别人克隆后没有 install，source 会直接失败。把展开后的 install 放进仓库，符号链接和指向本机 build 的 egg-link 收成真实文件，Python 入口改走当前环境的解释器，这样不用先 colcon build 也能启动。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+3
@@ -0,0 +1,3 @@
|
||||
Metadata-Version: 2.4
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||||
Name: flexiv_msgs
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Version: 1.9.1
|
||||
+15
@@ -0,0 +1,15 @@
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||||
setup.py
|
||||
flexiv_msgs/__init__.py
|
||||
flexiv_msgs.egg-info/PKG-INFO
|
||||
flexiv_msgs.egg-info/SOURCES.txt
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||||
flexiv_msgs.egg-info/dependency_links.txt
|
||||
flexiv_msgs.egg-info/top_level.txt
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||||
flexiv_msgs/action/__init__.py
|
||||
flexiv_msgs/action/_grasp.py
|
||||
flexiv_msgs/action/_move.py
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||||
flexiv_msgs/msg/__init__.py
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||||
flexiv_msgs/msg/_digital.py
|
||||
flexiv_msgs/msg/_gpio_states.py
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||||
flexiv_msgs/msg/_joint_pos_vel.py
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flexiv_msgs/msg/_mode.py
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||||
flexiv_msgs/msg/_robot_states.py
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||||
+1
@@ -0,0 +1 @@
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+1
@@ -0,0 +1 @@
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flexiv_msgs
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+3317
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Load Diff
+3317
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Load Diff
+3317
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Load Diff
@@ -0,0 +1,2 @@
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from flexiv_msgs.action._grasp import Grasp # noqa: F401
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from flexiv_msgs.action._move import Move # noqa: F401
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,975 @@
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||||
// generated from rosidl_generator_py/resource/_idl_support.c.em
|
||||
// with input from flexiv_msgs:action/Grasp.idl
|
||||
// generated code does not contain a copyright notice
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
#include <Python.h>
|
||||
#include <stdbool.h>
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
#include "numpy/ndarrayobject.h"
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
#include "rosidl_runtime_c/visibility_control.h"
|
||||
#include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
#include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__goal__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[37];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_Goal", full_classname_dest, 36) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Goal * ros_message = _ros_message;
|
||||
{ // force
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "force");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyFloat_Check(field));
|
||||
ros_message->force = PyFloat_AS_DOUBLE(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__goal__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_Goal */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_Goal");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Goal * ros_message = (flexiv_msgs__action__Grasp_Goal *)raw_ros_message;
|
||||
{ // force
|
||||
PyObject * field = NULL;
|
||||
field = PyFloat_FromDouble(ros_message->force);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "force", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
#include "rosidl_runtime_c/string.h"
|
||||
#include "rosidl_runtime_c/string_functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__result__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[39];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_Result", full_classname_dest, 38) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Result * ros_message = _ros_message;
|
||||
{ // success
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "success");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyBool_Check(field));
|
||||
ros_message->success = (Py_True == field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // error
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "error");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyUnicode_Check(field));
|
||||
PyObject * encoded_field = PyUnicode_AsUTF8String(field);
|
||||
if (!encoded_field) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
rosidl_runtime_c__String__assign(&ros_message->error, PyBytes_AS_STRING(encoded_field));
|
||||
Py_DECREF(encoded_field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__result__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_Result */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_Result");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Result * ros_message = (flexiv_msgs__action__Grasp_Result *)raw_ros_message;
|
||||
{ // success
|
||||
PyObject * field = NULL;
|
||||
field = PyBool_FromLong(ros_message->success ? 1 : 0);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "success", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // error
|
||||
PyObject * field = NULL;
|
||||
field = PyUnicode_DecodeUTF8(
|
||||
ros_message->error.data,
|
||||
strlen(ros_message->error.data),
|
||||
"replace");
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "error", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__feedback__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[41];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_Feedback", full_classname_dest, 40) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Feedback * ros_message = _ros_message;
|
||||
{ // current_width
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "current_width");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyFloat_Check(field));
|
||||
ros_message->current_width = PyFloat_AS_DOUBLE(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // current_force
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "current_force");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyFloat_Check(field));
|
||||
ros_message->current_force = PyFloat_AS_DOUBLE(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // moving
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "moving");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyBool_Check(field));
|
||||
ros_message->moving = (Py_True == field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__feedback__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_Feedback */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_Feedback");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_Feedback * ros_message = (flexiv_msgs__action__Grasp_Feedback *)raw_ros_message;
|
||||
{ // current_width
|
||||
PyObject * field = NULL;
|
||||
field = PyFloat_FromDouble(ros_message->current_width);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "current_width", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // current_force
|
||||
PyObject * field = NULL;
|
||||
field = PyFloat_FromDouble(ros_message->current_force);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "current_force", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // moving
|
||||
PyObject * field = NULL;
|
||||
field = PyBool_FromLong(ros_message->moving ? 1 : 0);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "moving", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
bool unique_identifier_msgs__msg__uuid__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
PyObject * unique_identifier_msgs__msg__uuid__convert_to_py(void * raw_ros_message);
|
||||
bool flexiv_msgs__action__grasp__goal__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
PyObject * flexiv_msgs__action__grasp__goal__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__send_goal__request__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[49];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_SendGoal_Request", full_classname_dest, 48) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_SendGoal_Request * ros_message = _ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "goal_id");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!unique_identifier_msgs__msg__uuid__convert_from_py(field, &ros_message->goal_id)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // goal
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "goal");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!flexiv_msgs__action__grasp__goal__convert_from_py(field, &ros_message->goal)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__send_goal__request__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_SendGoal_Request */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_SendGoal_Request");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_SendGoal_Request * ros_message = (flexiv_msgs__action__Grasp_SendGoal_Request *)raw_ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = NULL;
|
||||
field = unique_identifier_msgs__msg__uuid__convert_to_py(&ros_message->goal_id);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "goal_id", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // goal
|
||||
PyObject * field = NULL;
|
||||
field = flexiv_msgs__action__grasp__goal__convert_to_py(&ros_message->goal);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "goal", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
bool builtin_interfaces__msg__time__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
PyObject * builtin_interfaces__msg__time__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__send_goal__response__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[50];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_SendGoal_Response", full_classname_dest, 49) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_SendGoal_Response * ros_message = _ros_message;
|
||||
{ // accepted
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "accepted");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyBool_Check(field));
|
||||
ros_message->accepted = (Py_True == field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // stamp
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "stamp");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!builtin_interfaces__msg__time__convert_from_py(field, &ros_message->stamp)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__send_goal__response__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_SendGoal_Response */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_SendGoal_Response");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_SendGoal_Response * ros_message = (flexiv_msgs__action__Grasp_SendGoal_Response *)raw_ros_message;
|
||||
{ // accepted
|
||||
PyObject * field = NULL;
|
||||
field = PyBool_FromLong(ros_message->accepted ? 1 : 0);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "accepted", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // stamp
|
||||
PyObject * field = NULL;
|
||||
field = builtin_interfaces__msg__time__convert_to_py(&ros_message->stamp);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "stamp", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
bool unique_identifier_msgs__msg__uuid__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
PyObject * unique_identifier_msgs__msg__uuid__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__get_result__request__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[50];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_GetResult_Request", full_classname_dest, 49) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_GetResult_Request * ros_message = _ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "goal_id");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!unique_identifier_msgs__msg__uuid__convert_from_py(field, &ros_message->goal_id)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__get_result__request__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_GetResult_Request */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_GetResult_Request");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_GetResult_Request * ros_message = (flexiv_msgs__action__Grasp_GetResult_Request *)raw_ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = NULL;
|
||||
field = unique_identifier_msgs__msg__uuid__convert_to_py(&ros_message->goal_id);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "goal_id", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
bool flexiv_msgs__action__grasp__result__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
PyObject * flexiv_msgs__action__grasp__result__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__get_result__response__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[51];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_GetResult_Response", full_classname_dest, 50) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_GetResult_Response * ros_message = _ros_message;
|
||||
{ // status
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "status");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyLong_Check(field));
|
||||
ros_message->status = (int8_t)PyLong_AsLong(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // result
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "result");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!flexiv_msgs__action__grasp__result__convert_from_py(field, &ros_message->result)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__get_result__response__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_GetResult_Response */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_GetResult_Response");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_GetResult_Response * ros_message = (flexiv_msgs__action__Grasp_GetResult_Response *)raw_ros_message;
|
||||
{ // status
|
||||
PyObject * field = NULL;
|
||||
field = PyLong_FromLong(ros_message->status);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "status", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // result
|
||||
PyObject * field = NULL;
|
||||
field = flexiv_msgs__action__grasp__result__convert_to_py(&ros_message->result);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "result", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
// already included above
|
||||
// #include <Python.h>
|
||||
// already included above
|
||||
// #include <stdbool.h>
|
||||
// already included above
|
||||
// #include "numpy/ndarrayobject.h"
|
||||
// already included above
|
||||
// #include "rosidl_runtime_c/visibility_control.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__struct.h"
|
||||
// already included above
|
||||
// #include "flexiv_msgs/action/detail/grasp__functions.h"
|
||||
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
bool unique_identifier_msgs__msg__uuid__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
ROSIDL_GENERATOR_C_IMPORT
|
||||
PyObject * unique_identifier_msgs__msg__uuid__convert_to_py(void * raw_ros_message);
|
||||
bool flexiv_msgs__action__grasp__feedback__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
PyObject * flexiv_msgs__action__grasp__feedback__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__action__grasp__feedback_message__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[48];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.action._grasp.Grasp_FeedbackMessage", full_classname_dest, 47) == 0);
|
||||
}
|
||||
flexiv_msgs__action__Grasp_FeedbackMessage * ros_message = _ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "goal_id");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!unique_identifier_msgs__msg__uuid__convert_from_py(field, &ros_message->goal_id)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // feedback
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "feedback");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (!flexiv_msgs__action__grasp__feedback__convert_from_py(field, &ros_message->feedback)) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__action__grasp__feedback_message__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Grasp_FeedbackMessage */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.action._grasp");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Grasp_FeedbackMessage");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__action__Grasp_FeedbackMessage * ros_message = (flexiv_msgs__action__Grasp_FeedbackMessage *)raw_ros_message;
|
||||
{ // goal_id
|
||||
PyObject * field = NULL;
|
||||
field = unique_identifier_msgs__msg__uuid__convert_to_py(&ros_message->goal_id);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "goal_id", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // feedback
|
||||
PyObject * field = NULL;
|
||||
field = flexiv_msgs__action__grasp__feedback__convert_to_py(&ros_message->feedback);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "feedback", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
@@ -0,0 +1,5 @@
|
||||
from flexiv_msgs.msg._digital import Digital # noqa: F401
|
||||
from flexiv_msgs.msg._gpio_states import GPIOStates # noqa: F401
|
||||
from flexiv_msgs.msg._joint_pos_vel import JointPosVel # noqa: F401
|
||||
from flexiv_msgs.msg._mode import Mode # noqa: F401
|
||||
from flexiv_msgs.msg._robot_states import RobotStates # noqa: F401
|
||||
@@ -0,0 +1,145 @@
|
||||
# generated from rosidl_generator_py/resource/_idl.py.em
|
||||
# with input from flexiv_msgs:msg/Digital.idl
|
||||
# generated code does not contain a copyright notice
|
||||
|
||||
|
||||
# Import statements for member types
|
||||
|
||||
import builtins # noqa: E402, I100
|
||||
|
||||
import rosidl_parser.definition # noqa: E402, I100
|
||||
|
||||
|
||||
class Metaclass_Digital(type):
|
||||
"""Metaclass of message 'Digital'."""
