$search

_MotorTrace.py

Go to the documentation of this file.

"""autogenerated by genmsg_py from MotorTrace.msg. Do not edit."""
import roslib.message
import struct

import ethercat_hardware.msg
import std_msgs.msg

class MotorTrace(roslib.message.Message):
  _md5sum = "ada0b8b7f00967d292bd5bb4f59d4bd8"
  _type = "ethercat_hardware/MotorTrace"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header
string reason
ethercat_hardware/BoardInfo board_info
ethercat_hardware/ActuatorInfo actuator_info
ethercat_hardware/MotorTraceSample[] samples
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: ethercat_hardware/BoardInfo
string description
uint32 product_code
uint32 pcb
uint32 pca
uint32 serial
uint32 firmware_major
uint32 firmware_minor
float64 board_resistance
float64 max_pwm_ratio
float64 hw_max_current
bool poor_measured_motor_voltage
================================================================================
MSG: ethercat_hardware/ActuatorInfo
uint32 id
string name
string robot_name
string motor_make
string motor_model
float64 max_current
float64 speed_constant
float64 motor_resistance
float64 motor_torque_constant
float64 encoder_reduction
float64 pulses_per_revolution
================================================================================
MSG: ethercat_hardware/MotorTraceSample
float64 timestamp
bool    enabled
float64 supply_voltage
float64 measured_motor_voltage
float64 programmed_pwm
float64 executed_current
float64 measured_current
float64 velocity
float64 encoder_position
uint32  encoder_error_count
float64 motor_voltage_error_limit
float64 filtered_motor_voltage_error
float64 filtered_abs_motor_voltage_error
float64 filtered_measured_voltage_error
float64 filtered_abs_measured_voltage_error
float64 filtered_current_error
float64 filtered_abs_current_error
"""
  __slots__ = ['header','reason','board_info','actuator_info','samples']
  _slot_types = ['Header','string','ethercat_hardware/BoardInfo','ethercat_hardware/ActuatorInfo','ethercat_hardware/MotorTraceSample[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       header,reason,board_info,actuator_info,samples
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(MotorTrace, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.reason is None:
        self.reason = ''
      if self.board_info is None:
        self.board_info = ethercat_hardware.msg.BoardInfo()
      if self.actuator_info is None:
        self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
      if self.samples is None:
        self.samples = []
    else:
      self.header = std_msgs.msg._Header.Header()
      self.reason = ''
      self.board_info = ethercat_hardware.msg.BoardInfo()
      self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
      self.samples = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.reason
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.board_info.description
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_6I3dBI.pack(_x.board_info.product_code, _x.board_info.pcb, _x.board_info.pca, _x.board_info.serial, _x.board_info.firmware_major, _x.board_info.firmware_minor, _x.board_info.board_resistance, _x.board_info.max_pwm_ratio, _x.board_info.hw_max_current, _x.board_info.poor_measured_motor_voltage, _x.actuator_info.id))
      _x = self.actuator_info.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.robot_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.motor_make
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.motor_model
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_6d.pack(_x.actuator_info.max_current, _x.actuator_info.speed_constant, _x.actuator_info.motor_resistance, _x.actuator_info.motor_torque_constant, _x.actuator_info.encoder_reduction, _x.actuator_info.pulses_per_revolution))
      length = len(self.samples)
      buff.write(_struct_I.pack(length))
      for val1 in self.samples:
        _x = val1
        buff.write(_struct_dB7dI7d.pack(_x.timestamp, _x.enabled, _x.supply_voltage, _x.measured_motor_voltage, _x.programmed_pwm, _x.executed_current, _x.measured_current, _x.velocity, _x.encoder_position, _x.encoder_error_count, _x.motor_voltage_error_limit, _x.filtered_motor_voltage_error, _x.filtered_abs_motor_voltage_error, _x.filtered_measured_voltage_error, _x.filtered_abs_measured_voltage_error, _x.filtered_current_error, _x.filtered_abs_current_error))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.board_info is None:
        self.board_info = ethercat_hardware.msg.BoardInfo()
      if self.actuator_info is None:
        self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.reason = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.board_info.description = str[start:end]
      _x = self
      start = end
      end += 53
      (_x.board_info.product_code, _x.board_info.pcb, _x.board_info.pca, _x.board_info.serial, _x.board_info.firmware_major, _x.board_info.firmware_minor, _x.board_info.board_resistance, _x.board_info.max_pwm_ratio, _x.board_info.hw_max_current, _x.board_info.poor_measured_motor_voltage, _x.actuator_info.id,) = _struct_6I3dBI.unpack(str[start:end])
