00001 """autogenerated by genmsg_py from Pr2GripperCommandAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import roslib.rostime
00006 import pr2_controllers_msgs.msg
00007 import actionlib_msgs.msg
00008 import std_msgs.msg
00009
00010 class Pr2GripperCommandAction(roslib.message.Message):
00011 _md5sum = "950b2a6ebe831f5d4f4ceaba3d8be01e"
00012 _type = "pr2_controllers_msgs/Pr2GripperCommandAction"
00013 _has_header = False
00014 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015
00016 Pr2GripperCommandActionGoal action_goal
00017 Pr2GripperCommandActionResult action_result
00018 Pr2GripperCommandActionFeedback action_feedback
00019
00020 ================================================================================
00021 MSG: pr2_controllers_msgs/Pr2GripperCommandActionGoal
00022 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00023
00024 Header header
00025 actionlib_msgs/GoalID goal_id
00026 Pr2GripperCommandGoal goal
00027
00028 ================================================================================
00029 MSG: std_msgs/Header
00030 # Standard metadata for higher-level stamped data types.
00031 # This is generally used to communicate timestamped data
00032 # in a particular coordinate frame.
00033 #
00034 # sequence ID: consecutively increasing ID
00035 uint32 seq
00036 #Two-integer timestamp that is expressed as:
00037 # * stamp.secs: seconds (stamp_secs) since epoch
00038 # * stamp.nsecs: nanoseconds since stamp_secs
00039 # time-handling sugar is provided by the client library
00040 time stamp
00041 #Frame this data is associated with
00042 # 0: no frame
00043 # 1: global frame
00044 string frame_id
00045
00046 ================================================================================
00047 MSG: actionlib_msgs/GoalID
00048 # The stamp should store the time at which this goal was requested.
00049 # It is used by an action server when it tries to preempt all
00050 # goals that were requested before a certain time
00051 time stamp
00052
00053 # The id provides a way to associate feedback and
00054 # result message with specific goal requests. The id
00055 # specified must be unique.
00056 string id
00057
00058
00059 ================================================================================
00060 MSG: pr2_controllers_msgs/Pr2GripperCommandGoal
00061 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00062 pr2_controllers_msgs/Pr2GripperCommand command
00063
00064 ================================================================================
00065 MSG: pr2_controllers_msgs/Pr2GripperCommand
00066 float64 position
00067 float64 max_effort
00068
00069 ================================================================================
00070 MSG: pr2_controllers_msgs/Pr2GripperCommandActionResult
00071 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00072
00073 Header header
00074 actionlib_msgs/GoalStatus status
00075 Pr2GripperCommandResult result
00076
00077 ================================================================================
00078 MSG: actionlib_msgs/GoalStatus
00079 GoalID goal_id
00080 uint8 status
00081 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00082 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00083 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00084 # and has since completed its execution (Terminal State)
00085 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00086 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00087 # to some failure (Terminal State)
00088 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00089 # because the goal was unattainable or invalid (Terminal State)
00090 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00091 # and has not yet completed execution
00092 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00093 # but the action server has not yet confirmed that the goal is canceled
00094 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00095 # and was successfully cancelled (Terminal State)
00096 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00097 # sent over the wire by an action server
00098
00099 #Allow for the user to associate a string with GoalStatus for debugging
00100 string text
00101
00102
00103 ================================================================================
00104 MSG: pr2_controllers_msgs/Pr2GripperCommandResult
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00106 float64 position # The current gripper gap size (in meters)
00107 float64 effort # The current effort exerted (in Newtons)
00108 bool stalled # True iff the gripper is exerting max effort and not moving
00109 bool reached_goal # True iff the gripper position has reached the commanded setpoint
00110
00111 ================================================================================
00112 MSG: pr2_controllers_msgs/Pr2GripperCommandActionFeedback
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00114
00115 Header header
00116 actionlib_msgs/GoalStatus status
00117 Pr2GripperCommandFeedback feedback
00118
00119 ================================================================================
00120 MSG: pr2_controllers_msgs/Pr2GripperCommandFeedback
00121 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00122 float64 position # The current gripper gap size (in meters)
00123 float64 effort # The current effort exerted (in Newtons)
00124 bool stalled # True iff the gripper is exerting max effort and not moving
00125 bool reached_goal # True iff the gripper position has reached the commanded setpoint
00126
00127
00128 """
00129 __slots__ = ['action_goal','action_result','action_feedback']
00130 _slot_types = ['pr2_controllers_msgs/Pr2GripperCommandActionGoal','pr2_controllers_msgs/Pr2GripperCommandActionResult','pr2_controllers_msgs/Pr2GripperCommandActionFeedback']
00131
00132 def __init__(self, *args, **kwds):
00133 """
00134 Constructor. Any message fields that are implicitly/explicitly
00135 set to None will be assigned a default value. The recommend
00136 use is keyword arguments as this is more robust to future message
00137 changes. You cannot mix in-order arguments and keyword arguments.
