 0000000..5825089 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_rhc.h @@ -0,0 +1,109 @@ +/* + * Copyright(c) 2006 to 2021 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef _DDS_RHC_H_ +#define _DDS_RHC_H_ + +#include "dds/ddsrt/static_assert.h" +#include "dds/ddsi/ddsi_rhc.h" + +#ifndef DOXYGEN_SHOULD_SKIP_THIS /** DOC_TODO we should document the rhc */ + +#define NO_STATE_MASK_SET (DDS_ANY_STATE + 1) + +#if defined (__cplusplus) +extern "C" { +#endif + +struct dds_rhc; +struct dds_readcond; +struct dds_reader; +struct ddsi_tkmap; + +typedef dds_return_t (*dds_rhc_associate_t) (struct dds_rhc *rhc, struct dds_reader *reader, const struct ddsi_sertype *type, struct ddsi_tkmap *tkmap); +typedef int32_t (*dds_rhc_read_take_t) (struct dds_rhc *rhc, bool lock, void **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t mask, dds_instance_handle_t handle, struct dds_readcond *cond); +typedef int32_t (*dds_rhc_read_take_cdr_t) (struct dds_rhc *rhc, bool lock, struct ddsi_serdata **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t sample_states, uint32_t view_states, uint32_t instance_states, dds_instance_handle_t handle); + +typedef bool (*dds_rhc_add_readcondition_t) (struct dds_rhc *rhc, struct dds_readcond *cond); +typedef void (*dds_rhc_remove_readcondition_t) (struct dds_rhc *rhc, struct dds_readcond *cond); + +typedef uint32_t (*dds_rhc_lock_samples_t) (struct dds_rhc *rhc); + +struct dds_rhc_ops { + /* A copy of DDSI rhc ops comes first so we can use either interface without + additional indirections */ + struct ddsi_rhc_ops rhc_ops; + dds_rhc_read_take_t read; + dds_rhc_read_take_t take; + dds_rhc_read_take_cdr_t readcdr; + dds_rhc_read_take_cdr_t takecdr; + dds_rhc_add_readcondition_t add_readcondition; + dds_rhc_remove_readcondition_t remove_readcondition; + dds_rhc_lock_samples_t lock_samples; + dds_rhc_associate_t associate; +}; + +struct dds_rhc { + union { + const struct dds_rhc_ops *ops; + struct ddsi_rhc rhc; + } common; +}; + +DDSRT_STATIC_ASSERT (offsetof (struct dds_rhc, common.ops) == offsetof (struct ddsi_rhc, ops)); + +DDS_INLINE_EXPORT inline dds_return_t dds_rhc_associate (struct dds_rhc *rhc, struct dds_reader *reader, const struct ddsi_sertype *type, struct ddsi_tkmap *tkmap) { + return rhc->common.ops->associate (rhc, reader, type, tkmap); +} +DDS_INLINE_EXPORT inline bool dds_rhc_store (struct dds_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo, struct ddsi_serdata * __restrict sample, struct ddsi_tkmap_instance * __restrict tk) { + return rhc->common.ops->rhc_ops.store (&rhc->common.rhc, wrinfo, sample, tk); +} +DDS_INLINE_EXPORT inline void dds_rhc_unregister_wr (struct dds_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo) { + rhc->common.ops->rhc_ops.unregister_wr (&rhc->common.rhc, wrinfo); +} +DDS_INLINE_EXPORT inline void dds_rhc_relinquish_ownership (struct dds_rhc * __restrict rhc, const uint64_t wr_iid) { + rhc->common.ops->rhc_ops.relinquish_ownership (&rhc->common.rhc, wr_iid); +} +DDS_INLINE_EXPORT inline void dds_rhc_set_qos (struct dds_rhc *rhc, const struct dds_qos *qos) { + rhc->common.ops->rhc_ops.set_qos (&rhc->common.rhc, qos); +} +DDS_INLINE_EXPORT inline void dds_rhc_free (struct dds_rhc *rhc) { + rhc->common.ops->rhc_ops.free (&rhc->common.rhc); +} +DDS_INLINE_EXPORT inline int32_t dds_rhc_read (struct dds_rhc *rhc, bool lock, void **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t mask, dds_instance_handle_t handle, struct dds_readcond *cond) { + return (rhc->common.ops->read) (rhc, lock, values, info_seq, max_samples, mask, handle, cond); +} +DDS_INLINE_EXPORT inline int32_t dds_rhc_take (struct dds_rhc *rhc, bool lock, void **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t mask, dds_instance_handle_t handle, struct dds_readcond *cond) { + return rhc->common.ops->take (rhc, lock, values, info_seq, max_samples, mask, handle, cond); +} +DDS_INLINE_EXPORT inline int32_t dds_rhc_readcdr (struct dds_rhc *rhc, bool lock, struct ddsi_serdata **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t sample_states, uint32_t view_states, uint32_t instance_states, dds_instance_handle_t handle) { + return rhc->common.ops->readcdr (rhc, lock, values, info_seq, max_samples, sample_states, view_states, instance_states, handle); +} +DDS_INLINE_EXPORT inline int32_t dds_rhc_takecdr (struct dds_rhc *rhc, bool lock, struct ddsi_serdata **values, dds_sample_info_t *info_seq, uint32_t max_samples, uint32_t sample_states, uint32_t view_states, uint32_t instance_states, dds_instance_handle_t handle) { + return rhc->common.ops->takecdr (rhc, lock, values, info_seq, max_samples, sample_states, view_states, instance_states, handle); +} +DDS_INLINE_EXPORT inline bool dds_rhc_add_readcondition (struct dds_rhc *rhc, struct dds_readcond *cond) { + return rhc->common.ops->add_readcondition (rhc, cond); +} +DDS_INLINE_EXPORT inline void dds_rhc_remove_readcondition (struct dds_rhc *rhc, struct dds_readcond *cond) { + rhc->common.ops->remove_readcondition (rhc, cond); +} +DDS_INLINE_EXPORT inline uint32_t dds_rhc_lock_samples (struct dds_rhc *rhc) { + return rhc->common.ops->lock_samples (rhc); +} + +DDS_EXPORT void dds_reader_data_available_cb (struct dds_reader *rd); + +#if defined (__cplusplus) +} +#endif +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_statistics.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_statistics.h new file mode 100644 index 0000000..c3ee166 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsc/dds_statistics.h @@ -0,0 +1,133 @@ +/* + * Copyright(c) 2020 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ + +#ifndef DDS_STATISTICS_H +#define DDS_STATISTICS_H + +/** + * @defgroup statistics (DDS Statistics) + * @ingroup dds + * @warning Unstable API + * + * A quick-and-dirty provisional interface + */ + +#include "dds/dds.h" +#include "dds/ddsrt/attributes.h" +#include "dds/export.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/** + * @brief Kind of statistical value + * @ingroup statistics + */ +enum dds_stat_kind { + DDS_STAT_KIND_UINT32, /**< value is a 32-bit unsigned integer */ + DDS_STAT_KIND_UINT64, /**< value is a 64-bit unsigned integer */ + DDS_STAT_KIND_LENGTHTIME /**< value is integral(length(t) dt) */ +}; + +/** + * @brief KeyValue statistics entry + * @ingroup statistics + */ +struct dds_stat_keyvalue { + const char *name; /**< name, memory owned by library */ + enum dds_stat_kind kind; /**< value type */ + union { + uint32_t u32; /**< used if kind == DDS_STAT_KIND_UINT32 */ + uint64_t u64; /**< used if kind == DDS_STAT_KIND_UINT64 */ + uint64_t lengthtime; /**< used if kind == DDS_STAT_KIND_LENGTHTIME */ + } u; /**< value */ +}; + +/** + * @brief Statistics container + * @ingroup statistics + */ +struct dds_statistics { + dds_entity_t entity; /**< handle of entity to which this set of values applies */ + uint64_t opaque; /**< internal data */ + dds_time_t time; /**< time stamp of latest call to dds_refresh_statistics() */ + size_t count; /**< number of key-value pairs */ + struct dds_stat_keyvalue kv[]; /**< data */ +}; + +/** + * @brief Allocate a new statistics object for entity + * @ingroup statistics + * + * This allocates and populates a newly allocated `struct dds_statistics` for the + * specified entity. + * + * @param[in] entity the handle of the entity + * + * @returns a newly allocated and populated statistics structure or NULL if entity is + * invalid or doesn't support any statistics. + */ +DDS_EXPORT struct dds_statistics *dds_create_statistics (dds_entity_t entity); + +/** + * @brief Update a previously created statistics structure with current values + * @ingroup statistics + * + * Only the time stamp and the values (and "opaque") may change. The set of keys and the + * types of the values do not change. + * + * @param[in,out] stat statistics structure to update the values of + * + * @returns success or an error indication + * + * @retval DDS_RETCODE_OK + * the data was successfully updated + * @retval DDS_RETCODE_BAD_PARAMETER + * stats is a null pointer or the referenced entity no longer exists + * @retval DDS_RETCODE_PRECONDITION_NOT_MET + * library was deinitialized + */ +DDS_EXPORT dds_return_t dds_refresh_statistics (struct dds_statistics *stat); + +/** + * @brief Free a previously created statistics object + * @ingroup statistics + * + * This frees the statistics object. Passing a null pointer is a no-op. The operation + * succeeds also if the referenced entity no longer exists. + * + * @param[in] stat statistics object to free + */ +DDS_EXPORT void dds_delete_statistics (struct dds_statistics *stat); + +/** + * @brief Lookup a specific value by name + * @ingroup statistics + * + * This looks up the specified name in the list of keys in `stat` and returns the address + * of the key-value pair if present, a null pointer if not. If `stat` is a null pointer, + * it returns a null pointer. + * + * @param[in] stat statistics object to lookup a name in (or NULL) + * @param[in] name name to look for + * + * @returns The address of the key-value pair inside `stat`, or NULL if `stat` is NULL or + * `name` does not match a key in `stat. + */ +DDS_EXPORT const struct dds_stat_keyvalue *dds_lookup_statistic (const struct dds_statistics *stat, const char *name) + ddsrt_nonnull ((2)); + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_acknack.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_acknack.h new file mode 100644 index 0000000..a6f1c24 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_acknack.h @@ -0,0 +1,43 @@ +/* + * Copyright(c) 2020 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef DDSI_ACKNACK_H +#define DDSI_ACKNACK_H + +#include +#include + +#include "dds/ddsrt/time.h" +#include "dds/ddsi/q_xevent.h" +#include "dds/ddsi/ddsi_entity.h" +#include "dds/ddsi/q_protocol.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +enum add_AckNack_result { + AANR_SUPPRESSED_ACK, //!< sending nothing: too short a time since the last ACK + AANR_ACK, //!< sending an ACK and there's nothing to NACK + AANR_SUPPRESSED_NACK, //!< sending an ACK even though there are things to NACK + AANR_NACK, //!< sending a NACK, possibly also a NACKFRAG + AANR_NACKFRAG_ONLY //!