      self.board_info.poor_measured_motor_voltage = bool(self.board_info.poor_measured_motor_voltage)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.robot_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.motor_make = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.motor_model = str[start:end]
      _x = self
      start = end
      end += 48
      (_x.actuator_info.max_current, _x.actuator_info.speed_constant, _x.actuator_info.motor_resistance, _x.actuator_info.motor_torque_constant, _x.actuator_info.encoder_reduction, _x.actuator_info.pulses_per_revolution,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.samples = []
      for i in range(0, length):
        val1 = ethercat_hardware.msg.MotorTraceSample()
        _x = val1
        start = end
        end += 125
        (_x.timestamp, _x.enabled, _x.supply_voltage, _x.measured_motor_voltage, _x.programmed_pwm, _x.executed_current, _x.measured_current, _x.velocity, _x.encoder_position, _x.encoder_error_count, _x.motor_voltage_error_limit, _x.filtered_motor_voltage_error, _x.filtered_abs_motor_voltage_error, _x.filtered_measured_voltage_error, _x.filtered_abs_measured_voltage_error, _x.filtered_current_error, _x.filtered_abs_current_error,) = _struct_dB7dI7d.unpack(str[start:end])
        val1.enabled = bool(val1.enabled)
        self.samples.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.reason
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.board_info.description
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_6I3dBI.pack(_x.board_info.product_code, _x.board_info.pcb, _x.board_info.pca, _x.board_info.serial, _x.board_info.firmware_major, _x.board_info.firmware_minor, _x.board_info.board_resistance, _x.board_info.max_pwm_ratio, _x.board_info.hw_max_current, _x.board_info.poor_measured_motor_voltage, _x.actuator_info.id))
      _x = self.actuator_info.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.robot_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.motor_make
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.actuator_info.motor_model
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_6d.pack(_x.actuator_info.max_current, _x.actuator_info.speed_constant, _x.actuator_info.motor_resistance, _x.actuator_info.motor_torque_constant, _x.actuator_info.encoder_reduction, _x.actuator_info.pulses_per_revolution))
      length = len(self.samples)
      buff.write(_struct_I.pack(length))
      for val1 in self.samples:
        _x = val1
        buff.write(_struct_dB7dI7d.pack(_x.timestamp, _x.enabled, _x.supply_voltage, _x.measured_motor_voltage, _x.programmed_pwm, _x.executed_current, _x.measured_current, _x.velocity, _x.encoder_position, _x.encoder_error_count, _x.motor_voltage_error_limit, _x.filtered_motor_voltage_error, _x.filtered_abs_motor_voltage_error, _x.filtered_measured_voltage_error, _x.filtered_abs_measured_voltage_error, _x.filtered_current_error, _x.filtered_abs_current_error))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.board_info is None:
        self.board_info = ethercat_hardware.msg.BoardInfo()
      if self.actuator_info is None:
        self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.reason = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.board_info.description = str[start:end]
      _x = self
      start = end
      end += 53
      (_x.board_info.product_code, _x.board_info.pcb, _x.board_info.pca, _x.board_info.serial, _x.board_info.firmware_major, _x.board_info.firmware_minor, _x.board_info.board_resistance, _x.board_info.max_pwm_ratio, _x.board_info.hw_max_current, _x.board_info.poor_measured_motor_voltage, _x.actuator_info.id,) = _struct_6I3dBI.unpack(str[start:end])
      self.board_info.poor_measured_motor_voltage = bool(self.board_info.poor_measured_motor_voltage)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.robot_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.motor_make = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.actuator_info.motor_model = str[start:end]
      _x = self
      start = end
      end += 48
      (_x.actuator_info.max_current, _x.actuator_info.speed_constant, _x.actuator_info.motor_resistance, _x.actuator_info.motor_torque_constant, _x.actuator_info.encoder_reduction, _x.actuator_info.pulses_per_revolution,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.samples = []
      for i in range(0, length):
        val1 = ethercat_hardware.msg.MotorTraceSample()
        _x = val1
        start = end
        end += 125
        (_x.timestamp, _x.enabled, _x.supply_voltage, _x.measured_motor_voltage, _x.programmed_pwm, _x.executed_current, _x.measured_current, _x.velocity, _x.encoder_position, _x.encoder_error_count, _x.motor_voltage_error_limit, _x.filtered_motor_voltage_error, _x.filtered_abs_motor_voltage_error, _x.filtered_measured_voltage_error, _x.filtered_abs_measured_voltage_error, _x.filtered_current_error, _x.filtered_abs_current_error,) = _struct_dB7dI7d.unpack(str[start:end])
        val1.enabled = bool(val1.enabled)
        self.samples.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_3I = struct.Struct("<3I")
_struct_6I3dBI = struct.Struct("<6I3dBI")
_struct_6d = struct.Struct("<6d")
_struct_dB7dI7d = struct.Struct("<dB7dI7d")

---

ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Fri Mar 1 16:52:03 2013