|
||||
|
||||
_CREATE_ROS_MESSAGE = None
|
||||
_CONVERT_FROM_PY = None
|
||||
_CONVERT_TO_PY = None
|
||||
_DESTROY_ROS_MESSAGE = None
|
||||
_TYPE_SUPPORT = None
|
||||
|
||||
__constants = {
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def __import_type_support__(cls):
|
||||
try:
|
||||
from rosidl_generator_py import import_type_support
|
||||
module = import_type_support('flexiv_msgs')
|
||||
except ImportError:
|
||||
import logging
|
||||
import traceback
|
||||
logger = logging.getLogger(
|
||||
'flexiv_msgs.msg.Digital')
|
||||
logger.debug(
|
||||
'Failed to import needed modules for type support:\n' +
|
||||
traceback.format_exc())
|
||||
else:
|
||||
cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__digital
|
||||
cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__digital
|
||||
cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__digital
|
||||
cls._TYPE_SUPPORT = module.type_support_msg__msg__digital
|
||||
cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__digital
|
||||
|
||||
@classmethod
|
||||
def __prepare__(cls, name, bases, **kwargs):
|
||||
# list constant names here so that they appear in the help text of
|
||||
# the message class under "Data and other attributes defined here:"
|
||||
# as well as populate each message instance
|
||||
return {
|
||||
}
|
||||
|
||||
|
||||
class Digital(metaclass=Metaclass_Digital):
|
||||
"""Message class 'Digital'."""
|
||||
|
||||
__slots__ = [
|
||||
'_pin',
|
||||
'_state',
|
||||
]
|
||||
|
||||
_fields_and_field_types = {
|
||||
'pin': 'uint8',
|
||||
'state': 'boolean',
|
||||
}
|
||||
|
||||
SLOT_TYPES = (
|
||||
rosidl_parser.definition.BasicType('uint8'), # noqa: E501
|
||||
rosidl_parser.definition.BasicType('boolean'), # noqa: E501
|
||||
)
|
||||
|
||||
def __init__(self, **kwargs):
|
||||
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
|
||||
'Invalid arguments passed to constructor: %s' % \
|
||||
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
|
||||
self.pin = kwargs.get('pin', int())
|
||||
self.state = kwargs.get('state', bool())
|
||||
|
||||
def __repr__(self):
|
||||
typename = self.__class__.__module__.split('.')
|
||||
typename.pop()
|
||||
typename.append(self.__class__.__name__)
|
||||
args = []
|
||||
for s, t in zip(self.__slots__, self.SLOT_TYPES):
|
||||
field = getattr(self, s)
|
||||
fieldstr = repr(field)
|
||||
# We use Python array type for fields that can be directly stored
|
||||
# in them, and "normal" sequences for everything else. If it is
|
||||
# a type that we store in an array, strip off the 'array' portion.
|
||||
if (
|
||||
isinstance(t, rosidl_parser.definition.AbstractSequence) and
|
||||
isinstance(t.value_type, rosidl_parser.definition.BasicType) and
|
||||
t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
|
||||
):
|
||||
if len(field) == 0:
|
||||
fieldstr = '[]'
|
||||
else:
|
||||
assert fieldstr.startswith('array(')
|
||||
prefix = "array('X', "
|
||||
suffix = ')'
|
||||
fieldstr = fieldstr[len(prefix):-len(suffix)]
|
||||
args.append(s[1:] + '=' + fieldstr)
|
||||
return '%s(%s)' % ('.'.join(typename), ', '.join(args))
|
||||
|
||||
def __eq__(self, other):
|
||||
if not isinstance(other, self.__class__):
|
||||
return False
|
||||
if self.pin != other.pin:
|
||||
return False
|
||||
if self.state != other.state:
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def get_fields_and_field_types(cls):
|
||||
from copy import copy
|
||||
return copy(cls._fields_and_field_types)
|
||||
|
||||
@builtins.property
|
||||
def pin(self):
|
||||
"""Message field 'pin'."""
|
||||
return self._pin
|
||||
|
||||
@pin.setter
|
||||
def pin(self, value):
|
||||
if __debug__:
|
||||
assert \
|
||||
isinstance(value, int), \
|
||||
"The 'pin' field must be of type 'int'"
|
||||
assert value >= 0 and value < 256, \
|
||||
"The 'pin' field must be an unsigned integer in [0, 255]"
|
||||
self._pin = value
|
||||
|
||||
@builtins.property
|
||||
def state(self):
|
||||
"""Message field 'state'."""
|
||||
return self._state
|
||||
|
||||
@state.setter
|
||||
def state(self, value):
|
||||
if __debug__:
|
||||
assert \
|
||||
isinstance(value, bool), \
|
||||
"The 'state' field must be of type 'bool'"
|
||||
self._state = value
|
||||
@@ -0,0 +1,118 @@
|
||||
// generated from rosidl_generator_py/resource/_idl_support.c.em
|
||||
// with input from flexiv_msgs:msg/Digital.idl
|
||||
// generated code does not contain a copyright notice
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
#include <Python.h>
|
||||
#include <stdbool.h>
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
#include "numpy/ndarrayobject.h"
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
#include "rosidl_runtime_c/visibility_control.h"
|
||||
#include "flexiv_msgs/msg/detail/digital__struct.h"
|
||||
#include "flexiv_msgs/msg/detail/digital__functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__msg__digital__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[33];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.msg._digital.Digital", full_classname_dest, 32) == 0);
|
||||
}
|
||||
flexiv_msgs__msg__Digital * ros_message = _ros_message;
|
||||
{ // pin
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "pin");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyLong_Check(field));
|
||||
ros_message->pin = (uint8_t)PyLong_AsUnsignedLong(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // state
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "state");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyBool_Check(field));
|
||||
ros_message->state = (Py_True == field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__msg__digital__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Digital */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.msg._digital");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Digital");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__msg__Digital * ros_message = (flexiv_msgs__msg__Digital *)raw_ros_message;
|
||||
{ // pin
|
||||
PyObject * field = NULL;
|
||||
field = PyLong_FromUnsignedLong(ros_message->pin);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "pin", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // state
|
||||
PyObject * field = NULL;
|
||||
field = PyBool_FromLong(ros_message->state ? 1 : 0);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "state", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
@@ -0,0 +1,139 @@
|
||||
# generated from rosidl_generator_py/resource/_idl.py.em
|
||||
# with input from flexiv_msgs:msg/GPIOStates.idl
|
||||
# generated code does not contain a copyright notice
|
||||
|
||||
|
||||
# Import statements for member types
|
||||
|
||||
import builtins # noqa: E402, I100
|
||||
|
||||
import rosidl_parser.definition # noqa: E402, I100
|
||||
|
||||
|
||||
class Metaclass_GPIOStates(type):
|
||||
"""Metaclass of message 'GPIOStates'."""