< sending only a NACKFRAG +}; + +void sched_acknack_if_needed (struct xevent *ev, struct ddsi_proxy_writer *pwr, struct ddsi_pwr_rd_match *rwn, ddsrt_mtime_t tnow, bool avoid_suppressed_nack); + +struct nn_xmsg *make_and_resched_acknack (struct xevent *ev, struct ddsi_proxy_writer *pwr, struct ddsi_pwr_rd_match *rwn, ddsrt_mtime_t tnow, bool avoid_suppressed_nack); + +#if defined (__cplusplus) +} +#endif + +#endif /* DDSI_ACKNACK_H */ diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_builtin_topic_if.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_builtin_topic_if.h new file mode 100644 index 0000000..5fa7f77 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_builtin_topic_if.h @@ -0,0 +1,57 @@ +/* + * Copyright(c) 2019 to 2021 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef _DDSI_BUILTIN_TOPIC_IF_H_ +#define _DDSI_BUILTIN_TOPIC_IF_H_ + +#include "dds/ddsi/ddsi_vendor.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +struct ddsi_entity_common; +struct ddsi_tkmap_instance; +struct ddsi_sertype; +struct ddsi_guid; +struct ddsi_topic_definition; + +struct ddsi_builtin_topic_interface { + void *arg; + + bool (*builtintopic_is_builtintopic) (const struct ddsi_sertype *type, void *arg); + bool (*builtintopic_is_visible) (const struct ddsi_guid *guid, nn_vendorid_t vendorid, void *arg); + struct ddsi_tkmap_instance * (*builtintopic_get_tkmap_entry) (const struct ddsi_guid *guid, void *arg); + void (*builtintopic_write_endpoint) (const struct ddsi_entity_common *e, ddsrt_wctime_t timestamp, bool alive, void *arg); + void (*builtintopic_write_topic) (const struct ddsi_topic_definition *tpd, ddsrt_wctime_t timestamp, bool alive, void *arg); +}; + +DDS_INLINE_EXPORT inline bool builtintopic_is_visible (const struct ddsi_builtin_topic_interface *btif, const struct ddsi_guid *guid, nn_vendorid_t vendorid) { + return btif ? btif->builtintopic_is_visible (guid, vendorid, btif->arg) : false; +} +DDS_INLINE_EXPORT inline bool builtintopic_is_builtintopic (const struct ddsi_builtin_topic_interface *btif, const struct ddsi_sertype *type) { + return btif ? btif->builtintopic_is_builtintopic (type, btif->arg) : false; +} +DDS_INLINE_EXPORT inline struct ddsi_tkmap_instance *builtintopic_get_tkmap_entry (const struct ddsi_builtin_topic_interface *btif, const struct ddsi_guid *guid) { + return btif ? btif->builtintopic_get_tkmap_entry (guid, btif->arg) : NULL; +} +DDS_INLINE_EXPORT inline void builtintopic_write_endpoint (const struct ddsi_builtin_topic_interface *btif, const struct ddsi_entity_common *e, ddsrt_wctime_t timestamp, bool alive) { + if (btif) btif->builtintopic_write_endpoint (e, timestamp, alive, btif->arg); +} +DDS_INLINE_EXPORT inline void builtintopic_write_topic (const struct ddsi_builtin_topic_interface *btif, const struct ddsi_topic_definition *tpd, ddsrt_wctime_t timestamp, bool alive) { + if (btif) btif->builtintopic_write_topic (tpd, timestamp, alive, btif->arg); +} + +#if defined (__cplusplus) +} +#endif + +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cdrstream.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cdrstream.h new file mode 100644 index 0000000..ce52923 --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cdrstream.h @@ -0,0 +1,101 @@ +/* + * Copyright(c) 2006 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef DDSI_CDRSTREAM_H +#define DDSI_CDRSTREAM_H + +#include "dds/ddsrt/static_assert.h" +#include "dds/ddsi/ddsi_serdata.h" +#include "dds/ddsi/ddsi_serdata_default.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +#define DDSI_CDRSTREAM_MAX_NESTING_DEPTH 32 /* maximum level of nesting for key extraction */ + +typedef struct dds_istream { + const unsigned char *m_buffer; + uint32_t m_size; /* Buffer size */ + uint32_t m_index; /* Read/write offset from start of buffer */ + uint32_t m_xcdr_version; /* XCDR version of the data */ +} dds_istream_t; + +typedef struct dds_ostream { + unsigned char *m_buffer; + uint32_t m_size; /* Buffer size */ + uint32_t m_index; /* Read/write offset from start of buffer */ + uint32_t m_xcdr_version; /* XCDR version to use for serializing data */ +} dds_ostream_t; + +typedef struct dds_ostreamBE { + dds_ostream_t x; +} dds_ostreamBE_t; + +typedef struct dds_ostreamLE { + dds_ostream_t x; +} dds_ostreamLE_t; + +DDSRT_STATIC_ASSERT (offsetof (dds_ostreamLE_t, x) == 0); +DDSRT_STATIC_ASSERT (offsetof (dds_ostreamBE_t, x) == 0); + +DDS_EXPORT void dds_istream_init (dds_istream_t * __restrict st, uint32_t size, const void * __restrict input, uint32_t xcdr_version); +DDS_EXPORT void dds_istream_fini (dds_istream_t * __restrict st); +DDS_EXPORT void dds_ostream_init (dds_ostream_t * __restrict st, uint32_t size, uint32_t xcdr_version); +DDS_EXPORT void dds_ostream_fini (dds_ostream_t * __restrict st); +DDS_EXPORT void dds_ostreamLE_init (dds_ostreamLE_t * __restrict st, uint32_t size, uint32_t xcdr_version); +DDS_EXPORT void dds_ostreamLE_fini (dds_ostreamLE_t * __restrict st); +DDS_EXPORT void dds_ostreamBE_init (dds_ostreamBE_t * __restrict st, uint32_t size, uint32_t xcdr_version); +DDS_EXPORT void dds_ostreamBE_fini (dds_ostreamBE_t * __restrict st); + +// *actual_size is set to the actual size of the data (*actual_size <= size) on successful return +DDS_EXPORT bool dds_stream_normalize (void * __restrict data, uint32_t size, bool bswap, uint32_t xcdr_version, const struct ddsi_sertype_default * __restrict type, bool just_key, uint32_t * __restrict actual_size) ddsrt_attribute_warn_unused_result ddsrt_nonnull_all; +DDS_EXPORT const uint32_t *dds_stream_normalize_data (char * __restrict data, uint32_t * __restrict off, uint32_t size, bool bswap, uint32_t xcdr_version, const uint32_t * __restrict ops) ddsrt_attribute_warn_unused_result ddsrt_nonnull_all; + +DDS_EXPORT const uint32_t *dds_stream_write (dds_ostream_t * __restrict os, const char * __restrict data, const uint32_t * __restrict ops); +DDS_EXPORT const uint32_t *dds_stream_writeLE (dds_ostreamLE_t * __restrict os, const char * __restrict data, const uint32_t * __restrict ops); +DDS_EXPORT const uint32_t *dds_stream_writeBE (dds_ostreamBE_t * __restrict os, const char * __restrict data, const uint32_t * __restrict ops); +DDS_EXPORT const uint32_t * dds_stream_write_with_byte_order (dds_ostream_t * __restrict os, const char * __restrict data, const uint32_t * __restrict ops, enum ddsrt_byte_order_selector bo); +DDS_EXPORT bool dds_stream_write_sample (dds_ostream_t * __restrict os, const void * __restrict data, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT bool dds_stream_write_sampleLE (dds_ostreamLE_t * __restrict os, const void * __restrict data, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT bool dds_stream_write_sampleBE (dds_ostreamBE_t * __restrict os, const void * __restrict data, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT void dds_stream_read_sample (dds_istream_t * __restrict is, void * __restrict data, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT void dds_stream_free_sample (void * __restrict data, const uint32_t * __restrict ops); + +DDS_EXPORT uint32_t dds_stream_countops (const uint32_t * __restrict ops, uint32_t nkeys, const dds_key_descriptor_t * __restrict keys); +DDS_EXPORT size_t dds_stream_check_optimize (const struct ddsi_sertype_default_desc * __restrict desc, uint32_t xcdr_version); +DDS_EXPORT void dds_istream_from_serdata_default (dds_istream_t * __restrict s, const struct ddsi_serdata_default * __restrict d); +DDS_EXPORT void dds_ostream_from_serdata_default (dds_ostream_t * __restrict s, const struct ddsi_serdata_default * __restrict d); +DDS_EXPORT void dds_ostream_add_to_serdata_default (dds_ostream_t * __restrict s, struct ddsi_serdata_default ** __restrict d); + +DDS_EXPORT void dds_stream_write_key (dds_ostream_t * __restrict os, const char * __restrict sample, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT void dds_stream_write_keyBE (dds_ostreamBE_t * __restrict os, const char * __restrict sample, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT bool dds_stream_extract_key_from_data (dds_istream_t * __restrict is, dds_ostream_t * __restrict os, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT void dds_stream_extract_key_from_key (dds_istream_t * __restrict is, dds_ostream_t * __restrict os, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT bool dds_stream_extract_keyBE_from_data (dds_istream_t * __restrict is, dds_ostreamBE_t * __restrict os, const struct ddsi_sertype_default * __restrict type); +DDS_EXPORT void dds_stream_extract_keyBE_from_key (dds_istream_t * __restrict is, dds_ostreamBE_t * __restrict os, const struct ddsi_sertype_default * __restrict type); + +DDS_EXPORT const uint32_t *dds_stream_read (dds_istream_t * __restrict is, char * __restrict data, const uint32_t * __restrict ops); +DDS_EXPORT void dds_stream_read_key (dds_istream_t * __restrict is, char * __restrict sample, const struct ddsi_sertype_default * __restrict type); + +DDS_EXPORT size_t dds_stream_print_key (dds_istream_t * __restrict is, const struct ddsi_sertype_default * __restrict type, char * __restrict buf, size_t size); + +DDS_EXPORT size_t dds_stream_print_sample (dds_istream_t * __restrict is, const struct ddsi_sertype_default * __restrict type, char * __restrict buf, size_t size); + +DDS_EXPORT uint16_t dds_stream_minimum_xcdr_version (const uint32_t * __restrict ops); +DDS_EXPORT uint32_t dds_stream_type_nesting_depth (const uint32_t * __restrict ops); +DDS_EXPORT bool dds_stream_extensibility (const uint32_t * __restrict ops, enum ddsi_sertype_extensibility *ext); + + +#if defined (__cplusplus) +} +#endif +#endif diff --git a/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cfgelems.h b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cfgelems.h new file mode 100644 index 0000000..b541abd --- /dev/null +++ b/deps/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_cfgelems.h @@ -0,0 +1,2253 @@ +/* + * Copyright(c) 2020 to 2022 ZettaScale Technology and others + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + * v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + */ +#ifndef DDSI_CFGELEMS_H +#define DDSI_CFGELEMS_H + +#include "dds/features.h" + + +static struct cfgelem network_interface_attributes[] = { + STRING("autodetermine", NULL, 1, "false", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.automatic), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    If set to \"true\" an interface is automatically selected. Specifying " + "a name or an address when automatic is set is considered an error.