00138
00139 The available fields are:
00140 action_goal,action_result,action_feedback
00141
00142 @param args: complete set of field values, in .msg order
00143 @param kwds: use keyword arguments corresponding to message field names
00144 to set specific fields.
00145 """
00146 if args or kwds:
00147 super(Pr2GripperCommandAction, self).__init__(*args, **kwds)
00148
00149 if self.action_goal is None:
00150 self.action_goal = pr2_controllers_msgs.msg.Pr2GripperCommandActionGoal()
00151 if self.action_result is None:
00152 self.action_result = pr2_controllers_msgs.msg.Pr2GripperCommandActionResult()
00153 if self.action_feedback is None:
00154 self.action_feedback = pr2_controllers_msgs.msg.Pr2GripperCommandActionFeedback()
00155 else:
00156 self.action_goal = pr2_controllers_msgs.msg.Pr2GripperCommandActionGoal()
00157 self.action_result = pr2_controllers_msgs.msg.Pr2GripperCommandActionResult()
00158 self.action_feedback = pr2_controllers_msgs.msg.Pr2GripperCommandActionFeedback()
00159
00160 def _get_types(self):
00161 """
00162 internal API method
00163 """
00164 return self._slot_types
00165
00166 def serialize(self, buff):
00167 """
00168 serialize message into buffer
00169 @param buff: buffer
00170 @type buff: StringIO
00171 """
00172 try:
00173 _x = self
00174 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00175 _x = self.action_goal.header.frame_id
00176 length = len(_x)
00177 buff.write(struct.pack('<I%ss'%length, length, _x))
00178 _x = self
00179 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00180 _x = self.action_goal.goal_id.id
00181 length = len(_x)
00182 buff.write(struct.pack('<I%ss'%length, length, _x))
00183 _x = self
00184 buff.write(_struct_2d3I.pack(_x.action_goal.goal.command.position, _x.action_goal.goal.command.max_effort, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00185 _x = self.action_result.header.frame_id
00186 length = len(_x)
00187 buff.write(struct.pack('<I%ss'%length, length, _x))
00188 _x = self
00189 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00190 _x = self.action_result.status.goal_id.id
00191 length = len(_x)
00192 buff.write(struct.pack('<I%ss'%length, length, _x))
00193 buff.write(_struct_B.pack(self.action_result.status.status))
00194 _x = self.action_result.status.text
00195 length = len(_x)
00196 buff.write(struct.pack('<I%ss'%length, length, _x))
00197 _x = self
00198 buff.write(_struct_2d2B3I.pack(_x.action_result.result.position, _x.action_result.result.effort, _x.action_result.result.stalled, _x.action_result.result.reached_goal, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00199 _x = self.action_feedback.header.frame_id
00200 length = len(_x)
00201 buff.write(struct.pack('<I%ss'%length, length, _x))
00202 _x = self
00203 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00204 _x = self.action_feedback.status.goal_id.id
00205 length = len(_x)
00206 buff.write(struct.pack('<I%ss'%length, length, _x))
00207 buff.write(_struct_B.pack(self.action_feedback.status.status))
00208 _x = self.action_feedback.status.text
00209 length = len(_x)
00210 buff.write(struct.pack('<I%ss'%length, length, _x))
00211 _x = self
00212 buff.write(_struct_2d2B.pack(_x.action_feedback.feedback.position, _x.action_feedback.feedback.effort, _x.action_feedback.feedback.stalled, _x.action_feedback.feedback.reached_goal))
00213 except struct.error as se: self._check_types(se)
00214 except TypeError as te: self._check_types(te)
00215
00216 def deserialize(self, str):
00217 """
00218 unpack serialized message in str into this message instance
00219 @param str: byte array of serialized message
00220 @type str: str
00221 """
00222 try:
00223 if self.action_goal is None:
00224 self.action_goal = pr2_controllers_msgs.msg.Pr2GripperCommandActionGoal()
00225 if self.action_result is None:
00226 self.action_result = pr2_controllers_msgs.msg.Pr2GripperCommandActionResult()
00227 if self.action_feedback is None:
00228 self.action_feedback = pr2_controllers_msgs.msg.Pr2GripperCommandActionFeedback()
00229 end = 0
00230 _x = self
00231 start = end
00232 end += 12
00233 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00234 start = end
00235 end += 4
00236 (length,) = _struct_I.unpack(str[start:end])
00237 start = end
00238 end += length
00239 self.action_goal.header.frame_id = str[start:end]
00240 _x = self
00241 start = end
00242 end += 8
00243 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00244 start = end
00245 end += 4
00246 (length,) = _struct_I.unpack(str[start:end])
00247 start = end
00248 end += length
00249 self.action_goal.goal_id.id = str[start:end]