|
||||
|
||||
_CREATE_ROS_MESSAGE = None
|
||||
_CONVERT_FROM_PY = None
|
||||
_CONVERT_TO_PY = None
|
||||
_DESTROY_ROS_MESSAGE = None
|
||||
_TYPE_SUPPORT = None
|
||||
|
||||
__constants = {
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def __import_type_support__(cls):
|
||||
try:
|
||||
from rosidl_generator_py import import_type_support
|
||||
module = import_type_support('flexiv_msgs')
|
||||
except ImportError:
|
||||
import logging
|
||||
import traceback
|
||||
logger = logging.getLogger(
|
||||
'flexiv_msgs.msg.GPIOStates')
|
||||
logger.debug(
|
||||
'Failed to import needed modules for type support:\n' +
|
||||
traceback.format_exc())
|
||||
else:
|
||||
cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__gpio_states
|
||||
cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__gpio_states
|
||||
cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__gpio_states
|
||||
cls._TYPE_SUPPORT = module.type_support_msg__msg__gpio_states
|
||||
cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__gpio_states
|
||||
|
||||
from flexiv_msgs.msg import Digital
|
||||
if Digital.__class__._TYPE_SUPPORT is None:
|
||||
Digital.__class__.__import_type_support__()
|
||||
|
||||
@classmethod
|
||||
def __prepare__(cls, name, bases, **kwargs):
|
||||
# list constant names here so that they appear in the help text of
|
||||
# the message class under "Data and other attributes defined here:"
|
||||
# as well as populate each message instance
|
||||
return {
|
||||
}
|
||||
|
||||
|
||||
class GPIOStates(metaclass=Metaclass_GPIOStates):
|
||||
"""Message class 'GPIOStates'."""
|
||||
|
||||
__slots__ = [
|
||||
'_states',
|
||||
]
|
||||
|
||||
_fields_and_field_types = {
|
||||
'states': 'sequence<flexiv_msgs/Digital>',
|
||||
}
|
||||
|
||||
SLOT_TYPES = (
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.NamespacedType(['flexiv_msgs', 'msg'], 'Digital')), # noqa: E501
|
||||
)
|
||||
|
||||
def __init__(self, **kwargs):
|
||||
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
|
||||
'Invalid arguments passed to constructor: %s' % \
|
||||
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
|
||||
self.states = kwargs.get('states', [])
|
||||
|
||||
def __repr__(self):
|
||||
typename = self.__class__.__module__.split('.')
|
||||
typename.pop()
|
||||
typename.append(self.__class__.__name__)
|
||||
args = []
|
||||
for s, t in zip(self.__slots__, self.SLOT_TYPES):
|
||||
field = getattr(self, s)
|
||||
fieldstr = repr(field)
|
||||
# We use Python array type for fields that can be directly stored
|
||||
# in them, and "normal" sequences for everything else. If it is
|
||||
# a type that we store in an array, strip off the 'array' portion.
|
||||
if (
|
||||
isinstance(t, rosidl_parser.definition.AbstractSequence) and
|
||||
isinstance(t.value_type, rosidl_parser.definition.BasicType) and
|
||||
t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
|
||||
):
|
||||
if len(field) == 0:
|
||||
fieldstr = '[]'
|
||||
else:
|
||||
assert fieldstr.startswith('array(')
|
||||
prefix = "array('X', "
|
||||
suffix = ')'
|
||||
fieldstr = fieldstr[len(prefix):-len(suffix)]
|
||||
args.append(s[1:] + '=' + fieldstr)
|
||||
return '%s(%s)' % ('.'.join(typename), ', '.join(args))
|
||||
|
||||
def __eq__(self, other):
|
||||
if not isinstance(other, self.__class__):
|
||||
return False
|
||||
if self.states != other.states:
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def get_fields_and_field_types(cls):
|
||||
from copy import copy
|
||||
return copy(cls._fields_and_field_types)
|
||||
|
||||
@builtins.property
|
||||
def states(self):
|
||||
"""Message field 'states'."""
|
||||
return self._states
|
||||
|
||||
@states.setter
|
||||
def states(self, value):
|
||||
if __debug__:
|
||||
from flexiv_msgs.msg import Digital
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, Digital) for v in value) and
|
||||
True), \
|
||||
"The 'states' field must be a set or sequence and each value of type 'Digital'"
|
||||
self._states = value
|
||||
@@ -0,0 +1,147 @@
|
||||
// generated from rosidl_generator_py/resource/_idl_support.c.em
|
||||
// with input from flexiv_msgs:msg/GPIOStates.idl
|
||||
// generated code does not contain a copyright notice
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
#include <Python.h>
|
||||
#include <stdbool.h>
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
#include "numpy/ndarrayobject.h"
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
#include "rosidl_runtime_c/visibility_control.h"
|
||||
#include "flexiv_msgs/msg/detail/gpio_states__struct.h"
|
||||
#include "flexiv_msgs/msg/detail/gpio_states__functions.h"
|
||||
|
||||
#include "rosidl_runtime_c/primitives_sequence.h"
|
||||
#include "rosidl_runtime_c/primitives_sequence_functions.h"
|
||||
|
||||
// Nested array functions includes
|
||||
#include "flexiv_msgs/msg/detail/digital__functions.h"
|
||||
// end nested array functions include
|
||||
bool flexiv_msgs__msg__digital__convert_from_py(PyObject * _pymsg, void * _ros_message);
|
||||
PyObject * flexiv_msgs__msg__digital__convert_to_py(void * raw_ros_message);
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__msg__gpio_states__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[40];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.msg._gpio_states.GPIOStates", full_classname_dest, 39) == 0);
|
||||
}
|
||||
flexiv_msgs__msg__GPIOStates * ros_message = _ros_message;
|
||||
{ // states
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "states");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'states'");
|
||||
if (!seq_field) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_ssize_t size = PySequence_Size(field);
|
||||
if (-1 == size) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
if (!flexiv_msgs__msg__Digital__Sequence__init(&(ros_message->states), size)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "unable to create flexiv_msgs__msg__Digital__Sequence ros_message");
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
flexiv_msgs__msg__Digital * dest = ros_message->states.data;
|
||||
for (Py_ssize_t i = 0; i < size; ++i) {
|
||||
if (!flexiv_msgs__msg__digital__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__msg__gpio_states__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of GPIOStates */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.msg._gpio_states");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "GPIOStates");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__msg__GPIOStates * ros_message = (flexiv_msgs__msg__GPIOStates *)raw_ros_message;
|
||||
{ // states
|
||||
PyObject * field = NULL;
|
||||
size_t size = ros_message->states.size;
|
||||
field = PyList_New(size);
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
flexiv_msgs__msg__Digital * item;
|
||||
for (size_t i = 0; i < size; ++i) {
|
||||
item = &(ros_message->states.data[i]);
|
||||
PyObject * pyitem = flexiv_msgs__msg__digital__convert_to_py(item);
|
||||
if (!pyitem) {
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
int rc = PyList_SetItem(field, i, pyitem);
|
||||
(void)rc;
|
||||
assert(rc == 0);
|
||||
}
|
||||
assert(PySequence_Check(field));
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "states", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
@@ -0,0 +1,179 @@
|
||||
# generated from rosidl_generator_py/resource/_idl.py.em
|
||||
# with input from flexiv_msgs:msg/JointPosVel.idl
|
||||
# generated code does not contain a copyright notice
|
||||
|
||||
|
||||
# Import statements for member types
|
||||
|
||||
# Member 'positions'
|
||||
# Member 'velocities'
|
||||
import array # noqa: E402, I100
|
||||
|
||||
import builtins # noqa: E402, I100
|
||||
|
||||
import math # noqa: E402, I100
|
||||
|
||||
import rosidl_parser.definition # noqa: E402, I100
|
||||
|
||||
|
||||
class Metaclass_JointPosVel(type):
|
||||
"""Metaclass of message 'JointPosVel'."""
|
||||
|
||||
_CREATE_ROS_MESSAGE = None
|
||||
_CONVERT_FROM_PY = None
|
||||
_CONVERT_TO_PY = None
|
||||
_DESTROY_ROS_MESSAGE = None
|
||||
_TYPE_SUPPORT = None
|
||||
|
||||
__constants = {
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def __import_type_support__(cls):
|
||||
try:
|
||||
from rosidl_generator_py import import_type_support
|
||||
module = import_type_support('flexiv_msgs')
|
||||
except ImportError:
|
||||
import logging
|
||||
import traceback
|
||||
logger = logging.getLogger(
|
||||
'flexiv_msgs.msg.JointPosVel')
|
||||
logger.debug(
|
||||
'Failed to import needed modules for type support:\n' +
|
||||
traceback.format_exc())
|
||||
else:
|
||||
cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__joint_pos_vel
|
||||
cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__joint_pos_vel
|
||||
cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__joint_pos_vel
|
||||
cls._TYPE_SUPPORT = module.type_support_msg__msg__joint_pos_vel
|
||||
cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__joint_pos_vel
|
||||
|
||||
@classmethod
|
||||
def __prepare__(cls, name, bases, **kwargs):
|
||||
# list constant names here so that they appear in the help text of
|
||||
# the message class under "Data and other attributes defined here:"
|
||||
# as well as populate each message instance
|
||||
return {
|
||||
}
|
||||
|
||||
|
||||
class JointPosVel(metaclass=Metaclass_JointPosVel):
|
||||
"""Message class 'JointPosVel'."""