    " + )), + STRING("name", NULL, 1, "", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.name), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies the name of the interface.

    " + )), + STRING("address", NULL, 1, "", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.address), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies the address of the interface. With ipv4 allows " + " matching on network part if host part is set to zero.

    " + )), + STRING("priority", NULL, 1, "default", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.priority), + FUNCTIONS(0, uf_maybe_int32, 0, pf_maybe_int32), + DESCRIPTION( + "

    This attribute specifies the interface priority (decimal integer or " + "default). The default value for loopback interfaces is 2, for all " + "other interfaces it is 0.

    " + )), + BOOL("prefer_multicast", NULL, 1, "false", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.prefer_multicast), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    When false (default) Cyclone DDS uses unicast for data whenever " + "there a single unicast suffices. Setting this to true makes it prefer " + "multicasting data, falling back to unicast only when no multicast " + "is available.

    " + )), + BOOL("presence_required", NULL, 1, "true", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.presence_required), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    By default all specified network interfaces must be present, if they " + "are missing Cyclone will refuse to start. By explicitly setting this setting " + "for an interface you can instruct Cyclone to simply ignore that interface if " + "it is not present.

    " + )), + STRING("multicast", NULL, 1, "default", + MEMBEROF(ddsi_config_network_interface_listelem, cfg.multicast), + FUNCTIONS(0, uf_boolean_default, 0, pf_boolean_default), + DESCRIPTION( + "

    This attribute specifies the whether the interface should use multicast. " + "On its default setting 'default' it will use the value as return by the operating " + "system. If set to 'true' the interface will be assumed to be multicast capable " + "even when the interface flags returned by the operating system state it is not " + "(this provides a workaround for some platforms). If set to 'false' the interface " + "will never be used for multicast.") + ), + END_MARKER +}; + + +static struct cfgelem interfaces_cfgelems[] = { + GROUP("NetworkInterface", NULL, network_interface_attributes, INT_MAX, + MEMBER(network_interfaces), + FUNCTIONS(if_network_interfaces, 0, 0, 0), + DESCRIPTION( + "

    This element defines a network interface. You can set autodetermine=\"true\" " + "to autoselect the interface CycloneDDS deems to be the highest quality. If " + "autodetermine=\"false\" (the default), you must specify the name and/or address " + "attribute. If you specify both they must match the same interface.

    ")), + END_MARKER +}; + +static struct cfgelem entity_autonaming_attributes[] = { + STRING("seed", NULL, 1, "", + MEMBER(entity_naming_seed), + FUNCTIONS(0, uf_random_seed, 0, pf_random_seed), + DESCRIPTION( + "

    Provide an initial seed for the entity naming. Your string will be " + "hashed to provided the random state. When provided the same sequence of " + "names is generated every run. If you create your entities in the same " + "order this will ensure they are the same between runs. If you run multiple " + "nodes set this via environment variable to ensure every node generates " + "unique names. When left empty (the default) a random starting seed is " + "chosen.

    " + )), + END_MARKER +}; + + +static struct cfgelem general_cfgelems[] = { + STRING("MulticastRecvNetworkInterfaceAddresses", NULL, 1, "preferred", + MEMBER(networkRecvAddressStrings), + FUNCTIONS(0, uf_networkAddresses, ff_networkAddresses, pf_networkAddresses), + DESCRIPTION( + "

    This element specifies on which network interfaces Cyclone DDS " + "listens to multicasts. The following options are available:

    \n" + "
      \n" + "
    • all: " + "listen for multicasts on all multicast-capable interfaces; or" + "
      • \n" + "
    • any: " + "listen for multicasts on the operating system default interface; or" + "
      • \n" + "
    • preferred: " + "listen for multicasts on the preferred interface " + "(General/Interface/NetworkInterface with highest priority); or" + "
      • \n" + "
    • none: " + "does not listen for multicasts on any interface; or" + "
      • \n" + "
    • a comma-separated list of network addresses: configures Cyclone DDS to " + "listen for multicasts on all of the listed addresses." + "
      • \n" + "
    \n" + "

    If Cyclone DDS is in IPv6 mode and the address of the preferred network " + "interface is a link-local address, \"all\" is treated as a synonym for " + "\"preferred\" and a comma-separated list is treated as \"preferred\" " + "if it contains the preferred interface and as \"none\" if not.

    " + )), + GROUP("Interfaces", interfaces_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    This element specifies the network interfaces for use by Cyclone " + "DDS. Multiple interfaces can be specified with an assigned priority. " + "The list in use will be sorted by priority. If interfaces have an " + "equal priority the specification order will be preserved.

    " + )), + STRING(DEPRECATED("NetworkInterfaceAddress"), NULL, 1, "auto", + MEMBER(depr_networkAddressString), + FUNCTIONS(0, uf_networkAddress, ff_free, pf_networkAddress), + DESCRIPTION( + "

    This configuration option is deprecated. Use General/Interfaces " + " instead. " + " This element specifies the preferred network interface for use by " + "Cyclone DDS. The preferred network interface determines the IP address " + "that Cyclone DDS advertises in the discovery protocol (but see also " + "General/ExternalNetworkAddress), and is also the only interface over " + "which multicasts are transmitted. The interface can be identified by " + "its IP address, network interface name or network portion of the " + "address. If the value \"auto\" is entered here, Cyclone DDS will " + "select what it considers the most suitable interface.

    " + )), + STRING("ExternalNetworkAddress", NULL, 1, "auto", + MEMBER(externalAddressString), + FUNCTIONS(0, uf_networkAddress, ff_free, pf_networkAddress), + DESCRIPTION( + "

    This element allows explicitly overruling the network address " + "Cyclone DDS advertises in the discovery protocol, which by default is " + "the address of the preferred network interface " + "(General/NetworkInterfaceAddress), to allow Cyclone DDS to communicate " + "across a Network Address Translation (NAT) device.

    ")), + STRING("ExternalNetworkMask", NULL, 1, "0.0.0.0", + MEMBER(externalMaskString), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element specifies the network mask of the external network " + "address. This element is relevant only when an external network " + "address (General/ExternalNetworkAddress) is explicitly configured. In " + "this case locators received via the discovery protocol that are " + "within the same external subnet (as defined by this mask) will be " + "translated to an internal address by replacing the network portion of " + "the external address with the corresponding portion of the preferred " + "network interface address. This option is IPv4-only.

    ")), + LIST("AllowMulticast", NULL, 1, "default", + MEMBER(allowMulticast), + FUNCTIONS(0, uf_allow_multicast, 0, pf_allow_multicast), + DESCRIPTION( + "

    This element controls whether Cyclone DDS uses multicasts for data " + "traffic.

    \n" + "

    It is a comma-separated list of some of the following keywords: " + "\"spdp\", \"asm\", \"ssm\", or either of \"false\" or \"true\", or " + "\"default\".

    \n" + "
      \n" + "
    • spdp: " + "enables the use of ASM (any-source multicast) for participant " + "discovery, joining the multicast group on the discovery socket, " + "transmitting SPDP messages to this group, but never advertising nor " + "using any multicast address in any discovery message, thus forcing " + "unicast communications for all endpoint discovery and user data." + "
      • \n" + "
    • asm: " + "enables the use of ASM for all traffic, including receiving SPDP but " + "not transmitting SPDP messages via multicast" + "
      • \n" + "
    • ssm: " + "enables the use of SSM (source-specific multicast) for all non-SPDP " + "traffic (if supported)" + "
      • \n" + "
    \n" + "

    When set to \"false\" all multicasting is disabled. The default, " + "\"true\" enables full use of multicasts. Listening for multicasts can " + "be controlled by General/MulticastRecvNetworkInterfaceAddresses.

    \n" + "

    \"default\" maps on spdp if the network is a WiFi network, on true " + "if it is a wired network

    "), + VALUES("false","spdp","asm","ssm","true")), + BOOL(DEPRECATED("PreferMulticast"), NULL, 1, "false", + MEMBER(depr_prefer_multicast), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    Deprecated, use Interfaces/NetworkInterface[@multicast_cost] instead. " + "When false (default) Cyclone DDS uses unicast for data whenever " + "there a single unicast suffices. Setting this to true makes it prefer " + "multicasting data, falling back to unicast only when no multicast " + "address is available.

    ")), + INT("MulticastTimeToLive", NULL, 1, "32", + MEMBER(multicast_ttl), + FUNCTIONS(0, uf_natint_255, 0, pf_int), + DESCRIPTION( + "

    This element specifies the time-to-live setting for outgoing " + "multicast packets.

    "), + RANGE("0;255")), + BOOL("DontRoute", NULL, 1, "false", + MEMBER(dontRoute), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element allows setting the SO_DONTROUTE option for outgoing " + "packets, to bypass the local routing tables. This is generally useful " + "only when the routing tables cannot be trusted, which is highly " + "unusual.

    ")), + ENUM("UseIPv6", NULL, 1, "default", + MEMBER(compat_use_ipv6), + FUNCTIONS(0, uf_boolean_default, 0, pf_nop), + DESCRIPTION("

    Deprecated (use Transport instead)

    "), + VALUES("false","true","default")), + ENUM("Transport", NULL, 1, "default", + MEMBER(transport_selector), + FUNCTIONS(0, uf_transport_selector, 0, pf_transport_selector), + DESCRIPTION( + "

    This element allows selecting the transport to be used (udp, udp6, " + "tcp, tcp6, raweth)

    "), + VALUES("default","udp","udp6","tcp","tcp6","raweth")), + BOOL("EnableMulticastLoopback", NULL, 1, "true", + MEMBER(enableMulticastLoopback), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element specifies whether Cyclone DDS allows IP multicast " + "packets to be visible to all DDSI participants in the same node, " + "including itself. It must be \"true\" for intra-node multicast " + "communications, but if a node runs only a single Cyclone DDS service " + "and does not host any other DDSI-capable programs, it should be set " + "to \"false\" for improved performance.

