74 lines
2.8 KiB
Python
Executable File
74 lines
2.8 KiB
Python
Executable File
"""LCM type definitions
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This file automatically generated by lcm.
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DO NOT MODIFY BY HAND!!!!
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"""
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try:
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import cStringIO.StringIO as BytesIO
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except ImportError:
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from io import BytesIO
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import struct
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class robot_control_response_lcmt(object):
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__slots__ = ["mode", "gait_id", "contact", "order_process_bar", "switch_status", "ori_error", "footpos_error", "motor_error"]
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__typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int16_t", "int32_t"]
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__dimensions__ = [None, None, None, None, None, None, None, [12]]
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def __init__(self):
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self.mode = 0
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self.gait_id = 0
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self.contact = 0
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self.order_process_bar = 0
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self.switch_status = 0
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self.ori_error = 0
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self.footpos_error = 0
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self.motor_error = [ 0 for dim0 in range(12) ]
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def encode(self):
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buf = BytesIO()
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buf.write(robot_control_response_lcmt._get_packed_fingerprint())
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self._encode_one(buf)
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return buf.getvalue()
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def _encode_one(self, buf):
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buf.write(struct.pack(">bbbbbbh", self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error))
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buf.write(struct.pack('>12i', *self.motor_error[:12]))
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def decode(data):
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if hasattr(data, 'read'):
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buf = data
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else:
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buf = BytesIO(data)
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if buf.read(8) != robot_control_response_lcmt._get_packed_fingerprint():
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raise ValueError("Decode error")
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return robot_control_response_lcmt._decode_one(buf)
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decode = staticmethod(decode)
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def _decode_one(buf):
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self = robot_control_response_lcmt()
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self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error = struct.unpack(">bbbbbbh", buf.read(8))
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self.motor_error = struct.unpack('>12i', buf.read(48))
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return self
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_decode_one = staticmethod(_decode_one)
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def _get_hash_recursive(parents):
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if robot_control_response_lcmt in parents: return 0
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tmphash = (0x485da98216eda8c7) & 0xffffffffffffffff
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tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
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return tmphash
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_get_hash_recursive = staticmethod(_get_hash_recursive)
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_packed_fingerprint = None
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def _get_packed_fingerprint():
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if robot_control_response_lcmt._packed_fingerprint is None:
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robot_control_response_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_response_lcmt._get_hash_recursive([]))
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return robot_control_response_lcmt._packed_fingerprint
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_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
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def get_hash(self):
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"""Get the LCM hash of the struct"""
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return struct.unpack(">Q", robot_control_response_lcmt._get_packed_fingerprint())[0]
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