|
||||
|
||||
__slots__ = [
|
||||
'_positions',
|
||||
'_velocities',
|
||||
]
|
||||
|
||||
_fields_and_field_types = {
|
||||
'positions': 'sequence<double>',
|
||||
'velocities': 'sequence<double>',
|
||||
}
|
||||
|
||||
SLOT_TYPES = (
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
)
|
||||
|
||||
def __init__(self, **kwargs):
|
||||
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
|
||||
'Invalid arguments passed to constructor: %s' % \
|
||||
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
|
||||
self.positions = array.array('d', kwargs.get('positions', []))
|
||||
self.velocities = array.array('d', kwargs.get('velocities', []))
|
||||
|
||||
def __repr__(self):
|
||||
typename = self.__class__.__module__.split('.')
|
||||
typename.pop()
|
||||
typename.append(self.__class__.__name__)
|
||||
args = []
|
||||
for s, t in zip(self.__slots__, self.SLOT_TYPES):
|
||||
field = getattr(self, s)
|
||||
fieldstr = repr(field)
|
||||
# We use Python array type for fields that can be directly stored
|
||||
# in them, and "normal" sequences for everything else. If it is
|
||||
# a type that we store in an array, strip off the 'array' portion.
|
||||
if (
|
||||
isinstance(t, rosidl_parser.definition.AbstractSequence) and
|
||||
isinstance(t.value_type, rosidl_parser.definition.BasicType) and
|
||||
t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
|
||||
):
|
||||
if len(field) == 0:
|
||||
fieldstr = '[]'
|
||||
else:
|
||||
assert fieldstr.startswith('array(')
|
||||
prefix = "array('X', "
|
||||
suffix = ')'
|
||||
fieldstr = fieldstr[len(prefix):-len(suffix)]
|
||||
args.append(s[1:] + '=' + fieldstr)
|
||||
return '%s(%s)' % ('.'.join(typename), ', '.join(args))
|
||||
|
||||
def __eq__(self, other):
|
||||
if not isinstance(other, self.__class__):
|
||||
return False
|
||||
if self.positions != other.positions:
|
||||
return False
|
||||
if self.velocities != other.velocities:
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def get_fields_and_field_types(cls):
|
||||
from copy import copy
|
||||
return copy(cls._fields_and_field_types)
|
||||
|
||||
@builtins.property
|
||||
def positions(self):
|
||||
"""Message field 'positions'."""
|
||||
return self._positions
|
||||
|
||||
@positions.setter
|
||||
def positions(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'positions' array.array() must have the type code of 'd'"
|
||||
self._positions = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'positions' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._positions = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def velocities(self):
|
||||
"""Message field 'velocities'."""
|
||||
return self._velocities
|
||||
|
||||
@velocities.setter
|
||||
def velocities(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'velocities' array.array() must have the type code of 'd'"
|
||||
self._velocities = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'velocities' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._velocities = array.array('d', value)
|
||||
@@ -0,0 +1,319 @@
|
||||
// generated from rosidl_generator_py/resource/_idl_support.c.em
|
||||
// with input from flexiv_msgs:msg/JointPosVel.idl
|
||||
// generated code does not contain a copyright notice
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
#include <Python.h>
|
||||
#include <stdbool.h>
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
#include "numpy/ndarrayobject.h"
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
#include "rosidl_runtime_c/visibility_control.h"
|
||||
#include "flexiv_msgs/msg/detail/joint_pos_vel__struct.h"
|
||||
#include "flexiv_msgs/msg/detail/joint_pos_vel__functions.h"
|
||||
|
||||
#include "rosidl_runtime_c/primitives_sequence.h"
|
||||
#include "rosidl_runtime_c/primitives_sequence_functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__msg__joint_pos_vel__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[43];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.msg._joint_pos_vel.JointPosVel", full_classname_dest, 42) == 0);
|
||||
}
|
||||
flexiv_msgs__msg__JointPosVel * ros_message = _ros_message;
|
||||
{ // positions
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "positions");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (PyObject_CheckBuffer(field)) {
|
||||
// Optimization for converting arrays of primitives
|
||||
Py_buffer view;
|
||||
int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
|
||||
if (rc < 0) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_ssize_t size = view.len / sizeof(double);
|
||||
if (!rosidl_runtime_c__double__Sequence__init(&(ros_message->positions), size)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "unable to create double__Sequence ros_message");
|
||||
PyBuffer_Release(&view);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
double * dest = ros_message->positions.data;
|
||||
rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
|
||||
if (rc < 0) {
|
||||
PyBuffer_Release(&view);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
PyBuffer_Release(&view);
|
||||
} else {
|
||||
PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'positions'");
|
||||
if (!seq_field) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_ssize_t size = PySequence_Size(field);
|
||||
if (-1 == size) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
if (!rosidl_runtime_c__double__Sequence__init(&(ros_message->positions), size)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "unable to create double__Sequence ros_message");
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
double * dest = ros_message->positions.data;
|
||||
for (Py_ssize_t i = 0; i < size; ++i) {
|
||||
PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
|
||||
if (!item) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
assert(PyFloat_Check(item));
|
||||
double tmp = PyFloat_AS_DOUBLE(item);
|
||||
memcpy(&dest[i], &tmp, sizeof(double));
|
||||
}
|
||||
Py_DECREF(seq_field);
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // velocities
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "velocities");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
if (PyObject_CheckBuffer(field)) {
|
||||
// Optimization for converting arrays of primitives
|
||||
Py_buffer view;
|
||||
int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
|
||||
if (rc < 0) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_ssize_t size = view.len / sizeof(double);
|
||||
if (!rosidl_runtime_c__double__Sequence__init(&(ros_message->velocities), size)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "unable to create double__Sequence ros_message");
|
||||
PyBuffer_Release(&view);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
double * dest = ros_message->velocities.data;
|
||||
rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
|
||||
if (rc < 0) {
|
||||
PyBuffer_Release(&view);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
PyBuffer_Release(&view);
|
||||
} else {
|
||||
PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'velocities'");
|
||||
if (!seq_field) {
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
Py_ssize_t size = PySequence_Size(field);
|
||||
if (-1 == size) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
if (!rosidl_runtime_c__double__Sequence__init(&(ros_message->velocities), size)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "unable to create double__Sequence ros_message");
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
double * dest = ros_message->velocities.data;
|
||||
for (Py_ssize_t i = 0; i < size; ++i) {
|
||||
PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
|
||||
if (!item) {
|
||||
Py_DECREF(seq_field);
|
||||
Py_DECREF(field);
|
||||
return false;
|
||||
}
|
||||
assert(PyFloat_Check(item));
|
||||
double tmp = PyFloat_AS_DOUBLE(item);
|
||||
memcpy(&dest[i], &tmp, sizeof(double));
|
||||
}
|
||||
Py_DECREF(seq_field);
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__msg__joint_pos_vel__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of JointPosVel */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.msg._joint_pos_vel");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "JointPosVel");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__msg__JointPosVel * ros_message = (flexiv_msgs__msg__JointPosVel *)raw_ros_message;
|
||||
{ // positions
|
||||
PyObject * field = NULL;
|
||||
field = PyObject_GetAttrString(_pymessage, "positions");
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
assert(field->ob_type != NULL);
|
||||
assert(field->ob_type->tp_name != NULL);
|
||||
assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
|
||||
// ensure that itemsize matches the sizeof of the ROS message field
|
||||
PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
|
||||
assert(itemsize_attr != NULL);
|
||||
size_t itemsize = PyLong_AsSize_t(itemsize_attr);
|
||||
Py_DECREF(itemsize_attr);
|
||||
if (itemsize != sizeof(double)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
// clear the array, poor approach to remove potential default values
|
||||
Py_ssize_t length = PyObject_Length(field);
|
||||
if (-1 == length) {
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
if (length > 0) {
|
||||
PyObject * pop = PyObject_GetAttrString(field, "pop");
|
||||
assert(pop != NULL);
|
||||
for (Py_ssize_t i = 0; i < length; ++i) {
|
||||
PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
|
||||
if (!ret) {
|
||||
Py_DECREF(pop);
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
Py_DECREF(ret);
|
||||
}
|
||||
Py_DECREF(pop);
|
||||
}
|
||||
if (ros_message->positions.size > 0) {
|
||||
// populating the array.array using the frombytes method
|
||||
PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
|
||||
assert(frombytes != NULL);
|
||||
double * src = &(ros_message->positions.data[0]);
|
||||
PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->positions.size * sizeof(double));
|
||||
assert(data != NULL);
|
||||
PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
|
||||
Py_DECREF(data);
|
||||
Py_DECREF(frombytes);
|
||||
if (!ret) {
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
Py_DECREF(ret);
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
{ // velocities
|
||||
PyObject * field = NULL;
|
||||
field = PyObject_GetAttrString(_pymessage, "velocities");
|
||||
if (!field) {
|
||||
return NULL;
|
||||
}
|
||||
assert(field->ob_type != NULL);
|
||||
assert(field->ob_type->tp_name != NULL);
|
||||
assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
|
||||
// ensure that itemsize matches the sizeof of the ROS message field
|
||||
PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
|
||||
assert(itemsize_attr != NULL);
|
||||
size_t itemsize = PyLong_AsSize_t(itemsize_attr);
|
||||
Py_DECREF(itemsize_attr);
|
||||
if (itemsize != sizeof(double)) {
|
||||
PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
// clear the array, poor approach to remove potential default values
|
||||
Py_ssize_t length = PyObject_Length(field);
|
||||
if (-1 == length) {
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
if (length > 0) {
|
||||
PyObject * pop = PyObject_GetAttrString(field, "pop");
|
||||
assert(pop != NULL);
|
||||
for (Py_ssize_t i = 0; i < length; ++i) {
|
||||
PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
|
||||
if (!ret) {
|
||||
Py_DECREF(pop);
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
Py_DECREF(ret);
|
||||
}
|
||||
Py_DECREF(pop);
|
||||
}
|
||||
if (ros_message->velocities.size > 0) {
|
||||
// populating the array.array using the frombytes method
|
||||
PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
|
||||
assert(frombytes != NULL);
|
||||
double * src = &(ros_message->velocities.data[0]);
|
||||
PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->velocities.size * sizeof(double));
|
||||
assert(data != NULL);
|
||||
PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
|
||||
Py_DECREF(data);
|
||||
Py_DECREF(frombytes);
|
||||
if (!ret) {
|
||||
Py_DECREF(field);
|
||||
return NULL;
|
||||
}
|
||||
Py_DECREF(ret);
|
||||
}
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
@@ -0,0 +1,226 @@
|
||||
# generated from rosidl_generator_py/resource/_idl.py.em
|
||||
# with input from flexiv_msgs:msg/Mode.idl
|
||||
# generated code does not contain a copyright notice
|
||||
|
||||
|
||||
# Import statements for member types
|
||||
|
||||
import builtins # noqa: E402, I100
|
||||
|
||||
import rosidl_parser.definition # noqa: E402, I100
|
||||
|
||||
|
||||
class Metaclass_Mode(type):
|
||||
"""Metaclass of message 'Mode'."""