    ")), + STRING("MaxMessageSize", NULL, 1, "14720 B", + MEMBER(max_msg_size), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This element specifies the maximum size of the UDP payload that " + "Cyclone DDS will generate. Cyclone DDS will try to maintain this limit within " + "the bounds of the DDSI specification, which means that in some cases " + "(especially for very low values of MaxMessageSize) larger payloads " + "may sporadically be observed (currently up to 1192 B).

    \n" + "

    On some networks it may be necessary to set this item to keep the " + "packetsize below the MTU to prevent IP fragmentation.

    "), + UNIT("memsize")), + STRING("MaxRexmitMessageSize", NULL, 1, "1456 B", + MEMBER(max_rexmit_msg_size), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This element specifies the maximum size of the UDP payload that " + "Cyclone DDS will generate for a retransmit. Cyclone DDS will try to " + "maintain this limit within the bounds of the DDSI specification, which " + "means that in some cases (especially for very low values) larger payloads " + "may sporadically be observed (currently up to 1192 B).

    \n" + "

    On some networks it may be necessary to set this item to keep the " + "packetsize below the MTU to prevent IP fragmentation.

    "), + UNIT("memsize")), + STRING("FragmentSize", NULL, 1, "1344 B", + MEMBER(fragment_size), + FUNCTIONS(0, uf_memsize16, 0, pf_memsize16), + DESCRIPTION( + "

    This element specifies the size of DDSI sample fragments generated " + "by Cyclone DDS. Samples larger than FragmentSize are fragmented into " + "fragments of FragmentSize bytes each, except the last one, which may " + "be smaller. The DDSI spec mandates a minimum fragment size of 1025 " + "bytes, but Cyclone DDS will do whatever size is requested, accepting " + "fragments of which the size is at least the minimum of 1025 and " + "FragmentSize.

    "), + UNIT("memsize")), + BOOL("RedundantNetworking", NULL, 1, "false", + MEMBER(redundant_networking), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    When enabled, use selected network interfaces in parallel for " + "redundancy.

    ")), + ENUM("EntityAutoNaming", entity_autonaming_attributes, 1, "empty", + MEMBER(entity_naming_mode), + FUNCTIONS(0, uf_entity_naming_mode, 0, pf_entity_naming_mode), + DESCRIPTION( + "

    This element specifies the entity autonaming mode. By default set " + "to 'empty' which means no name will be set (but you can still use " + "dds_qset_entity_name). When set to 'fancy' participants, publishers, " + "subscribers, writers and readers will get randomly generated names. " + "An autonamed entity will share a 3-letter prefix with their parent " + "entity.

    "), + VALUES("empty","fancy")), + END_MARKER +}; + +#ifdef DDS_HAS_SECURITY +static struct cfgelem authentication_library_attributes[] = { + STRING("path", NULL, 1, "dds_security_auth", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_plugin.library_path), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element points to the path of Authentication plugin library.

    \n" + "

    It can be either absolute path excluding file extension " + "( /usr/lib/dds_security_auth ) or single file without extension " + "( dds_security_auth ).

    \n" + "

    If single file is supplied, the library located by way of the " + "current working directory, or LD_LIBRARY_PATH for Unix systems, and " + "PATH for Windows system.

    " + )), + STRING("initFunction", NULL, 1, "init_authentication", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_plugin.library_init), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the initialization function of Authentication " + "plugin. This function is called after loading the plugin library for " + "instantiation purposes. Init function must return an object that " + "implements DDS Security Authentication interface.

    " + )), + STRING("finalizeFunction", NULL, 1, "finalize_authentication", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_plugin.library_finalize), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the finalization function of Authentication " + "plugin. This function is called to let the plugin release its " + "resources.

    " + )), + END_MARKER +}; + +static struct cfgelem access_control_library_attributes[] = { + STRING("path", NULL, 1, "dds_security_ac", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_plugin.library_path), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element points to the path of Access Control plugin library.

    \n" + "

    It can be either absolute path excluding file extension " + "( /usr/lib/dds_security_ac ) or single file without extension " + "( dds_security_ac ).

    \n" + "

    If single file is supplied, the library located by way of the " + "current working directory, or LD_LIBRARY_PATH for Unix systems, and " + "PATH for Windows systems.

    " + )), + STRING("initFunction", NULL, 1, "init_access_control", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_plugin.library_init), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the initialization function of Access Control " + "plugin. This function is called after loading the plugin library for " + "instantiation purposes. Init function must return an object that " + "implements DDS Security Access Control interface.

    " + )), + STRING("finalizeFunction", NULL, 1, "finalize_access_control", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_plugin.library_finalize), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the finalization function of Access Control " + "plugin. This function is called to let the plugin release its " + "resources.

    " + )), + END_MARKER +}; + +static struct cfgelem cryptography_library_attributes[] = { + STRING("path", NULL, 1, "dds_security_crypto", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.cryptography_plugin.library_path), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element points to the path of Cryptographic plugin library.

    \n" + "

    It can be either absolute path excluding file extension " + "( /usr/lib/dds_security_crypto ) or single file without extension " + "( dds_security_crypto ).

    \n" + "

    If single file is supplied, the library located by way of the " + "current working directory, or LD_LIBRARY_PATH for Unix systems, and " + "PATH for Windows systems.

    " + )), + STRING("initFunction", NULL, 1, "init_crypto", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.cryptography_plugin.library_init), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the initialization function of Cryptographic " + "plugin. This function is called after loading the plugin library for " + "instantiation purposes. Init function must return an object that " + "implements DDS Security Cryptographic interface.

    " + )), + STRING("finalizeFunction", NULL, 1, "finalize_crypto", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.cryptography_plugin.library_finalize), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This element names the finalization function of Cryptographic " + "plugin. This function is called to let the plugin release its " + "resources.

    " + )), + END_MARKER +}; + +static struct cfgelem authentication_config_elements[] = { + STRING("Library", authentication_library_attributes, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_plugin), + FUNCTIONS(0, 0, 0, pf_string), + DESCRIPTION( + "

    This element specifies the library to be loaded as the DDS " + "Security Access Control plugin.

    " + )), + STRING("IdentityCertificate", NULL, 1, NULL, + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.identity_certificate), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    Identity certificate that will be used for identifying all " + "participants in the OSPL instance.
    The content is URI to a X509 " + "certificate signed by the IdentityCA in PEM format containing the " + "signed public key.

    \n" + "

    Supported URI schemes: file, data

    \n" + "

    Examples:

    \n" + "

    file:participant1_identity_cert.pem

    \n" + "

    data:,-----BEGIN CERTIFICATE-----
    \n" + "MIIDjjCCAnYCCQDCEu9...6rmT87dhTo=
    \n" + "-----END CERTIFICATE-----

    " + )), + STRING("IdentityCA", NULL, 1, NULL, + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.identity_ca), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    URI to the X509 certificate [39] of the Identity CA that is the " + "signer of Identity Certificate.

    \n" + "

    Supported URI schemes: file, data

    \n" + "

    The file and data schemas shall refer to a X.509 v3 certificate " + "(see X.509 v3 ITU-T Recommendation X.509 (2005) [39]) in PEM format.

    \n" + "

    Examples:

    \n" + "

    file:identity_ca.pem

    \n" + "

    data:,-----BEGIN CERTIFICATE-----
    \n" + "MIIC3DCCAcQCCQCWE5x+Z...PhovK0mp2ohhRLYI0ZiyYQ==
    \n" + "-----END CERTIFICATE-----

    " + )), + STRING("PrivateKey", NULL, 1, NULL, + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.private_key), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    URI to access the private Private Key for all of the participants " + "in the OSPL federation.

    \n" + "

    Supported URI schemes: file, data

    \n" + "

    Examples:

    \n" + "

    file:identity_ca_private_key.pem

    \n" + "

    data:,-----BEGIN RSA PRIVATE KEY-----
    \n" + "MIIEpAIBAAKCAQEA3HIh...AOBaaqSV37XBUJg==
    \n" + "-----END RSA PRIVATE KEY-----

    " + )), + STRING("Password", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.password), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    A password used to decrypt the private_key.

    \n" + "

    The value of the password property shall be interpreted as the " + "Base64 encoding of the AES-128 key that shall be used to decrypt the " + "private_key using AES128-CBC.

    \n" + "

    If the password property is not present, then the value supplied in " + "the private_key property must contain the unencrypted private key.

    " + )), + STRING("TrustedCADirectory", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.trusted_ca_dir), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    Trusted CA Directory which contains trusted CA certificates as " + "separated files.

    " + )), + STRING("CRL", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.crl), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    Optional URI to load an X509 Certificate Revocation List

    \n" + "

    Supported URI schemes: file, data

    \n" + "

    Examples:

    \n" + "

    file:crl.pem

    \n" + "

    data:,-----BEGIN X509 CRL-----
    \n" + "MIIEpAIBAAKCAQEA3HIh...AOBaaqSV37XBUJg=
    \n" + "-----END X509 CRL-----

    " + )), + BOOL("IncludeOptionalFields", NULL, 1, "false", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.authentication_properties.include_optional_fields), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    The authentication handshake tokens may contain optional fields to " + "be included for finding interoperability problems. If this parameter " + "is set to true the optional fields are included in the handshake token " + "exchange.

    " + )), + END_MARKER +}; + +static struct cfgelem access_control_config_elements[] = { + STRING("Library", access_control_library_attributes, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_plugin), + FUNCTIONS(0, 0, 0, pf_string), + DESCRIPTION( + "

    This element specifies the library to be loaded as the " + "DDS Security Access Control plugin.

    " + )), + STRING("PermissionsCA", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_properties.permissions_ca), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    URI to a X509 certificate for the PermissionsCA in PEM format.

    \n" + "

    Supported URI schemes: file, data

    \n" + "

    The file and data schemas shall refer to a X.509 v3 certificate " + "(see X.509 v3 ITU-T Recommendation X.509 (2005) [39]) in PEM format.


    \n" + "

    Examples:


    \n" + "

    file:permissions_ca.pem

    \n" + "

    file:/home/myuser/permissions_ca.pem


    \n" + "

    data:,-----BEGIN CERTIFICATE-----

    \n" + "

    MIIC3DCCAcQCCQCWE5x+Z ... PhovK0mp2ohhRLYI0ZiyYQ==

    \n" + "

    -----END CERTIFICATE-----

    " + )), + STRING("Governance", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_properties.governance), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    URI to the shared Governance Document signed by the Permissions CA in S/MIME format

    \n" + "

    URI schemes: file, data


    \n" + "

    Examples file URIs:

    \n" + "

    file:governance.smime

    \n" + "

    file:/home/myuser/governance.smime


    \n" + "

    \n" + "

    Content-Type: multipart/signed; protocol=\"application/x-pkcs7-signature\"; micalg=\"sha-256\"; boundary=\"----F9A8A198D6F08E1285A292ADF14DD04F\"

    \n" + "

    This is an S/MIME signed message

    \n" + "

    ------F9A8A198D6F08E1285A292ADF14DD04F

    \n" + "

    \n" + "

    \n" + "

    xsi:noNamespaceSchemaLocation=\"omg_shared_ca_governance.xsd\">

    \n" + "

    \n" + "

    . . .