00250 _x = self
00251 start = end
00252 end += 28
00253 (_x.action_goal.goal.command.position, _x.action_goal.goal.command.max_effort, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2d3I.unpack(str[start:end])
00254 start = end
00255 end += 4
00256 (length,) = _struct_I.unpack(str[start:end])
00257 start = end
00258 end += length
00259 self.action_result.header.frame_id = str[start:end]
00260 _x = self
00261 start = end
00262 end += 8
00263 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00264 start = end
00265 end += 4
00266 (length,) = _struct_I.unpack(str[start:end])
00267 start = end
00268 end += length
00269 self.action_result.status.goal_id.id = str[start:end]
00270 start = end
00271 end += 1
00272 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00273 start = end
00274 end += 4
00275 (length,) = _struct_I.unpack(str[start:end])
00276 start = end
00277 end += length
00278 self.action_result.status.text = str[start:end]
00279 _x = self
00280 start = end
00281 end += 30
00282 (_x.action_result.result.position, _x.action_result.result.effort, _x.action_result.result.stalled, _x.action_result.result.reached_goal, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2d2B3I.unpack(str[start:end])
00283 self.action_result.result.stalled = bool(self.action_result.result.stalled)
00284 self.action_result.result.reached_goal = bool(self.action_result.result.reached_goal)
00285 start = end
00286 end += 4
00287 (length,) = _struct_I.unpack(str[start:end])
00288 start = end
00289 end += length
00290 self.action_feedback.header.frame_id = str[start:end]
00291 _x = self
00292 start = end
00293 end += 8
00294 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00295 start = end
00296 end += 4
00297 (length,) = _struct_I.unpack(str[start:end])
00298 start = end
00299 end += length
00300 self.action_feedback.status.goal_id.id = str[start:end]
00301 start = end
00302 end += 1
00303 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00304 start = end
00305 end += 4
00306 (length,) = _struct_I.unpack(str[start:end])
00307 start = end
00308 end += length
00309 self.action_feedback.status.text = str[start:end]
00310 _x = self
00311 start = end
00312 end += 18
00313 (_x.action_feedback.feedback.position, _x.action_feedback.feedback.effort, _x.action_feedback.feedback.stalled, _x.action_feedback.feedback.reached_goal,) = _struct_2d2B.unpack(str[start:end])
00314 self.action_feedback.feedback.stalled = bool(self.action_feedback.feedback.stalled)
00315 self.action_feedback.feedback.reached_goal = bool(self.action_feedback.feedback.reached_goal)
00316 return self
00317 except struct.error as e:
00318 raise roslib.message.DeserializationError(e)
00319
00320
00321 def serialize_numpy(self, buff, numpy):
00322 """
00323 serialize message with numpy array types into buffer
00324 @param buff: buffer
00325 @type buff: StringIO
00326 @param numpy: numpy python module
00327 @type numpy module
00328 """
00329 try:
00330 _x = self
00331 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00332 _x = self.action_goal.header.frame_id
00333 length = len(_x)
00334 buff.write(struct.pack('<I%ss'%length, length, _x))
00335 _x = self
00336 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00337 _x = self.action_goal.goal_id.id
00338 length = len(_x)
00339 buff.write(struct.pack('<I%ss'%length, length, _x))
00340 _x = self
00341 buff.write(_struct_2d3I.pack(_x.action_goal.goal.command.position, _x.action_goal.goal.command.max_effort, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00342 _x = self.action_result.header.frame_id
00343 length = len(_x)
00344 buff.write(struct.pack('<I%ss'%length, length, _x))
00345 _x = self
00346 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00347 _x = self.action_result.status.goal_id.id
00348 length = len(_x)
00349 buff.write(struct.pack('<I%ss'%length, length, _x))
00350 buff.write(_struct_B.pack(self.action_result.status.status))
00351 _x = self.action_result.status.text
00352 length = len(_x)
00353 buff.write(struct.pack('<I%ss'%length, length, _x))
00354 _x = self
00355 buff.write(_struct_2d2B3I.pack(_x.action_result.result.position, _x.action_result.result.effort, _x.action_result.result.stalled, _x.action_result.result.reached_goal, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00356 _x = self.action_feedback.header.frame_id
00357 length = len(_x)
00358 buff.write(struct.pack('<I%ss'%length, length, _x))
00359 _x = self
00360 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00361 _x = self.action_feedback.status.goal_id.id
00362 length = len(_x)
00363 buff.write(struct.pack('<I%ss'%length, length, _x))