|
||||
|
||||
_CREATE_ROS_MESSAGE = None
|
||||
_CONVERT_FROM_PY = None
|
||||
_CONVERT_TO_PY = None
|
||||
_DESTROY_ROS_MESSAGE = None
|
||||
_TYPE_SUPPORT = None
|
||||
|
||||
__constants = {
|
||||
'MODE_UNKNOWN': -1,
|
||||
'MODE_IDLE': 0,
|
||||
'MODE_RT_JOINT_TORQUE': 1,
|
||||
'MODE_RT_JOINT_IMPEDANCE': 2,
|
||||
'MODE_NRT_JOINT_IMPEDANCE': 3,
|
||||
'MODE_RT_JOINT_POSITION': 4,
|
||||
'MODE_NRT_JOINT_POSITION': 5,
|
||||
'MODE_NRT_PLAN_EXECUTION': 6,
|
||||
'MODE_NRT_PRIMITIVE_EXECUTION': 7,
|
||||
'MODE_RT_CARTESIAN_MOTION_FORCE': 8,
|
||||
'MODE_NRT_CARTESIAN_MOTION_FORCE': 9,
|
||||
'MODE_NRT_SUPER_PRIMITIVE': 10,
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def __import_type_support__(cls):
|
||||
try:
|
||||
from rosidl_generator_py import import_type_support
|
||||
module = import_type_support('flexiv_msgs')
|
||||
except ImportError:
|
||||
import logging
|
||||
import traceback
|
||||
logger = logging.getLogger(
|
||||
'flexiv_msgs.msg.Mode')
|
||||
logger.debug(
|
||||
'Failed to import needed modules for type support:\n' +
|
||||
traceback.format_exc())
|
||||
else:
|
||||
cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__mode
|
||||
cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__mode
|
||||
cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__mode
|
||||
cls._TYPE_SUPPORT = module.type_support_msg__msg__mode
|
||||
cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__mode
|
||||
|
||||
@classmethod
|
||||
def __prepare__(cls, name, bases, **kwargs):
|
||||
# list constant names here so that they appear in the help text of
|
||||
# the message class under "Data and other attributes defined here:"
|
||||
# as well as populate each message instance
|
||||
return {
|
||||
'MODE_UNKNOWN': cls.__constants['MODE_UNKNOWN'],
|
||||
'MODE_IDLE': cls.__constants['MODE_IDLE'],
|
||||
'MODE_RT_JOINT_TORQUE': cls.__constants['MODE_RT_JOINT_TORQUE'],
|
||||
'MODE_RT_JOINT_IMPEDANCE': cls.__constants['MODE_RT_JOINT_IMPEDANCE'],
|
||||
'MODE_NRT_JOINT_IMPEDANCE': cls.__constants['MODE_NRT_JOINT_IMPEDANCE'],
|
||||
'MODE_RT_JOINT_POSITION': cls.__constants['MODE_RT_JOINT_POSITION'],
|
||||
'MODE_NRT_JOINT_POSITION': cls.__constants['MODE_NRT_JOINT_POSITION'],
|
||||
'MODE_NRT_PLAN_EXECUTION': cls.__constants['MODE_NRT_PLAN_EXECUTION'],
|
||||
'MODE_NRT_PRIMITIVE_EXECUTION': cls.__constants['MODE_NRT_PRIMITIVE_EXECUTION'],
|
||||
'MODE_RT_CARTESIAN_MOTION_FORCE': cls.__constants['MODE_RT_CARTESIAN_MOTION_FORCE'],
|
||||
'MODE_NRT_CARTESIAN_MOTION_FORCE': cls.__constants['MODE_NRT_CARTESIAN_MOTION_FORCE'],
|
||||
'MODE_NRT_SUPER_PRIMITIVE': cls.__constants['MODE_NRT_SUPER_PRIMITIVE'],
|
||||
}
|
||||
|
||||
@property
|
||||
def MODE_UNKNOWN(self):
|
||||
"""Message constant 'MODE_UNKNOWN'."""
|
||||
return Metaclass_Mode.__constants['MODE_UNKNOWN']
|
||||
|
||||
@property
|
||||
def MODE_IDLE(self):
|
||||
"""Message constant 'MODE_IDLE'."""
|
||||
return Metaclass_Mode.__constants['MODE_IDLE']
|
||||
|
||||
@property
|
||||
def MODE_RT_JOINT_TORQUE(self):
|
||||
"""Message constant 'MODE_RT_JOINT_TORQUE'."""
|
||||
return Metaclass_Mode.__constants['MODE_RT_JOINT_TORQUE']
|
||||
|
||||
@property
|
||||
def MODE_RT_JOINT_IMPEDANCE(self):
|
||||
"""Message constant 'MODE_RT_JOINT_IMPEDANCE'."""
|
||||
return Metaclass_Mode.__constants['MODE_RT_JOINT_IMPEDANCE']
|
||||
|
||||
@property
|
||||
def MODE_NRT_JOINT_IMPEDANCE(self):
|
||||
"""Message constant 'MODE_NRT_JOINT_IMPEDANCE'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_JOINT_IMPEDANCE']
|
||||
|
||||
@property
|
||||
def MODE_RT_JOINT_POSITION(self):
|
||||
"""Message constant 'MODE_RT_JOINT_POSITION'."""
|
||||
return Metaclass_Mode.__constants['MODE_RT_JOINT_POSITION']
|
||||
|
||||
@property
|
||||
def MODE_NRT_JOINT_POSITION(self):
|
||||
"""Message constant 'MODE_NRT_JOINT_POSITION'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_JOINT_POSITION']
|
||||
|
||||
@property
|
||||
def MODE_NRT_PLAN_EXECUTION(self):
|
||||
"""Message constant 'MODE_NRT_PLAN_EXECUTION'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_PLAN_EXECUTION']
|
||||
|
||||
@property
|
||||
def MODE_NRT_PRIMITIVE_EXECUTION(self):
|
||||
"""Message constant 'MODE_NRT_PRIMITIVE_EXECUTION'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_PRIMITIVE_EXECUTION']
|
||||
|
||||
@property
|
||||
def MODE_RT_CARTESIAN_MOTION_FORCE(self):
|
||||
"""Message constant 'MODE_RT_CARTESIAN_MOTION_FORCE'."""
|
||||
return Metaclass_Mode.__constants['MODE_RT_CARTESIAN_MOTION_FORCE']
|
||||
|
||||
@property
|
||||
def MODE_NRT_CARTESIAN_MOTION_FORCE(self):
|
||||
"""Message constant 'MODE_NRT_CARTESIAN_MOTION_FORCE'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_CARTESIAN_MOTION_FORCE']
|
||||
|
||||
@property
|
||||
def MODE_NRT_SUPER_PRIMITIVE(self):
|
||||
"""Message constant 'MODE_NRT_SUPER_PRIMITIVE'."""