    \n" + "

    \n" + "

    \n" + "

    ...

    \n" + "

    ------F9A8A198D6F08E1285A292ADF14DD04F

    \n" + "

    Content-Type: application/x-pkcs7-signature; name=\"smime.p7s\"

    \n" + "

    Content-Transfer-Encoding: base64

    \n" + "

    Content-Disposition: attachment; filename=\"smime.p7s\"

    \n" + "

    MIIDuAYJKoZIhv ...al5s=

    \n" + "

    ------F9A8A198D6F08E1285A292ADF14DD04F-]]

    " + )), + STRING("Permissions", NULL, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.access_control_properties.permissions), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    URI to the DomainParticipant permissions document signed by the " + "Permissions CA in S/MIME format

    \n" + "

    The permissions document specifies the permissions to be applied to a domain.


    \n" + "

    Example file URIs:

    \n" + "

    file:permissions_document.p7s

    \n" + "

    file:/path_to/permissions_document.p7s

    \n" + "

    Example data URI:

    \n" + "

    " + )), + END_MARKER +}; + +static struct cfgelem cryptography_config_elements[] = { + STRING("Library", cryptography_library_attributes, 1, "", + MEMBEROF(ddsi_config_omg_security_listelem, cfg.cryptography_plugin), + FUNCTIONS(0, 0, 0, pf_string), + DESCRIPTION( + "

    This element specifies the library to be loaded as the DDS Security Cryptographic plugin.

    " + )), + END_MARKER +}; + +static struct cfgelem security_omg_config_elements[] = { + GROUP("Authentication", authentication_config_elements, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    This element configures the Authentication plugin of the DDS Security specification.

    " + )), + GROUP("AccessControl", access_control_config_elements, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    This element configures the Access Control plugin of the DDS Security specification.

    " + )), + GROUP("Cryptographic", cryptography_config_elements, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    This element configures the Cryptographic plugin of the DDS Security specification.

    " + )), + END_MARKER +}; +#endif /* DDS_HAS_SECURITY */ + +#ifdef DDS_HAS_NETWORK_PARTITIONS +static struct cfgelem networkpartition_cfgattrs[] = { + STRING("Name", NULL, 1, NULL, + MEMBEROF(ddsi_config_networkpartition_listelem, name), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies the name of this Cyclone DDS network " + "partition. Two network partitions cannot have the same name.

    ")), + STRING("Address", NULL, 1, NULL, + MEMBEROF(ddsi_config_networkpartition_listelem, address_string), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies the multicast addresses associated with " + "the network partition as a comma-separated list. Readers matching " + "this network partition (cf. Partitioning/PartitionMappings) will " + "listen for multicasts on all of these addresses and advertise them " + "in the discovery protocol. The writers will select the most suitable " + "address from the addresses advertised by the readers.

    ")), + END_MARKER +}; + +static struct cfgelem networkpartitions_cfgelems[] = { + STRING("NetworkPartition", networkpartition_cfgattrs, INT_MAX, 0, + MEMBER(networkPartitions), + FUNCTIONS(if_network_partition, 0, 0, 0), + DESCRIPTION( + "

    This element defines a Cyclone DDS network partition.

    " + )), + END_MARKER +}; + +static struct cfgelem ignoredpartitions_cfgattrs[] = { + STRING("DCPSPartitionTopic", NULL, 1, NULL, + MEMBEROF(ddsi_config_ignoredpartition_listelem, DCPSPartitionTopic), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies a partition and a topic expression, " + "separated by a single '.', that are used to determine if a given " + "partition and topic will be ignored or not. The expressions may use " + "the usual wildcards '*' and '?'. Cyclone DDS will consider an wildcard " + "DCPS partition to match an expression iff there exists a string that " + "satisfies both expressions.

    " + )), + END_MARKER +}; + +static struct cfgelem ignoredpartitions_cfgelems[] = { + STRING("IgnoredPartition", ignoredpartitions_cfgattrs, INT_MAX, 0, + MEMBER(ignoredPartitions), + FUNCTIONS(if_ignored_partition, 0, 0, 0), + DESCRIPTION( + "

    This element can be used to prevent certain combinations of DCPS " + "partition and topic from being transmitted over the network. Cyclone DDS " + "will complete ignore readers and writers for which all DCPS " + "partitions as well as their topic is ignored, not even creating DDSI " + "readers and writers to mirror the DCPS ones.

    " + )), + END_MARKER +}; + +static struct cfgelem partitionmappings_cfgattrs[] = { + STRING("NetworkPartition", NULL, 1, NULL, + MEMBEROF(ddsi_config_partitionmapping_listelem, networkPartition), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies which Cyclone DDS network partition is to be " + "used for DCPS partition/topic combinations matching the " + "DCPSPartitionTopic attribute within this PartitionMapping element.

    " + )), + STRING("DCPSPartitionTopic", NULL, 1, NULL, + MEMBEROF(ddsi_config_partitionmapping_listelem, DCPSPartitionTopic), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies a partition and a topic expression, " + "separated by a single '.', that are used to determine if a given " + "partition and topic maps to the Cyclone DDS network partition named by the " + "NetworkPartition attribute in this PartitionMapping element. The " + "expressions may use the usual wildcards '*' and '?'. Cyclone DDS will " + "consider a wildcard DCPS partition to match an expression if there " + "exists a string that satisfies both expressions.

    " + )), + END_MARKER +}; + +static struct cfgelem partitionmappings_cfgelems[] = { + STRING("PartitionMapping", partitionmappings_cfgattrs, INT_MAX, 0, + MEMBER(partitionMappings), + FUNCTIONS(if_partition_mapping, 0, 0, 0), + DESCRIPTION( + "

    This element defines a mapping from a DCPS partition/topic " + "combination to a Cyclone DDS network partition. This allows partitioning " + "data flows by using special multicast addresses for part of the data " + "and possibly also encrypting the data flow.

    " + )), + END_MARKER +}; + +static struct cfgelem partitioning_cfgelems[] = { + GROUP("NetworkPartitions", networkpartitions_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The NetworkPartitions element specifies the Cyclone DDS network " + "partitions.

    " + )), + GROUP("IgnoredPartitions", ignoredpartitions_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The IgnoredPartitions element specifies DCPS partition/topic " + "combinations that are not distributed over the network.

    " + )), + GROUP("PartitionMappings", partitionmappings_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The PartitionMappings element specifies the mapping from DCPS " + "partition/topic combinations to Cyclone DDS network partitions.

    " + )), + END_MARKER +}; +#endif /* DDS_HAS_NETWORK_PARTITIONS */ + +#ifdef DDS_HAS_NETWORK_CHANNELS +static struct cfgelem channel_cfgelems[] = { +#ifdef DDS_HAS_BANDWIDTH_LIMITING + STRING("DataBandwidthLimit", NULL, 1, "inf", + MEMBEROF(ddsi_config_channel_listelem, data_bandwidth_limit), + FUNCTIONS(0, uf_bandwidth, 0, pf_bandwidth), + DESCRIPTION( + "

    This element specifies the maximum transmit rate of new samples " + "and directly related data, for this channel. Bandwidth limiting uses " + "a leaky bucket scheme. The default value \"inf\" means Cyclone DDS imposes " + "no limitation, the underlying operating system and hardware will " + "likely limit the maximum transmit rate.

    ") + BEHIND_FLAG("DDS_HAS_BANDWIDTH_LIMITING") + UNIT("bandwidth")), + STRING("AuxiliaryBandwidthLimit", NULL, 1, "inf", + MEMBEROF(ddsi_config_channel_listelem, auxiliary_bandwidth_limit), + FUNCTIONS(0, uf_bandwidth, 0, pf_bandwidth), + DESCRIPTION( + "

    This element specifies the maximum transmit rate of auxiliary " + "traffic on this channel (e.g. retransmits, heartbeats, etc). " + "Bandwidth limiting uses a leaky bucket scheme. The default value " + "\"inf\" means Cyclone DDS imposes no limitation, the underlying operating " + "system and hardware will likely limit the maximum transmit rate.

    ") + UNIT("bandwidth")), +#endif + INT("DiffServField", NULL, 1, "0", + MEMBEROF(ddsi_config_channel_listelem, diffserv_field), + FUNCTIONS(0, uf_natint, 0, pf_int), + DESCRIPTION( + "

    This element describes the DiffServ setting the channel will apply " + "to the networking messages. This parameter determines the value of " + "the diffserv field of the IP version 4 packets sent on this channel " + "which allows QoS setting to be applied to the network traffic send on " + "this channel.
    \n" + "Windows platform support for setting the diffserv field is dependent " + "on the OS version.
    \n" + "For Windows version 7 or higher a new API (qWAVE) has been introduced. " + "For these platforms the specified diffserv value is mapped to one of " + "the support traffic types.\n" + "The mapping is as follows: 1-8 background traffic; 9-40 excellent " + "traffic; 41-55 audio/video traffic; 56 voice traffic; 57-63 control " + "traffic.\n" + "When an application is run without Administrative priveleges then " + "only the diffserv value of 0, 8, 40 or 56 is allowed.

    " + ), + BEHIND_FLAG("DDS_HAS_NETWORK_CHANNELS") + ), + END_MARKER +}; + +static struct cfgelem channel_cfgattrs[] = { + STRING("Name", NULL, 1, NULL, + MEMBEROF(ddsi_config_channel_listelem, name), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    This attribute specifies name of this channel. The name should " + "uniquely identify the channel.

    " + )), + INT("TransportPriority", NULL, 1, "0", + MEMBEROF(ddsi_config_channel_listelem, priority), + FUNCTIONS(0, uf_natint, 0, pf_int), + DESCRIPTION( + "

    This attribute sets the transport priority threshold for the " + "channel. Each DCPS data writer has a \"transport_priority\" QoS and " + "this QoS is used to select a channel for use by this writer. The " + "selected channel is the one with the largest threshold not greater " + "than the writer's transport priority, and if no such channel exists, " + "the channel with the lowest threshold.

    " + )), + END_MARKER +}; + +static struct cfgelem channels_cfgelems[] = { + GROUP("Channel", channel_cfgelems, channel_cfgattrs, INT_MAX, + MEMBER(channels), + FUNCTIONS(if_channel, 0, 0, 0), + DESCRIPTION("

    This element defines a channel.