00364 buff.write(_struct_B.pack(self.action_feedback.status.status))
00365 _x = self.action_feedback.status.text
00366 length = len(_x)
00367 buff.write(struct.pack('<I%ss'%length, length, _x))
00368 _x = self
00369 buff.write(_struct_2d2B.pack(_x.action_feedback.feedback.position, _x.action_feedback.feedback.effort, _x.action_feedback.feedback.stalled, _x.action_feedback.feedback.reached_goal))
00370 except struct.error as se: self._check_types(se)
00371 except TypeError as te: self._check_types(te)
00372
00373 def deserialize_numpy(self, str, numpy):
00374 """
00375 unpack serialized message in str into this message instance using numpy for array types
00376 @param str: byte array of serialized message
00377 @type str: str
00378 @param numpy: numpy python module
00379 @type numpy: module
00380 """
00381 try:
00382 if self.action_goal is None:
00383 self.action_goal = pr2_controllers_msgs.msg.Pr2GripperCommandActionGoal()
00384 if self.action_result is None:
00385 self.action_result = pr2_controllers_msgs.msg.Pr2GripperCommandActionResult()
00386 if self.action_feedback is None:
00387 self.action_feedback = pr2_controllers_msgs.msg.Pr2GripperCommandActionFeedback()
00388 end = 0
00389 _x = self
00390 start = end
00391 end += 12
00392 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00393 start = end
00394 end += 4
00395 (length,) = _struct_I.unpack(str[start:end])
00396 start = end
00397 end += length
00398 self.action_goal.header.frame_id = str[start:end]
00399 _x = self
00400 start = end
00401 end += 8
00402 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00403 start = end
00404 end += 4
00405 (length,) = _struct_I.unpack(str[start:end])
00406 start = end
00407 end += length
00408 self.action_goal.goal_id.id = str[start:end]
00409 _x = self
00410 start = end
00411 end += 28
00412 (_x.action_goal.goal.command.position, _x.action_goal.goal.command.max_effort, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2d3I.unpack(str[start:end])
00413 start = end
00414 end += 4
00415 (length,) = _struct_I.unpack(str[start:end])
00416 start = end
00417 end += length
00418 self.action_result.header.frame_id = str[start:end]
00419 _x = self
00420 start = end
00421 end += 8
00422 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00423 start = end
00424 end += 4
00425 (length,) = _struct_I.unpack(str[start:end])
00426 start = end
00427 end += length
00428 self.action_result.status.goal_id.id = str[start:end]
00429 start = end
00430 end += 1
00431 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00432 start = end
00433 end += 4
00434 (length,) = _struct_I.unpack(str[start:end])
00435 start = end
00436 end += length
00437 self.action_result.status.text = str[start:end]
00438 _x = self
00439 start = end
00440 end += 30
00441 (_x.action_result.result.position, _x.action_result.result.effort, _x.action_result.result.stalled, _x.action_result.result.reached_goal, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2d2B3I.unpack(str[start:end])
00442 self.action_result.result.stalled = bool(self.action_result.result.stalled)
00443 self.action_result.result.reached_goal = bool(self.action_result.result.reached_goal)
00444 start = end
00445 end += 4
00446 (length,) = _struct_I.unpack(str[start:end])
00447 start = end
00448 end += length
00449 self.action_feedback.header.frame_id = str[start:end]
00450 _x = self
00451 start = end
00452 end += 8
00453 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 start = end
00458 end += length
00459 self.action_feedback.status.goal_id.id = str[start:end]
00460 start = end
00461 end += 1
00462 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 start = end
00467 end += length
00468 self.action_feedback.status.text = str[start:end]
00469 _x = self
00470 start = end
00471 end += 18
00472 (_x.action_feedback.feedback.position, _x.action_feedback.feedback.effort, _x.action_feedback.feedback.stalled, _x.action_feedback.feedback.reached_goal,) = _struct_2d2B.unpack(str[start:end])
00473 self.action_feedback.feedback.stalled = bool(self.action_feedback.feedback.stalled)
00474 self.action_feedback.feedback.reached_goal = bool(self.action_feedback.feedback.reached_goal)
00475 return self
00476 except struct.error as e:
00477 raise roslib.message.DeserializationError(e)
00478
00479 _struct_I = roslib.message.struct_I
00480 _struct_2d3I = struct.Struct("<2d3I")
00481 _struct_B = struct.Struct("<B")
00482 _struct_2d2B3I = struct.Struct("<2d2B3I")
00483 _struct_2d2B = struct.Struct("<2d2B")
00484 _struct_3I = struct.Struct("<3I")
00485 _struct_2I = struct.Struct("<2I")