|
||||
return Metaclass_Mode.__constants['MODE_NRT_SUPER_PRIMITIVE']
|
||||
|
||||
|
||||
class Mode(metaclass=Metaclass_Mode):
|
||||
"""
|
||||
Message class 'Mode'.
|
||||
|
||||
Constants:
|
||||
MODE_UNKNOWN
|
||||
MODE_IDLE
|
||||
MODE_RT_JOINT_TORQUE
|
||||
MODE_RT_JOINT_IMPEDANCE
|
||||
MODE_NRT_JOINT_IMPEDANCE
|
||||
MODE_RT_JOINT_POSITION
|
||||
MODE_NRT_JOINT_POSITION
|
||||
MODE_NRT_PLAN_EXECUTION
|
||||
MODE_NRT_PRIMITIVE_EXECUTION
|
||||
MODE_RT_CARTESIAN_MOTION_FORCE
|
||||
MODE_NRT_CARTESIAN_MOTION_FORCE
|
||||
MODE_NRT_SUPER_PRIMITIVE
|
||||
"""
|
||||
|
||||
__slots__ = [
|
||||
'_mode',
|
||||
]
|
||||
|
||||
_fields_and_field_types = {
|
||||
'mode': 'int8',
|
||||
}
|
||||
|
||||
SLOT_TYPES = (
|
||||
rosidl_parser.definition.BasicType('int8'), # noqa: E501
|
||||
)
|
||||
|
||||
def __init__(self, **kwargs):
|
||||
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
|
||||
'Invalid arguments passed to constructor: %s' % \
|
||||
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
|
||||
self.mode = kwargs.get('mode', int())
|
||||
|
||||
def __repr__(self):
|
||||
typename = self.__class__.__module__.split('.')
|
||||
typename.pop()
|
||||
typename.append(self.__class__.__name__)
|
||||
args = []
|
||||
for s, t in zip(self.__slots__, self.SLOT_TYPES):
|
||||
field = getattr(self, s)
|
||||
fieldstr = repr(field)
|
||||
# We use Python array type for fields that can be directly stored
|
||||
# in them, and "normal" sequences for everything else. If it is
|
||||
# a type that we store in an array, strip off the 'array' portion.
|
||||
if (
|
||||
isinstance(t, rosidl_parser.definition.AbstractSequence) and
|
||||
isinstance(t.value_type, rosidl_parser.definition.BasicType) and
|
||||
t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
|
||||
):
|
||||
if len(field) == 0:
|
||||
fieldstr = '[]'
|
||||
else:
|
||||
assert fieldstr.startswith('array(')
|
||||
prefix = "array('X', "
|
||||
suffix = ')'
|
||||
fieldstr = fieldstr[len(prefix):-len(suffix)]
|
||||
args.append(s[1:] + '=' + fieldstr)
|
||||
return '%s(%s)' % ('.'.join(typename), ', '.join(args))
|
||||
|
||||
def __eq__(self, other):
|
||||
if not isinstance(other, self.__class__):
|
||||
return False
|
||||
if self.mode != other.mode:
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def get_fields_and_field_types(cls):
|
||||
from copy import copy
|
||||
return copy(cls._fields_and_field_types)
|
||||
|
||||
@builtins.property
|
||||
def mode(self):
|
||||
"""Message field 'mode'."""
|
||||
return self._mode
|
||||
|
||||
@mode.setter
|
||||
def mode(self, value):
|
||||
if __debug__:
|
||||
assert \
|
||||
isinstance(value, int), \
|
||||
"The 'mode' field must be of type 'int'"
|
||||
assert value >= -128 and value < 128, \
|
||||
"The 'mode' field must be an integer in [-128, 127]"
|
||||
self._mode = value
|
||||
@@ -0,0 +1,98 @@
|
||||
// generated from rosidl_generator_py/resource/_idl_support.c.em
|
||||
// with input from flexiv_msgs:msg/Mode.idl
|
||||
// generated code does not contain a copyright notice
|
||||
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
|
||||
#include <Python.h>
|
||||
#include <stdbool.h>
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
#include "numpy/ndarrayobject.h"
|
||||
#ifndef _WIN32
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
#include "rosidl_runtime_c/visibility_control.h"
|
||||
#include "flexiv_msgs/msg/detail/mode__struct.h"
|
||||
#include "flexiv_msgs/msg/detail/mode__functions.h"
|
||||
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
bool flexiv_msgs__msg__mode__convert_from_py(PyObject * _pymsg, void * _ros_message)
|
||||
{
|
||||
// check that the passed message is of the expected Python class
|
||||
{
|
||||
char full_classname_dest[27];
|
||||
{
|
||||
char * class_name = NULL;
|
||||
char * module_name = NULL;
|
||||
{
|
||||
PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
|
||||
if (class_attr) {
|
||||
PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
|
||||
if (name_attr) {
|
||||
class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
|
||||
Py_DECREF(name_attr);
|
||||
}
|
||||
PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
|
||||
if (module_attr) {
|
||||
module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
|
||||
Py_DECREF(module_attr);
|
||||
}
|
||||
Py_DECREF(class_attr);
|
||||
}
|
||||
}
|
||||
if (!class_name || !module_name) {
|
||||
return false;
|
||||
}
|
||||
snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
|
||||
}
|
||||
assert(strncmp("flexiv_msgs.msg._mode.Mode", full_classname_dest, 26) == 0);
|
||||
}
|
||||
flexiv_msgs__msg__Mode * ros_message = _ros_message;
|
||||
{ // mode
|
||||
PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
|
||||
if (!field) {
|
||||
return false;
|
||||
}
|
||||
assert(PyLong_Check(field));
|
||||
ros_message->mode = (int8_t)PyLong_AsLong(field);
|
||||
Py_DECREF(field);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
ROSIDL_GENERATOR_C_EXPORT
|
||||
PyObject * flexiv_msgs__msg__mode__convert_to_py(void * raw_ros_message)
|
||||
{
|
||||
/* NOTE(esteve): Call constructor of Mode */
|
||||
PyObject * _pymessage = NULL;
|
||||
{
|
||||
PyObject * pymessage_module = PyImport_ImportModule("flexiv_msgs.msg._mode");
|
||||
assert(pymessage_module);
|
||||
PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Mode");
|
||||
assert(pymessage_class);
|
||||
Py_DECREF(pymessage_module);
|
||||
_pymessage = PyObject_CallObject(pymessage_class, NULL);
|
||||
Py_DECREF(pymessage_class);
|
||||
if (!_pymessage) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
flexiv_msgs__msg__Mode * ros_message = (flexiv_msgs__msg__Mode *)raw_ros_message;
|
||||
{ // mode
|
||||
PyObject * field = NULL;
|
||||
field = PyLong_FromLong(ros_message->mode);
|
||||
{
|
||||
int rc = PyObject_SetAttrString(_pymessage, "mode", field);
|
||||
Py_DECREF(field);
|
||||
if (rc) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ownership of _pymessage is transferred to the caller
|
||||
return _pymessage;
|
||||
}
|
||||
@@ -0,0 +1,689 @@
|
||||
# generated from rosidl_generator_py/resource/_idl.py.em
|
||||
# with input from flexiv_msgs:msg/RobotStates.idl
|
||||
# generated code does not contain a copyright notice
|
||||
|
||||
|
||||
# Import statements for member types
|
||||
|
||||
# Member 'q'
|
||||
# Member 'theta'
|
||||
# Member 'dq'
|
||||
# Member 'dtheta'
|
||||
# Member 'tau'
|
||||
# Member 'tau_des'
|
||||
# Member 'tau_dot'
|
||||
# Member 'tau_ext'
|
||||
# Member 'tau_interact'
|
||||
# Member 'temperature'
|
||||
import array # noqa: E402, I100
|
||||
|
||||
import builtins # noqa: E402, I100
|
||||
|
||||
import math # noqa: E402, I100
|
||||
|
||||
import rosidl_parser.definition # noqa: E402, I100
|
||||
|
||||
|
||||
class Metaclass_RobotStates(type):
|
||||
"""Metaclass of message 'RobotStates'."""