    ")), + END_MARKER +}; +#endif /* DDS_HAS_NETWORK_CHANNELS */ + +static struct cfgelem thread_properties_sched_cfgelems[] = { + ENUM("Class", NULL, 1, "default", + MEMBEROF(ddsi_config_thread_properties_listelem, sched_class), + FUNCTIONS(0, uf_sched_class, 0, pf_sched_class), + DESCRIPTION( + "

    This element specifies the thread scheduling class " + "(realtime, timeshare or default). The user may " + "need special privileges from the underlying operating system to be " + "able to assign some of the privileged scheduling classes.

    "), + VALUES("realtime","timeshare","default")), + STRING("Priority", NULL, 1, "default", + MEMBEROF(ddsi_config_thread_properties_listelem, schedule_priority), + FUNCTIONS(0, uf_maybe_int32, 0, pf_maybe_int32), + DESCRIPTION( + "

    This element specifies the thread priority (decimal integer or " + "default). Only priorities that are supported by the underlying " + "operating system can be assigned to this element. The user may need " + "special privileges from the underlying operating system to be able to " + "assign some of the privileged priorities.

    " + )), + END_MARKER +}; + +static struct cfgelem thread_properties_cfgattrs[] = { + STRING("Name", NULL, 1, NULL, + MEMBEROF(ddsi_config_thread_properties_listelem, name), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    The Name of the thread for which properties are being set. The " + "following threads exist:

    \n" + "
      \n" + "
    • gc: " + "garbage collector thread involved in deleting entities;
      • \n" + "
    • recv: " + "receive thread, taking data from the network and running the protocol " + "state machine;
      • \n" + "
    • dq.builtins: " + "delivery thread for DDSI-builtin data, primarily for discovery;
      • \n" + "
    • lease: " + "DDSI liveliness monitoring;
      • \n" + "
    • tev: " + "general timed-event handling, retransmits and discovery;
      • \n" + "
    • fsm: " + "finite state machine thread for handling security handshake;
      • \n" + "
    • xmit.CHAN: " + "transmit thread for channel CHAN;
      • \n" + "
    • dq.CHAN: " + "delivery thread for channel CHAN;
      • \n" + "
    • tev.CHAN: " + "timed-event thread for channel CHAN.
    " + )), + END_MARKER +}; + +static struct cfgelem thread_properties_cfgelems[] = { + GROUP("Scheduling", thread_properties_sched_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    This element configures the scheduling properties of the thread.

    " + )), + STRING("StackSize", NULL, 1, "default", + MEMBEROF(ddsi_config_thread_properties_listelem, stack_size), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This element configures the stack size for this thread. The " + "default value default leaves the stack size at the operating " + "system default.

    "), + UNIT("memsize")), + END_MARKER +}; + +static struct cfgelem threads_cfgelems[] = { + GROUP("Thread", thread_properties_cfgelems, thread_properties_cfgattrs, INT_MAX, + MEMBER(thread_properties), + FUNCTIONS(if_thread_properties, 0, 0, 0), + DESCRIPTION("

    This element is used to set thread properties.

    ")), + END_MARKER +}; + +static struct cfgelem compatibility_cfgelems[] = { + ENUM("StandardsConformance", NULL, 1, "lax", + MEMBER(standards_conformance), + FUNCTIONS(0, uf_standards_conformance, 0, pf_standards_conformance), + DESCRIPTION( + "

    This element sets the level of standards conformance of this " + "instance of the Cyclone DDS Service. Stricter conformance typically means " + "less interoperability with other implementations. Currently three " + "modes are defined:

    \n" + "
    • pedantic: very strictly conform to the specification, " + "ultimately for compliancy testing, but currently of little value " + "because it adheres even to what will most likely turn out to be " + "editing errors in the DDSI standard. Arguably, as long as no errata " + "have been published it is the current text that is in effect, and " + "that is what pedantic currently does.
      • \n" + "
    • strict: a slightly less strict view of the standard than " + "does pedantic: it follows the established behaviour where the " + "standard is obviously in error.
      • \n" + "
    • lax: attempt to provide the smoothest possible " + "interoperability, anticipating future revisions of elements in the " + "standard in areas that other implementations do not adhere to, even " + "though there is no good reason not to.
    "), + VALUES("lax","strict","pedantic")), + BOOL("ExplicitlyPublishQosSetToDefault", NULL, 1, "false", + MEMBER(explicitly_publish_qos_set_to_default), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element specifies whether QoS settings set to default values " + "are explicitly published in the discovery protocol. Implementations " + "are to use the default value for QoS settings not published, which " + "allows a significant reduction of the amount of data that needs to be " + "exchanged for the discovery protocol, but this requires all " + "implementations to adhere to the default values specified by the " + "specifications.

    \n" + "

    When interoperability is required with an implementation that does " + "not follow the specifications in this regard, setting this option to " + "true will help.

    " + )), + ENUM("ManySocketsMode", NULL, 1, "single", + MEMBER(many_sockets_mode), + FUNCTIONS(0, uf_many_sockets_mode, 0, pf_many_sockets_mode), + DESCRIPTION( + "

    This option specifies whether a network socket will be created for " + "each domain participant on a host. The specification seems to assume " + "that each participant has a unique address, and setting this option " + "will ensure this to be the case. This is not the default.

    \n" + "

    Disabling it slightly improves performance and reduces network " + "traffic somewhat. It also causes the set of port numbers needed by " + "Cyclone DDS to become predictable, which may be useful for firewall and " + "NAT configuration.

    "), + VALUES("false","true","single","none","many")), + BOOL("AssumeRtiHasPmdEndpoints", NULL, 1, "false", + MEMBER(assume_rti_has_pmd_endpoints), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This option assumes ParticipantMessageData endpoints required by " + "the liveliness protocol are present in RTI participants even when not " + "properly advertised by the participant discovery protocol.

    " + )), + END_MARKER +}; + +static struct cfgelem internal_test_cfgelems[] = { + INT("XmitLossiness", NULL, 1, "0", + MEMBER(xmit_lossiness), + FUNCTIONS(0, uf_int, 0, pf_int), + DESCRIPTION( + "

    This element controls the fraction of outgoing packets to drop, " + "specified as samples per thousand.

    " + )), + END_MARKER +}; + +static struct cfgelem internal_watermarks_cfgelems[] = { + STRING("WhcLow", NULL, 1, "1 kB", + MEMBER(whc_lowwater_mark), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This element sets the low-water mark for the Cyclone DDS WHCs, " + "expressed in bytes. A suspended writer resumes transmitting when its " + "Cyclone DDS WHC shrinks to this size.

    "), + UNIT("memsize")), + STRING("WhcHigh", NULL, 1, "500 kB", + MEMBER(whc_highwater_mark), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This element sets the maximum allowed high-water mark for the " + "Cyclone DDS WHCs, expressed in bytes. A writer is suspended when the WHC " + "reaches this size.

    "), + UNIT("memsize")), + STRING("WhcHighInit", NULL, 1, "30 kB", + MEMBER(whc_init_highwater_mark), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This element sets the initial level of the high-water mark for the " + "Cyclone DDS WHCs, expressed in bytes.

    "), + UNIT("memsize")), + BOOL("WhcAdaptive|WhcAdaptative", NULL, 1, "true", + MEMBER(whc_adaptive), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether Cyclone DDS will adapt the high-water " + "mark to current traffic conditions, based on retransmit requests and " + "transmit pressure.

    " + )), + END_MARKER +}; + +static struct cfgelem internal_burstsize_cfgelems[] = { + STRING("MaxRexmit", NULL, 1, "1 MiB", + MEMBER(max_rexmit_burst_size), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This element specifies the amount of data to be retransmitted in " + "response to one NACK.

    "), + UNIT("memsize")), + STRING("MaxInitTransmit", NULL, 1, "4294967295", + MEMBER(init_transmit_extra_pct), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element specifies how much more than the (presumed or discovered) " + "receive buffer size may be sent when transmitting a sample for the first " + "time, expressed as a percentage; the remainder will then be handled via " + "retransmits. Usually the receivers can keep up with transmitter, at least " + "on average, and so generally it is better to hope for the best and recover. " + "Besides, the retransmits will be unicast, and so any multicast advantage " + "will be lost as well.

    "), + UNIT("memsize")), + END_MARKER +}; + +static struct cfgelem control_topic_cfgattrs[] = { + BOOL(DEPRECATED("Enable"), NULL, 1, "false", + MEMBER(enable_control_topic), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether Cyclone DDS should create a topic to " + "control Cyclone DDS's behaviour dynamically.

    ")), + STRING(DEPRECATED("InitialReset"), NULL, 1, "inf", + MEMBER(initial_deaf_mute_reset), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This element controls after how much time an initial deaf/mute " + "state will automatically reset.

    ")), + END_MARKER +}; + +static struct cfgelem control_topic_cfgelems[] = { + BOOL(DEPRECATED("Deaf"), NULL, 1, "false", + MEMBER(initial_deaf), + FUNCTIONS(0, uf_deaf_mute, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether Cyclone DDS defaults to deaf mode or to " + "normal mode. This controls both the initial behaviour and what " + "behaviour it auto-reverts to.

    ")), + BOOL(DEPRECATED("Mute"), NULL, 1, "false", + MEMBER(initial_mute), + FUNCTIONS(0, uf_deaf_mute, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether Cyclone DDS defaults to mute mode or to " + "normal mode. This controls both the initial behaviour and what " + "behaviour it auto-reverts to.

    ")), + END_MARKER +}; + +static struct cfgelem rediscovery_blacklist_duration_attrs[] = { + BOOL("enforce", NULL, 1, "false", + MEMBER(prune_deleted_ppant.enforce_delay), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This attribute controls whether the configured time during which " + "recently deleted participants will not be rediscovered (i.e., \"black " + "listed\") is enforced and following complete removal of the " + "participant in Cyclone DDS, or whether it can be rediscovered earlier " + "provided all traces of that participant have been removed already.

    " + )), + END_MARKER +}; + +static struct cfgelem heartbeat_interval_attrs[] = { + STRING("min", NULL, 1, "5 ms", + MEMBER(const_hb_intv_min), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This attribute sets the minimum interval that must have passed " + "since the most recent heartbeat from a writer, before another " + "asynchronous (not directly related to writing) will be sent.

    "), + UNIT("duration_inf")), + STRING("minsched", NULL, 1, "20 ms", + MEMBER(const_hb_intv_sched_min), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This attribute sets the minimum interval for periodic heartbeats. " + "Other events may still cause heartbeats to go out.

    "), + UNIT("duration_inf")), + STRING("max", NULL, 1, "8 s", + MEMBER(const_hb_intv_sched_max), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This attribute sets the maximum interval for periodic heartbeats.

