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00001 """autogenerated by genmsg_py from NavigatorCommand.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import geometry_msgs.msg 00006 import art_msgs.msg 00007 import std_msgs.msg 00008 00009 class NavigatorCommand(roslib.message.Message): 00010 _md5sum = "415e5ee8b2ed1c9329a949ed123760f3" 00011 _type = "art_msgs/NavigatorCommand" 00012 _has_header = True #flag to mark the presence of a Header object 00013 _full_text = """# navigator command message 00014 # $Id: NavigatorCommand.msg 615 2010-09-24 16:07:50Z jack.oquin $ 00015 00016 Header header 00017 Order order 00018 00019 ================================================================================ 00020 MSG: std_msgs/Header 00021 # Standard metadata for higher-level stamped data types. 00022 # This is generally used to communicate timestamped data 00023 # in a particular coordinate frame. 00024 # 00025 # sequence ID: consecutively increasing ID 00026 uint32 seq 00027 #Two-integer timestamp that is expressed as: 00028 # * stamp.secs: seconds (stamp_secs) since epoch 00029 # * stamp.nsecs: nanoseconds since stamp_secs 00030 # time-handling sugar is provided by the client library 00031 time stamp 00032 #Frame this data is associated with 00033 # 0: no frame 00034 # 1: global frame 00035 string frame_id 00036 00037 ================================================================================ 00038 MSG: art_msgs/Order 00039 # commander order for the navigator 00040 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $ 00041 00042 uint32 N_WAYPTS = 5 # number of way-points in order 00043 uint32 N_CHKPTS = 2 # number of checkpoints in order 00044 00045 Behavior behavior # requested behavior 00046 art_msgs/WayPoint[5] waypt # way-point array 00047 art_msgs/WayPoint[2] chkpt # next two goal checkpoints 00048 float32 min_speed # in meters/sec 00049 float32 max_speed 00050 int32 replan_num 00051 int32 next_uturn # Uturn between [1] and [2] 00052 00053 ================================================================================ 00054 MSG: art_msgs/Behavior 00055 # ART Navigator behaviors (lower numbers have higher priority) 00056 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $ 00057 00058 # enumerated behavior values 00059 int16 Abort = 0 00060 int16 Quit = 1 00061 int16 Pause = 2 00062 int16 Run = 3 00063 int16 Suspend = 4 00064 int16 Initialize = 5 00065 int16 Go = 6 00066 int16 NONE = 7 00067 int16 N_behaviors = 8 00068 00069 int16 value 00070 00071 ================================================================================ 00072 MSG: art_msgs/WayPoint 00073 # Way-point attributes 00074 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $ 00075 00076 float64 latitude # latitude in degrees 00077 float64 longitude # longitude in degrees 00078 geometry_msgs/Point32 mapxy # MapXY position 00079 MapID id # way-point ID 00080 uint16 index # parser index of waypoint 00081 00082 # way-point flags 00083 bool is_entry # lane or zone exit point 00084 bool is_exit # lane or zone entry point 00085 bool is_goal # this is a goal checkpoint 00086 bool is_lane_change # change lanes after here 00087 bool is_spot # parking spot 00088 bool is_stop # stop line here 00089 bool is_perimeter # zone perimeter point 00090 int32 checkpoint_id # checkpoint ID or zero 00091 float32 lane_width 00092 00093 ================================================================================ 00094 MSG: geometry_msgs/Point32 00095 # This contains the position of a point in free space(with 32 bits of precision). 00096 # It is recommeded to use Point wherever possible instead of Point32. 00097 # 00098 # This recommendation is to promote interoperability. 00099 # 00100 # This message is designed to take up less space when sending 00101 # lots of points at once, as in the case of a PointCloud. 00102 00103 float32 x 00104 float32 y 00105 float32 z 00106 ================================================================================ 00107 MSG: art_msgs/MapID 00108 # Road map identifier for segments, lanes and way-points. 00109 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $ 00110 00111 uint16 NULL_ID = 65535 00112 00113 uint16 seg # segment ID 00114 uint16 lane # lane ID 00115 uint16 pt # way-point ID 00116 00117 """ 00118 __slots__ = ['header','order'] 00119 _slot_types = ['Header','art_msgs/Order'] 00120 00121 def __init__(self, *args, **kwds): 00122 """ 00123 Constructor. Any message fields that are implicitly/explicitly 00124 set to None will be assigned a default value. The recommend 00125 use is keyword arguments as this is more robust to future message 00126 changes. You cannot mix in-order arguments and keyword arguments. 00127 00128 The available fields are: 00129 header,order 00130 00131 @param args: complete set of field values, in .msg order 00132 @param kwds: use keyword arguments corresponding to message field names 00133 to set specific fields. 