|
||||
|
||||
_CREATE_ROS_MESSAGE = None
|
||||
_CONVERT_FROM_PY = None
|
||||
_CONVERT_TO_PY = None
|
||||
_DESTROY_ROS_MESSAGE = None
|
||||
_TYPE_SUPPORT = None
|
||||
|
||||
__constants = {
|
||||
}
|
||||
|
||||
@classmethod
|
||||
def __import_type_support__(cls):
|
||||
try:
|
||||
from rosidl_generator_py import import_type_support
|
||||
module = import_type_support('flexiv_msgs')
|
||||
except ImportError:
|
||||
import logging
|
||||
import traceback
|
||||
logger = logging.getLogger(
|
||||
'flexiv_msgs.msg.RobotStates')
|
||||
logger.debug(
|
||||
'Failed to import needed modules for type support:\n' +
|
||||
traceback.format_exc())
|
||||
else:
|
||||
cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__robot_states
|
||||
cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__robot_states
|
||||
cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__robot_states
|
||||
cls._TYPE_SUPPORT = module.type_support_msg__msg__robot_states
|
||||
cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__robot_states
|
||||
|
||||
from builtin_interfaces.msg import Time
|
||||
if Time.__class__._TYPE_SUPPORT is None:
|
||||
Time.__class__.__import_type_support__()
|
||||
|
||||
from geometry_msgs.msg import AccelStamped
|
||||
if AccelStamped.__class__._TYPE_SUPPORT is None:
|
||||
AccelStamped.__class__.__import_type_support__()
|
||||
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
if PoseStamped.__class__._TYPE_SUPPORT is None:
|
||||
PoseStamped.__class__.__import_type_support__()
|
||||
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
if WrenchStamped.__class__._TYPE_SUPPORT is None:
|
||||
WrenchStamped.__class__.__import_type_support__()
|
||||
|
||||
from std_msgs.msg import Header
|
||||
if Header.__class__._TYPE_SUPPORT is None:
|
||||
Header.__class__.__import_type_support__()
|
||||
|
||||
@classmethod
|
||||
def __prepare__(cls, name, bases, **kwargs):
|
||||
# list constant names here so that they appear in the help text of
|
||||
# the message class under "Data and other attributes defined here:"
|
||||
# as well as populate each message instance
|
||||
return {
|
||||
}
|
||||
|
||||
|
||||
class RobotStates(metaclass=Metaclass_RobotStates):
|
||||
"""Message class 'RobotStates'."""
|
||||
|
||||
__slots__ = [
|
||||
'_header',
|
||||
'_robot_timestamp',
|
||||
'_q',
|
||||
'_theta',
|
||||
'_dq',
|
||||
'_dtheta',
|
||||
'_tau',
|
||||
'_tau_des',
|
||||
'_tau_dot',
|
||||
'_tau_ext',
|
||||
'_tau_interact',
|
||||
'_temperature',
|
||||
'_tcp_pose',
|
||||
'_tcp_vel',
|
||||
'_flange_pose',
|
||||
'_ft_sensor_raw',
|
||||
'_ext_wrench_in_tcp',
|
||||
'_ext_wrench_in_world',
|
||||
'_ext_wrench_in_tcp_raw',
|
||||
'_ext_wrench_in_world_raw',
|
||||
]
|
||||
|
||||
_fields_and_field_types = {
|
||||
'header': 'std_msgs/Header',
|
||||
'robot_timestamp': 'builtin_interfaces/Time',
|
||||
'q': 'sequence<double>',
|
||||
'theta': 'sequence<double>',
|
||||
'dq': 'sequence<double>',
|
||||
'dtheta': 'sequence<double>',
|
||||
'tau': 'sequence<double>',
|
||||
'tau_des': 'sequence<double>',
|
||||
'tau_dot': 'sequence<double>',
|
||||
'tau_ext': 'sequence<double>',
|
||||
'tau_interact': 'sequence<double>',
|
||||
'temperature': 'sequence<double>',
|
||||
'tcp_pose': 'geometry_msgs/PoseStamped',
|
||||
'tcp_vel': 'geometry_msgs/AccelStamped',
|
||||
'flange_pose': 'geometry_msgs/PoseStamped',
|
||||
'ft_sensor_raw': 'geometry_msgs/WrenchStamped',
|
||||
'ext_wrench_in_tcp': 'geometry_msgs/WrenchStamped',
|
||||
'ext_wrench_in_world': 'geometry_msgs/WrenchStamped',
|
||||
'ext_wrench_in_tcp_raw': 'geometry_msgs/WrenchStamped',
|
||||
'ext_wrench_in_world_raw': 'geometry_msgs/WrenchStamped',
|
||||
}
|
||||
|
||||
SLOT_TYPES = (
|
||||
rosidl_parser.definition.NamespacedType(['std_msgs', 'msg'], 'Header'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['builtin_interfaces', 'msg'], 'Time'), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('double')), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'PoseStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'AccelStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'PoseStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'WrenchStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'WrenchStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'WrenchStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'WrenchStamped'), # noqa: E501
|
||||
rosidl_parser.definition.NamespacedType(['geometry_msgs', 'msg'], 'WrenchStamped'), # noqa: E501
|
||||
)
|
||||
|
||||
def __init__(self, **kwargs):
|
||||
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
|
||||
'Invalid arguments passed to constructor: %s' % \
|
||||
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
|
||||
from std_msgs.msg import Header
|
||||
self.header = kwargs.get('header', Header())
|
||||
from builtin_interfaces.msg import Time
|
||||
self.robot_timestamp = kwargs.get('robot_timestamp', Time())
|
||||
self.q = array.array('d', kwargs.get('q', []))
|
||||
self.theta = array.array('d', kwargs.get('theta', []))
|
||||
self.dq = array.array('d', kwargs.get('dq', []))
|
||||
self.dtheta = array.array('d', kwargs.get('dtheta', []))
|
||||
self.tau = array.array('d', kwargs.get('tau', []))
|
||||
self.tau_des = array.array('d', kwargs.get('tau_des', []))
|
||||
self.tau_dot = array.array('d', kwargs.get('tau_dot', []))
|
||||
self.tau_ext = array.array('d', kwargs.get('tau_ext', []))
|
||||
self.tau_interact = array.array('d', kwargs.get('tau_interact', []))
|
||||
self.temperature = array.array('d', kwargs.get('temperature', []))
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
self.tcp_pose = kwargs.get('tcp_pose', PoseStamped())
|
||||
from geometry_msgs.msg import AccelStamped
|
||||
self.tcp_vel = kwargs.get('tcp_vel', AccelStamped())
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
self.flange_pose = kwargs.get('flange_pose', PoseStamped())
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
self.ft_sensor_raw = kwargs.get('ft_sensor_raw', WrenchStamped())
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
self.ext_wrench_in_tcp = kwargs.get('ext_wrench_in_tcp', WrenchStamped())
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
self.ext_wrench_in_world = kwargs.get('ext_wrench_in_world', WrenchStamped())
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
self.ext_wrench_in_tcp_raw = kwargs.get('ext_wrench_in_tcp_raw', WrenchStamped())
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
self.ext_wrench_in_world_raw = kwargs.get('ext_wrench_in_world_raw', WrenchStamped())
|
||||
|
||||
def __repr__(self):
|
||||
typename = self.__class__.__module__.split('.')
|
||||
typename.pop()
|
||||
typename.append(self.__class__.__name__)
|
||||
args = []
|
||||
for s, t in zip(self.__slots__, self.SLOT_TYPES):
|
||||
field = getattr(self, s)
|
||||
fieldstr = repr(field)
|
||||
# We use Python array type for fields that can be directly stored
|
||||
# in them, and "normal" sequences for everything else. If it is
|
||||
# a type that we store in an array, strip off the 'array' portion.
|
||||
if (
|
||||
isinstance(t, rosidl_parser.definition.AbstractSequence) and
|
||||
isinstance(t.value_type, rosidl_parser.definition.BasicType) and
|
||||
t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
|
||||
):
|
||||
if len(field) == 0:
|
||||
fieldstr = '[]'
|
||||
else:
|
||||
assert fieldstr.startswith('array(')
|
||||
prefix = "array('X', "
|
||||
suffix = ')'
|
||||
fieldstr = fieldstr[len(prefix):-len(suffix)]
|
||||
args.append(s[1:] + '=' + fieldstr)
|
||||
return '%s(%s)' % ('.'.join(typename), ', '.join(args))
|
||||
|
||||
def __eq__(self, other):
|
||||
if not isinstance(other, self.__class__):
|
||||
return False
|
||||
if self.header != other.header:
|
||||
return False
|
||||
if self.robot_timestamp != other.robot_timestamp:
|
||||
return False
|
||||
if self.q != other.q:
|
||||
return False
|
||||
if self.theta != other.theta:
|
||||
return False
|
||||
if self.dq != other.dq:
|
||||
return False
|
||||
if self.dtheta != other.dtheta:
|
||||
return False
|
||||
if self.tau != other.tau:
|
||||
return False
|
||||
if self.tau_des != other.tau_des:
|
||||
return False
|
||||
if self.tau_dot != other.tau_dot:
|
||||
return False
|
||||
if self.tau_ext != other.tau_ext:
|
||||
return False
|
||||
if self.tau_interact != other.tau_interact:
|
||||
return False
|
||||
if self.temperature != other.temperature:
|
||||
return False
|
||||
if self.tcp_pose != other.tcp_pose:
|
||||
return False
|
||||
if self.tcp_vel != other.tcp_vel:
|
||||
return False
|
||||
if self.flange_pose != other.flange_pose:
|
||||
return False
|
||||
if self.ft_sensor_raw != other.ft_sensor_raw:
|
||||
return False
|
||||
if self.ext_wrench_in_tcp != other.ext_wrench_in_tcp:
|
||||
return False
|
||||
if self.ext_wrench_in_world != other.ext_wrench_in_world:
|
||||
return False
|
||||
if self.ext_wrench_in_tcp_raw != other.ext_wrench_in_tcp_raw:
|
||||
return False
|
||||
if self.ext_wrench_in_world_raw != other.ext_wrench_in_world_raw:
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def get_fields_and_field_types(cls):
|
||||
from copy import copy
|
||||
return copy(cls._fields_and_field_types)
|
||||
|
||||
@builtins.property
|
||||
def header(self):
|
||||
"""Message field 'header'."""