    "), + UNIT("duration_inf")), + END_MARKER +}; + +static struct cfgelem liveliness_monitoring_attrs[] = { + BOOL("StackTraces", NULL, 1, "true", + MEMBER(noprogress_log_stacktraces), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether or not to write stack traces to the " + "DDSI2 trace when a thread fails to make progress (on select platforms " + "only).

    ")), + STRING("Interval", NULL, 1, "1s", + MEMBER(liveliness_monitoring_interval), + FUNCTIONS(0, uf_duration_100ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This element controls the interval at which to check whether " + "threads have been making progress.

    "), + UNIT("duration"), + RANGE("100ms;1hr")), + END_MARKER +}; + +static struct cfgelem multiple_recv_threads_attrs[] = { + INT("maxretries", NULL, 1, "4294967295", + MEMBER(recv_thread_stop_maxretries), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    Receive threads dedicated to a single socket can only be triggered " + "for termination by sending a packet. Reception of any packet will do, " + "so termination failure due to packet loss is exceedingly unlikely, " + "but to eliminate all risks, it will retry as many times as specified " + "by this attribute before aborting.

    " + )), + END_MARKER +}; + +static struct cfgelem sock_rcvbuf_size_attrs[] = { + STRING("min", NULL, 1, "default", + MEMBER(socket_rcvbuf_size.min), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This sets the minimum acceptable socket receive buffer size, " + "with the special value \"default\" indicating that whatever is " + "available is acceptable.

    "), + UNIT("memsize")), + STRING("max", NULL, 1, "default", + MEMBER(socket_rcvbuf_size.max), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This sets the size of the socket receive buffer to request, " + "with the special value of \"default\" indicating that it should " + "try to satisfy the minimum buffer size. If both are at \"default\", " + "it will request 1MiB and accept anything. If the maximum is set " + "to less than the minimum, it is ignored.

    "), + UNIT("memsize")), + END_MARKER +}; + +static struct cfgelem sock_sndbuf_size_attrs[] = { + STRING("min", NULL, 1, "64 KiB", + MEMBER(socket_sndbuf_size.min), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This sets the minimum acceptable socket send buffer size, " + "with the special value \"default\" indicating that whatever is " + "available is acceptable.

    "), + UNIT("memsize")), + STRING("max", NULL, 1, "default", + MEMBER(socket_sndbuf_size.max), + FUNCTIONS(0, uf_maybe_memsize, 0, pf_maybe_memsize), + DESCRIPTION( + "

    This sets the size of the socket send buffer to request, " + "with the special value of \"default\" indicating that it should " + "try to satisfy the minimum buffer size. If both are at \"default\", " + "it will use whatever is the system default. If the maximum is set " + "to less than the minimum, it is ignored.

    "), + UNIT("memsize")), + END_MARKER +}; + +static struct cfgelem internal_cfgelems[] = { + MOVED("MaxMessageSize", "CycloneDDS/Domain/General/MaxMessageSize"), + MOVED("FragmentSize", "CycloneDDS/Domain/General/FragmentSize"), + INT("DeliveryQueueMaxSamples", NULL, 1, "256", + MEMBER(delivery_queue_maxsamples), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element controls the maximum size of a delivery queue, " + "expressed in samples. Once a delivery queue is full, incoming samples " + "destined for that queue are dropped until space becomes available " + "again.

    ")), + INT("PrimaryReorderMaxSamples", NULL, 1, "128", + MEMBER(primary_reorder_maxsamples), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element sets the maximum size in samples of a primary " + "re-order administration. Each proxy writer has one primary re-order " + "administration to buffer the packet flow in case some packets arrive " + "out of order. Old samples are forwarded to secondary re-order " + "administrations associated with readers in need of historical " + "data.

    ")), + INT("SecondaryReorderMaxSamples", NULL, 1, "128", + MEMBER(secondary_reorder_maxsamples), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element sets the maximum size in samples of a secondary " + "re-order administration. The secondary re-order administration is per " + "reader in need of historical data.

    ")), + INT("DefragUnreliableMaxSamples", NULL, 1, "4", + MEMBER(defrag_unreliable_maxsamples), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element sets the maximum number of samples that can be " + "defragmented simultaneously for a best-effort writers.

    ")), + INT("DefragReliableMaxSamples", NULL, 1, "16", + MEMBER(defrag_reliable_maxsamples), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element sets the maximum number of samples that can be " + "defragmented simultaneously for a reliable writer. This has to be " + "large enough to handle retransmissions of historical data in addition " + "to new samples.

    ")), + ENUM("BuiltinEndpointSet", NULL, 1, "writers", + MEMBER(besmode), + FUNCTIONS(0, uf_besmode, 0, pf_besmode), + DESCRIPTION( + "

    This element controls which participants will have which built-in " + "endpoints for the discovery and liveliness protocols. Valid values " + "are:

    \n" + "
    • full: all participants have all endpoints;
      • \n" + "
    • writers: " + "all participants have the writers, but just one has the readers;
      • \n" + "
    • minimal: " + "only one participant has built-in endpoints.
    \n" + "

    The default is writers, as this is thought to be compliant " + "and reasonably efficient. Minimal may or may not be compliant " + "but is most efficient, and full is inefficient but certain to " + "be compliant. See also Internal/ConservativeBuiltinReaderStartup.

    "), + VALUES("full","writers","minimal")), + BOOL("MeasureHbToAckLatency", NULL, 1, "false", + MEMBER(meas_hb_to_ack_latency), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element enables heartbeat-to-ack latency among Cyclone DDS " + "services by prepending timestamps to Heartbeat and AckNack messages " + "and calculating round trip times. This is non-standard behaviour. The " + "measured latencies are quite noisy and are currently not used " + "anywhere.

    ")), + BOOL("UnicastResponseToSPDPMessages", NULL, 1, "true", + MEMBER(unicast_response_to_spdp_messages), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether the response to a newly discovered " + "participant is sent as a unicasted SPDP packet, instead of " + "rescheduling the periodic multicasted one. There is no known benefit " + "to setting this to false.

    ")), + INT("SynchronousDeliveryPriorityThreshold", NULL, 1, "0", + MEMBER(synchronous_delivery_priority_threshold), + FUNCTIONS(0, uf_int, 0, pf_int), + DESCRIPTION( + "

    This element controls whether samples sent by a writer with QoS " + "settings latency_budget <= SynchronousDeliveryLatencyBound and " + "transport_priority greater than or equal to this element's value will " + "be delivered synchronously from the \"recv\" thread, all others will " + "be delivered asynchronously through delivery queues. This reduces " + "latency at the expense of aggregate bandwidth.

    ")), + STRING("SynchronousDeliveryLatencyBound", NULL, 1, "inf", + MEMBER(synchronous_delivery_latency_bound), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This element controls whether samples sent by a writer with QoS " + "settings transport_priority >= SynchronousDeliveryPriorityThreshold " + "and a latency_budget at most this element's value will be delivered " + "synchronously from the \"recv\" thread, all others will be delivered " + "asynchronously through delivery queues. This reduces latency at the " + "expense of aggregate bandwidth.

    "), + UNIT("duration_inf")), + INT("MaxParticipants", NULL, 1, "0", + MEMBER(max_participants), + FUNCTIONS(0, uf_natint, 0, pf_int), + DESCRIPTION( + "

    This elements configures the maximum number of DCPS domain " + "participants this Cyclone DDS instance is willing to service. 0 is " + "unlimited.

    ")), + INT("AccelerateRexmitBlockSize", NULL, 1, "0", + MEMBER(accelerate_rexmit_block_size), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    Proxy readers that are assumed to sill be retrieving historical " + "data get this many samples retransmitted when they NACK something, " + "even if some of these samples have sequence numbers outside the set " + "covered by the NACK.

    ")), + ENUM("RetransmitMerging", NULL, 1, "never", + MEMBER(retransmit_merging), + FUNCTIONS(0, uf_retransmit_merging, 0, pf_retransmit_merging), + DESCRIPTION( + "

    This elements controls the addressing and timing of retransmits. " + "Possible values are:

    \n" + "
    • never: retransmit only to the NACK-ing reader;
      • \n" + "
    • adaptive: attempt to combine retransmits needed for " + "reliability, but send historical (transient-local) data to the " + "requesting reader only;
      • \n" + "
    • always: do not distinguish between different causes, " + "always try to merge.
    \n" + "

    The default is never. See also " + "Internal/RetransmitMergingPeriod.

    "), + VALUES("never","adaptive","always")), + STRING("RetransmitMergingPeriod", NULL, 1, "5 ms", + MEMBER(retransmit_merging_period), + FUNCTIONS(0, uf_duration_us_1s, 0, pf_duration), + DESCRIPTION( + "

    This setting determines the size of the time window in which a " + "NACK of some sample is ignored because a retransmit of that sample " + "has been multicasted too recently. This setting has no effect on " + "unicasted retransmits.

    \n" + "

    See also Internal/RetransmitMerging.

    "), + UNIT("duration"), + RANGE("0;1s")), + STRING("HeartbeatInterval", heartbeat_interval_attrs, 1, "100 ms", + MEMBER(const_hb_intv_sched), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This element allows configuring the base interval for sending " + "writer heartbeats and the bounds within which it can vary.

    "), + UNIT("duration_inf")), + STRING("MaxQueuedRexmitBytes", NULL, 1, "512 kB", + MEMBER(max_queued_rexmit_bytes), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This setting limits the maximum number of bytes queued for " + "retransmission. The default value of 0 is unlimited unless an " + "AuxiliaryBandwidthLimit has been set, in which case it becomes " + "NackDelay * AuxiliaryBandwidthLimit. It must be large enough to " + "contain the largest sample that may need to be retransmitted.

    "), + UNIT("memsize")), + INT("MaxQueuedRexmitMessages", NULL, 1, "200", + MEMBER(max_queued_rexmit_msgs), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This settings limits the maximum number of samples queued for " + "retransmission.

    " + )), + MOVED("LeaseDuration", "CycloneDDS/Domain/Discovery/LeaseDuration"), + STRING("WriterLingerDuration", NULL, 1, "1 s", + MEMBER(writer_linger_duration), + FUNCTIONS(0, uf_duration_ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This setting controls the maximum duration for which actual " + "deletion of a reliable writer with unacknowledged data in its history " + "will be postponed to provide proper reliable transmission.

    "), + UNIT("duration")), + MOVED("MinimumSocketReceiveBufferSize", "CycloneDDS/Domain/Internal/SocketReceiveBufferSize[@min]"), + MOVED("MinimumSocketSendBufferSize", "CycloneDDS/Domain/Internal/SocketSendBufferSize[@min]"), + GROUP("SocketReceiveBufferSize", NULL, sock_rcvbuf_size_attrs, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The settings in this element control the size of the socket receive buffers. " + "The operating system provides some size receive buffer upon creation " + "of the socket, this option can be used to increase the size of the " + "buffer beyond that initially provided by the operating system. If the " + "buffer size cannot be increased to the requested minimum size, an error is " + "reported.