00134 """ 00135 if args or kwds: 00136 super(NavigatorCommand, self).__init__(*args, **kwds) 00137 #message fields cannot be None, assign default values for those that are 00138 if self.header is None: 00139 self.header = std_msgs.msg._Header.Header() 00140 if self.order is None: 00141 self.order = art_msgs.msg.Order() 00142 else: 00143 self.header = std_msgs.msg._Header.Header() 00144 self.order = art_msgs.msg.Order() 00145 00146 def _get_types(self): 00147 """ 00148 internal API method 00149 """ 00150 return self._slot_types 00151 00152 def serialize(self, buff): 00153 """ 00154 serialize message into buffer 00155 @param buff: buffer 00156 @type buff: StringIO 00157 """ 00158 try: 00159 _x = self 00160 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 00161 _x = self.header.frame_id 00162 length = len(_x) 00163 buff.write(struct.pack('<I%ss'%length, length, _x)) 00164 buff.write(_struct_h.pack(self.order.behavior.value)) 00165 for val1 in self.order.waypt: 00166 _x = val1 00167 buff.write(_struct_2d.pack(_x.latitude, _x.longitude)) 00168 _v1 = val1.mapxy 00169 _x = _v1 00170 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z)) 00171 _v2 = val1.id 00172 _x = _v2 00173 buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt)) 00174 _x = val1 00175 buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width)) 00176 for val1 in self.order.chkpt: 00177 _x = val1 00178 buff.write(_struct_2d.pack(_x.latitude, _x.longitude)) 00179 _v3 = val1.mapxy 00180 _x = _v3 00181 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z)) 00182 _v4 = val1.id 00183 _x = _v4 00184 buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt)) 00185 _x = val1 00186 buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width)) 00187 _x = self 00188 buff.write(_struct_2f2i.pack(_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn)) 00189 except struct.error as se: self._check_types(se) 00190 except TypeError as te: self._check_types(te) 00191 00192 def deserialize(self, str): 00193 """ 00194 unpack serialized message in str into this message instance 00195 @param str: byte array of serialized message 00196 @type str: str 00197 """ 00198 try: 00199 if self.header is None: 00200 self.header = std_msgs.msg._Header.Header() 00201 if self.order is None: 00202 self.order = art_msgs.msg.Order() 00203 end = 0 00204 _x = self 00205 start = end 00206 end += 12 00207 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00208 start = end 00209 end += 4 00210 (length,) = _struct_I.unpack(str[start:end]) 00211 start = end 00212 end += length 00213 self.header.frame_id = str[start:end] 00214 start = end 00215 end += 2 00216 (self.order.behavior.value,) = _struct_h.unpack(str[start:end]) 00217 self.order.waypt = [] 00218 for i in range(0, 5): 00219 val1 = art_msgs.msg.WayPoint() 00220 _x = val1 00221 start = end 00222 end += 16 00223 (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end]) 00224 _v5 = val1.mapxy 00225 _x = _v5 00226 start = end 00227 end += 12 00228 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end]) 00229 _v6 = val1.id 00230 _x = _v6 00231 start = end 00232 end += 6 00233 (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end]) 00234 _x = val1 00235 start = end 00236 end += 17 00237 (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end]) 00238 val1.is_entry = bool(val1.is_entry) 00239 val1.is_exit = bool(val1.is_exit) 00240 val1.is_goal = bool(val1.is_goal) 00241 val1.is_lane_change = bool(val1.is_lane_change) 00242 val1.is_spot = bool(val1.is_spot) 00243 val1.is_stop = bool(val1.is_stop) 00244 val1.is_perimeter = bool(val1.is_perimeter) 00245 self.order.waypt.append(val1) 00246 self.order.chkpt = [] 00247 for i in range(0, 2): 00248 val1 = art_msgs.msg.WayPoint() 00249 _x = val1 00250 start = end 00251 end += 16 00252 (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end]) 00253 _v7 = val1.mapxy 00254 _x = _v7 00255 start = end 00256 end += 12 00257 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end]) 00258 _v8 = val1.id 00259 _x = _v8 00260 start = end 00261 end += 6 00262 (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end]) 00263 _x = val1 00264 start = end 00265 end += 17 00266 (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end]) 00267 val1.is_entry = bool(val1.is_entry) 00268 val1.is_exit = bool(val1.is_exit) 00269 val1.is_goal = bool(val1.is_goal) 00270 val1.is_lane_change = bool(val1.is_lane_change) 00271 val1.is_spot = bool(val1.is_spot) 00272 val1.is_stop = bool(val1.is_stop) 00273 val1.is_perimeter = bool(val1.is_perimeter) 00274 self.order.chkpt.append(val1) 00275 _x = self 00276 start = end 00277 end += 16 00278 (_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn,) = _struct_2f2i.unpack(str[start:end]) 00279 return self 00280 except struct.error as e: 00281 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00282 