|
||||
return self._header
|
||||
|
||||
@header.setter
|
||||
def header(self, value):
|
||||
if __debug__:
|
||||
from std_msgs.msg import Header
|
||||
assert \
|
||||
isinstance(value, Header), \
|
||||
"The 'header' field must be a sub message of type 'Header'"
|
||||
self._header = value
|
||||
|
||||
@builtins.property
|
||||
def robot_timestamp(self):
|
||||
"""Message field 'robot_timestamp'."""
|
||||
return self._robot_timestamp
|
||||
|
||||
@robot_timestamp.setter
|
||||
def robot_timestamp(self, value):
|
||||
if __debug__:
|
||||
from builtin_interfaces.msg import Time
|
||||
assert \
|
||||
isinstance(value, Time), \
|
||||
"The 'robot_timestamp' field must be a sub message of type 'Time'"
|
||||
self._robot_timestamp = value
|
||||
|
||||
@builtins.property
|
||||
def q(self):
|
||||
"""Message field 'q'."""
|
||||
return self._q
|
||||
|
||||
@q.setter
|
||||
def q(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'q' array.array() must have the type code of 'd'"
|
||||
self._q = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'q' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._q = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def theta(self):
|
||||
"""Message field 'theta'."""
|
||||
return self._theta
|
||||
|
||||
@theta.setter
|
||||
def theta(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'theta' array.array() must have the type code of 'd'"
|
||||
self._theta = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'theta' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._theta = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def dq(self):
|
||||
"""Message field 'dq'."""
|
||||
return self._dq
|
||||
|
||||
@dq.setter
|
||||
def dq(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'dq' array.array() must have the type code of 'd'"
|
||||
self._dq = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'dq' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._dq = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def dtheta(self):
|
||||
"""Message field 'dtheta'."""
|
||||
return self._dtheta
|
||||
|
||||
@dtheta.setter
|
||||
def dtheta(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'dtheta' array.array() must have the type code of 'd'"
|
||||
self._dtheta = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'dtheta' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._dtheta = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tau(self):
|
||||
"""Message field 'tau'."""
|
||||
return self._tau
|
||||
|
||||
@tau.setter
|
||||
def tau(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'tau' array.array() must have the type code of 'd'"
|
||||
self._tau = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'tau' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._tau = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tau_des(self):
|
||||
"""Message field 'tau_des'."""
|
||||
return self._tau_des
|
||||
|
||||
@tau_des.setter
|
||||
def tau_des(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'tau_des' array.array() must have the type code of 'd'"
|
||||
self._tau_des = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'tau_des' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._tau_des = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tau_dot(self):
|
||||
"""Message field 'tau_dot'."""
|
||||
return self._tau_dot
|
||||
|
||||
@tau_dot.setter
|
||||
def tau_dot(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'tau_dot' array.array() must have the type code of 'd'"
|
||||
self._tau_dot = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'tau_dot' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._tau_dot = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tau_ext(self):
|
||||
"""Message field 'tau_ext'."""
|
||||
return self._tau_ext
|
||||
|
||||
@tau_ext.setter
|
||||
def tau_ext(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'tau_ext' array.array() must have the type code of 'd'"
|
||||
self._tau_ext = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'tau_ext' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._tau_ext = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tau_interact(self):
|
||||
"""Message field 'tau_interact'."""
|
||||
return self._tau_interact
|
||||
|
||||
@tau_interact.setter
|
||||
def tau_interact(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'tau_interact' array.array() must have the type code of 'd'"
|
||||
self._tau_interact = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'tau_interact' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._tau_interact = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def temperature(self):
|
||||
"""Message field 'temperature'."""
|
||||
return self._temperature
|
||||
|
||||
@temperature.setter
|
||||
def temperature(self, value):
|
||||
if isinstance(value, array.array):
|
||||
assert value.typecode == 'd', \
|
||||
"The 'temperature' array.array() must have the type code of 'd'"
|
||||
self._temperature = value
|
||||
return
|
||||
if __debug__:
|
||||
from collections.abc import Sequence
|
||||
from collections.abc import Set
|
||||
from collections import UserList
|
||||
from collections import UserString
|
||||
assert \
|
||||
((isinstance(value, Sequence) or
|
||||
isinstance(value, Set) or
|
||||
isinstance(value, UserList)) and
|
||||
not isinstance(value, str) and
|
||||
not isinstance(value, UserString) and
|
||||
all(isinstance(v, float) for v in value) and
|
||||
all(not (val < -1.7976931348623157e+308 or val > 1.7976931348623157e+308) or math.isinf(val) for val in value)), \
|
||||
"The 'temperature' field must be a set or sequence and each value of type 'float' and each double in [-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000]"
|
||||
self._temperature = array.array('d', value)
|
||||
|
||||
@builtins.property
|
||||
def tcp_pose(self):
|
||||
"""Message field 'tcp_pose'."""
|
||||
return self._tcp_pose
|
||||
|
||||
@tcp_pose.setter
|
||||
def tcp_pose(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
assert \
|
||||
isinstance(value, PoseStamped), \
|
||||
"The 'tcp_pose' field must be a sub message of type 'PoseStamped'"
|
||||
self._tcp_pose = value
|
||||
|
||||
@builtins.property
|
||||
def tcp_vel(self):
|
||||
"""Message field 'tcp_vel'."""
|
||||
return self._tcp_vel
|
||||
|
||||
@tcp_vel.setter
|
||||
def tcp_vel(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import AccelStamped
|
||||
assert \
|
||||
isinstance(value, AccelStamped), \
|
||||
"The 'tcp_vel' field must be a sub message of type 'AccelStamped'"
|
||||
self._tcp_vel = value
|
||||
|
||||
@builtins.property
|
||||
def flange_pose(self):
|
||||
"""Message field 'flange_pose'."""
|
||||
return self._flange_pose
|
||||
|
||||
@flange_pose.setter
|
||||
def flange_pose(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
assert \
|
||||
isinstance(value, PoseStamped), \
|
||||
"The 'flange_pose' field must be a sub message of type 'PoseStamped'"
|
||||
self._flange_pose = value
|
||||
|
||||
@builtins.property
|
||||
def ft_sensor_raw(self):
|
||||
"""Message field 'ft_sensor_raw'."""
|
||||
return self._ft_sensor_raw
|
||||
|
||||
@ft_sensor_raw.setter
|
||||
def ft_sensor_raw(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
assert \
|
||||
isinstance(value, WrenchStamped), \
|
||||
"The 'ft_sensor_raw' field must be a sub message of type 'WrenchStamped'"
|
||||
self._ft_sensor_raw = value
|
||||
|
||||
@builtins.property
|
||||
def ext_wrench_in_tcp(self):
|
||||
"""Message field 'ext_wrench_in_tcp'."""
|
||||
return self._ext_wrench_in_tcp
|
||||
|
||||
@ext_wrench_in_tcp.setter
|
||||
def ext_wrench_in_tcp(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
assert \
|
||||
isinstance(value, WrenchStamped), \
|
||||
"The 'ext_wrench_in_tcp' field must be a sub message of type 'WrenchStamped'"
|
||||
self._ext_wrench_in_tcp = value
|
||||
|
||||
@builtins.property
|
||||
def ext_wrench_in_world(self):
|
||||
"""Message field 'ext_wrench_in_world'."""
|
||||
return self._ext_wrench_in_world
|
||||
|
||||
@ext_wrench_in_world.setter
|
||||
def ext_wrench_in_world(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
assert \
|
||||
isinstance(value, WrenchStamped), \
|
||||
"The 'ext_wrench_in_world' field must be a sub message of type 'WrenchStamped'"
|
||||
self._ext_wrench_in_world = value
|
||||
|
||||
@builtins.property
|
||||
def ext_wrench_in_tcp_raw(self):
|
||||
"""Message field 'ext_wrench_in_tcp_raw'."""
|
||||
return self._ext_wrench_in_tcp_raw
|
||||
|
||||
@ext_wrench_in_tcp_raw.setter
|
||||
def ext_wrench_in_tcp_raw(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
assert \
|
||||
isinstance(value, WrenchStamped), \
|
||||
"The 'ext_wrench_in_tcp_raw' field must be a sub message of type 'WrenchStamped'"
|
||||
self._ext_wrench_in_tcp_raw = value
|
||||
|
||||
@builtins.property
|
||||
def ext_wrench_in_world_raw(self):
|
||||
"""Message field 'ext_wrench_in_world_raw'."""
|
||||
return self._ext_wrench_in_world_raw
|
||||
|
||||
@ext_wrench_in_world_raw.setter
|
||||
def ext_wrench_in_world_raw(self, value):
|
||||
if __debug__:
|
||||
from geometry_msgs.msg import WrenchStamped
|
||||
assert \
|
||||
isinstance(value, WrenchStamped), \
|
||||
"The 'ext_wrench_in_world_raw' field must be a sub message of type 'WrenchStamped'"
|
||||
self._ext_wrench_in_world_raw = value
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user