    \n" + "

    The default setting requests a buffer size of 1MiB but accepts whatever " + "is available after that.

    ")), + GROUP("SocketSendBufferSize", NULL, sock_sndbuf_size_attrs, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The settings in this element control the size of the socket send buffers. " + "The operating system provides some size send buffer upon creation " + "of the socket, this option can be used to increase the size of the " + "buffer beyond that initially provided by the operating system. If the " + "buffer size cannot be increased to the requested minimum size, an error is " + "reported.

    \n" + "

    The default setting requires a buffer of at least 64KiB.

    ")), + STRING("NackDelay", NULL, 1, "100 ms", + MEMBER(nack_delay), + FUNCTIONS(0, uf_duration_ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This setting controls the delay between receipt of a HEARTBEAT " + "indicating missing samples and a NACK (ignored when the HEARTBEAT " + "requires an answer). However, no NACK is sent if a NACK had been " + "scheduled already for a response earlier than the delay requests: " + "then that NACK will incorporate the latest information.

    "), + UNIT("duration")), + STRING("AckDelay", NULL, 1, "10 ms", + MEMBER(ack_delay), + FUNCTIONS(0, uf_duration_ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This setting controls the delay between sending identical " + "acknowledgements.

    "), + UNIT("duration")), + STRING("AutoReschedNackDelay", NULL, 1, "3 s", + MEMBER(auto_resched_nack_delay), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This setting controls the interval with which a reader will " + "continue NACK'ing missing samples in the absence of a response from " + "the writer, as a protection mechanism against writers incorrectly " + "stopping the sending of HEARTBEAT messages.

    "), + UNIT("duration_inf")), + STRING("PreEmptiveAckDelay", NULL, 1, "10 ms", + MEMBER(preemptive_ack_delay), + FUNCTIONS(0, uf_duration_ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This setting controls the delay between the discovering a remote " + "writer and sending a pre-emptive AckNack to discover the range of " + "data available.

    "), + UNIT("duration")), + STRING("ScheduleTimeRounding", NULL, 1, "0 ms", + MEMBER(schedule_time_rounding), + FUNCTIONS(0, uf_duration_ms_1hr, 0, pf_duration), + DESCRIPTION( + "

    This setting allows the timing of scheduled events to be rounded " + "up so that more events can be handled in a single cycle of the event " + "queue. The default is 0 and causes no rounding at all, i.e. are " + "scheduled exactly, whereas a value of 10ms would mean that events are " + "rounded up to the nearest 10 milliseconds.

    "), + UNIT("duration")), +#ifdef DDS_HAS_BANDWIDTH_LIMITING + STRING("AuxiliaryBandwidthLimit", NULL, 1, "inf", + MEMBER(auxiliary_bandwidth_limit), + FUNCTIONS(0, uf_bandwidth, 0, pf_bandwidth), + DESCRIPTION( + "

    This element specifies the maximum transmit rate of auxiliary " + "traffic not bound to a specific channel, such as discovery traffic, " + "as well as auxiliary traffic related to a certain channel if that " + "channel has elected to share this global AuxiliaryBandwidthLimit. " + "Bandwidth limiting uses a leaky bucket scheme. The default value " + "\"inf\" means Cyclone DDS imposes no limitation, the underlying operating " + "system and hardware will likely limit the maximum transmit rate.

    " + ), + BEHIND_FLAG("DDS_HAS_BANDWIDTH_LIMITING") + ), +#endif + INT("DDSI2DirectMaxThreads", NULL, 1, "1", + MEMBER(ddsi2direct_max_threads), + FUNCTIONS(0, uf_uint, 0, pf_uint), + DESCRIPTION( + "

    This element sets the maximum number of extra threads for an " + "experimental, undocumented and unsupported direct mode.

    ")), + BOOL("SquashParticipants", NULL, 1, "false", + MEMBER(squash_participants), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether Cyclone DDS advertises all the domain " + "participants it serves in DDSI (when set to false), or rather " + "only one domain participant (the one corresponding to the Cyclone DDS " + "process; when set to true). In the latter case Cyclone DDS becomes " + "the virtual owner of all readers and writers of all domain " + "participants, dramatically reducing discovery traffic (a similar " + "effect can be obtained by setting Internal/BuiltinEndpointSet to " + "\"minimal\" but with less loss of information).

    " + )), + STRING("SPDPResponseMaxDelay", NULL, 1, "0 ms", + MEMBER(spdp_response_delay_max), + FUNCTIONS(0, uf_duration_ms_1s, 0, pf_duration), + DESCRIPTION( + "

    Maximum pseudo-random delay in milliseconds between discovering a" + "remote participant and responding to it.

    "), + UNIT("duration")), + BOOL("LateAckMode", NULL, 1, "false", + MEMBER(late_ack_mode), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    Ack a sample only when it has been delivered, instead of when " + "committed to delivering it.

    ")), + BOOL("RetryOnRejectBestEffort", NULL, 1, "false", + MEMBER(retry_on_reject_besteffort), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    Whether or not to locally retry pushing a received best-effort " + "sample into the reader caches when resource limits are reached.

    ")), + BOOL("GenerateKeyhash", NULL, 1, "false", + MEMBER(generate_keyhash), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    When true, include keyhashes in outgoing data for topics with " + "keys.

    " + )), + STRING("MaxSampleSize", NULL, 1, "2147483647 B", + MEMBER(max_sample_size), + FUNCTIONS(0, uf_memsize, 0, pf_memsize), + DESCRIPTION( + "

    This setting controls the maximum (CDR) serialised size of samples " + "that Cyclone DDS will forward in either direction. Samples larger than " + "this are discarded with a warning.

    "), + UNIT("memsize")), + BOOL("WriteBatch", NULL, 1, "false", + MEMBER(whc_batch), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element enables the batching of write operations. By default " + "each write operation writes through the write cache and out onto the " + "transport. Enabling write batching causes multiple small write " + "operations to be aggregated within the write cache into a single " + "larger write. This gives greater throughput at the expense of " + "latency. Currently there is no mechanism for the write cache to " + "automatically flush itself, so that if write batching is enabled, " + "the application may have to use the dds_write_flush function to " + "ensure that all samples are written.

    " + )), + BOOL("LivelinessMonitoring", liveliness_monitoring_attrs, 1, "false", + MEMBER(liveliness_monitoring), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether or not implementation should " + "internally monitor its own liveliness. If liveliness monitoring is " + "enabled, stack traces can be dumped automatically when some thread " + "appears to have stopped making progress.

    " + )), + INT("MonitorPort", NULL, 1, "-1", + MEMBER(monitor_port), + FUNCTIONS(0, uf_int, 0, pf_int), + DESCRIPTION( + "

    This element allows configuring a service that dumps a text " + "description of part the internal state to TCP clients. By default " + "(-1), this is disabled; specifying 0 means a kernel-allocated port is " + "used; a positive number is used as the TCP port number.

    " + )), + STRING(DEPRECATED("AssumeMulticastCapable"), NULL, 1, "", + MEMBER(depr_assumeMulticastCapable), + FUNCTIONS(0, uf_string, ff_free, pf_string), + DESCRIPTION( + "

    Deprecated, use General/Interfaces/NetworkInterface[@multicast] instead. " + "This element controls which network interfaces are assumed to be " + "capable of multicasting even when the interface flags returned by the " + "operating system state it is not (this provides a workaround for some " + "platforms). It is a comma-separated lists of patterns (with ? and * " + "wildcards) against which the interface names are matched.

    " + )), + BOOL("PrioritizeRetransmit", NULL, 1, "true", + MEMBER(prioritize_retransmit), + FUNCTIONS(0, uf_boolean, 0, pf_boolean), + DESCRIPTION( + "

    This element controls whether retransmits are prioritized over new " + "data, speeding up recovery.

    " + )), + INT("UseMulticastIfMreqn", NULL, 1, "0", + MEMBER(use_multicast_if_mreqn), + FUNCTIONS(0, uf_int, 0, pf_int), + DESCRIPTION("

    Do not use.

    ")), + STRING("RediscoveryBlacklistDuration", rediscovery_blacklist_duration_attrs, 1, "0s", + MEMBER(prune_deleted_ppant.delay), + FUNCTIONS(0, uf_duration_inf, 0, pf_duration), + DESCRIPTION( + "

    This element controls for how long a remote participant that was " + "previously deleted will remain on a blacklist to prevent rediscovery, " + "giving the software on a node time to perform any cleanup actions it " + "needs to do. To some extent this delay is required internally by " + "Cyclone DDS, but in the default configuration with the 'enforce' attribute " + "set to false, Cyclone DDS will reallow rediscovery as soon as it has " + "cleared its internal administration. Setting it to too small a value " + "may result in the entry being pruned from the blacklist before Cyclone DDS " + "is ready, it is therefore recommended to set it to at least several " + "seconds.

    "), + UNIT("duration_inf")), + ENUM("MultipleReceiveThreads", multiple_recv_threads_attrs, 1, "default", + MEMBER(multiple_recv_threads), + FUNCTIONS(0, uf_boolean_default, 0, pf_boolean_default), + DESCRIPTION( + "

    This element controls whether all traffic is handled by a single " + "receive thread (false) or whether multiple receive threads may be used " + "to improve latency (true). By default it is disabled on Windows because " + "it appears that one cannot count on being able to send packets to " + "oneself, which is necessary to stop the thread during shutdown. " + "Currently multiple receive threads are only used for connectionless " + "transport (e.g., UDP) and ManySocketsMode not set to single (the " + "default).

    "), + VALUES("false","true","default")), + GROUP("ControlTopic", control_topic_cfgelems, control_topic_cfgattrs, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION( + "

    The ControlTopic element allows configured whether Cyclone DDS provides " + "a special control interface via a predefined topic or not.

    " + )), + GROUP("Test", internal_test_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION("

    Testing options.

    ")), + GROUP("Watermarks", internal_watermarks_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION("

    Watermarks for flow-control.

    ")), + GROUP("BurstSize", internal_burstsize_cfgelems, NULL, 1, + NOMEMBER, + NOFUNCTIONS, + DESCRIPTION("

    Setting for controlling the size of transmit bursts.

    ")), + LIST("EnableExpensiveChecks", NULL, 1, "", + MEMBER(enabled_xchecks), + FUNCTIONS(0, uf_xcheck, 0, pf_xcheck), + DESCRIPTION( + "

    This element enables expensive checks in builds with assertions " + "enabled and is ignored otherwise. Recognised categories are:

    \n" + "

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