00283 00284 def serialize_numpy(self, buff, numpy): 00285 """ 00286 serialize message with numpy array types into buffer 00287 @param buff: buffer 00288 @type buff: StringIO 00289 @param numpy: numpy python module 00290 @type numpy module 00291 """ 00292 try: 00293 _x = self 00294 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 00295 _x = self.header.frame_id 00296 length = len(_x) 00297 buff.write(struct.pack('<I%ss'%length, length, _x)) 00298 buff.write(_struct_h.pack(self.order.behavior.value)) 00299 for val1 in self.order.waypt: 00300 _x = val1 00301 buff.write(_struct_2d.pack(_x.latitude, _x.longitude)) 00302 _v9 = val1.mapxy 00303 _x = _v9 00304 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z)) 00305 _v10 = val1.id 00306 _x = _v10 00307 buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt)) 00308 _x = val1 00309 buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width)) 00310 for val1 in self.order.chkpt: 00311 _x = val1 00312 buff.write(_struct_2d.pack(_x.latitude, _x.longitude)) 00313 _v11 = val1.mapxy 00314 _x = _v11 00315 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z)) 00316 _v12 = val1.id 00317 _x = _v12 00318 buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt)) 00319 _x = val1 00320 buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width)) 00321 _x = self 00322 buff.write(_struct_2f2i.pack(_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn)) 00323 except struct.error as se: self._check_types(se) 00324 except TypeError as te: self._check_types(te) 00325 00326 def deserialize_numpy(self, str, numpy): 00327 """ 00328 unpack serialized message in str into this message instance using numpy for array types 00329 @param str: byte array of serialized message 00330 @type str: str 00331 @param numpy: numpy python module 00332 @type numpy: module 00333 """ 00334 try: 00335 if self.header is None: 00336 self.header = std_msgs.msg._Header.Header() 00337 if self.order is None: 00338 self.order = art_msgs.msg.Order() 00339 end = 0 00340 _x = self 00341 start = end 00342 end += 12 00343 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00344 start = end 00345 end += 4 00346 (length,) = _struct_I.unpack(str[start:end]) 00347 start = end 00348 end += length 00349 self.header.frame_id = str[start:end] 00350 start = end 00351 end += 2 00352 (self.order.behavior.value,) = _struct_h.unpack(str[start:end]) 00353 self.order.waypt = [] 00354 for i in range(0, 5): 00355 val1 = art_msgs.msg.WayPoint() 00356 _x = val1 00357 start = end 00358 end += 16 00359 (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end]) 00360 _v13 = val1.mapxy 00361 _x = _v13 00362 start = end 00363 end += 12 00364 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end]) 00365 _v14 = val1.id 00366 _x = _v14 00367 start = end 00368 end += 6 00369 (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end]) 00370 _x = val1 00371 start = end 00372 end += 17 00373 (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end]) 00374 val1.is_entry = bool(val1.is_entry) 00375 val1.is_exit = bool(val1.is_exit) 00376 val1.is_goal = bool(val1.is_goal) 00377 val1.is_lane_change = bool(val1.is_lane_change) 00378 val1.is_spot = bool(val1.is_spot) 00379 val1.is_stop = bool(val1.is_stop) 00380 val1.is_perimeter = bool(val1.is_perimeter) 00381 self.order.waypt.append(val1) 00382 self.order.chkpt = [] 00383 for i in range(0, 2): 00384 val1 = art_msgs.msg.WayPoint() 00385 _x = val1 00386 start = end 00387 end += 16 00388 (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end]) 00389 _v15 = val1.mapxy 00390 _x = _v15 00391 start = end 00392 end += 12 00393 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end]) 00394 _v16 = val1.id 00395 _x = _v16 00396 start = end 00397 end += 6 00398 (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end]) 00399 _x = val1 00400 start = end 00401 end += 17 00402 (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end]) 00403 val1.is_entry = bool(val1.is_entry) 00404 val1.is_exit = bool(val1.is_exit) 00405 val1.is_goal = bool(val1.is_goal) 00406 val1.is_lane_change = bool(val1.is_lane_change) 00407 val1.is_spot = bool(val1.is_spot) 00408 val1.is_stop = bool(val1.is_stop) 00409 val1.is_perimeter = bool(val1.is_perimeter) 00410 self.order.chkpt.append(val1) 00411 _x = self 00412 start = end 00413 end += 16 00414 (_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn,) = _struct_2f2i.unpack(str[start:end]) 00415 return self 00416 except struct.error as e: 00417 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00418 00419 _struct_I = roslib.message.struct_I 00420 _struct_h = struct.Struct("<h") 00421 _struct_2f2i = struct.Struct("<2f2i") 00422 _struct_H7Bif = struct.Struct("<H7Bif") 00423 _struct_2d = struct.Struct("<2d") 00424 _struct_3I = struct.Struct("<3I") 00425 _struct_3H = struct.Struct("<3H") 00426 _struct_3f = struct.Struct("<3f")