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_BlockDetectionAction.py

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

import turtlebot_block_manipulation.msg
import geometry_msgs.msg
import roslib.rostime
import actionlib_msgs.msg
import std_msgs.msg

class BlockDetectionAction(roslib.message.Message):
  _md5sum = "32b318b57a8d5ec852090b7f3b7885e0"
  _type = "turtlebot_block_manipulation/BlockDetectionAction"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

BlockDetectionActionGoal action_goal
BlockDetectionActionResult action_result
BlockDetectionActionFeedback action_feedback

================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionActionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
BlockDetectionGoal goal

================================================================================
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: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp

# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id


================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
#goal definition
string frame
float32 table_height
float32 block_size

================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
BlockDetectionResult result

================================================================================
MSG: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING         = 0   # The goal has yet to be processed by the action server
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
                            #   and has since completed its execution (Terminal State)
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
                            #    to some failure (Terminal State)
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
                            #    because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
                            #    and has not yet completed execution
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
                            #    but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
                            #    and was successfully cancelled (Terminal State)
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
                            #    sent over the wire by an action server

#Allow for the user to associate a string with GoalStatus for debugging
string text


================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
#result definition
geometry_msgs/PoseArray blocks

================================================================================
MSG: geometry_msgs/PoseArray
# An array of poses with a header for global reference.

Header header

geometry_msgs/Pose[] poses

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
BlockDetectionFeedback feedback

================================================================================
MSG: turtlebot_block_manipulation/BlockDetectionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
#feedback


"""
  __slots__ = ['action_goal','action_result','action_feedback']
  _slot_types = ['turtlebot_block_manipulation/BlockDetectionActionGoal','turtlebot_block_manipulation/BlockDetectionActionResult','turtlebot_block_manipulation/BlockDetectionActionFeedback']

  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:
       action_goal,action_result,action_feedback
    
    @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(BlockDetectionAction, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.action_goal is None:
        self.action_goal = turtlebot_block_manipulation.msg.BlockDetectionActionGoal()
      if self.action_result is None:
        self.action_result = turtlebot_block_manipulation.msg.BlockDetectionActionResult()
      if self.action_feedback is None:
        self.action_feedback = turtlebot_block_manipulation.msg.BlockDetectionActionFeedback()
    else:
      self.action_goal = turtlebot_block_manipulation.msg.BlockDetectionActionGoal()
      self.action_result = turtlebot_block_manipulation.msg.BlockDetectionActionResult()
      self.action_feedback = turtlebot_block_manipulation.msg.BlockDetectionActionFeedback()

  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.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.frame
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f3I.pack(_x.action_goal.goal.table_height, _x.action_goal.goal.block_size, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.blocks.header.seq, _x.action_result.result.blocks.header.stamp.secs, _x.action_result.result.blocks.header.stamp.nsecs))
      _x = self.action_result.result.blocks.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.blocks.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.blocks.poses:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.action_goal is None:
        self.action_goal = turtlebot_block_manipulation.msg.BlockDetectionActionGoal()
      if self.action_result is None:
        self.action_result = turtlebot_block_manipulation.msg.BlockDetectionActionResult()
      if self.action_feedback is None:
        self.action_feedback = turtlebot_block_manipulation.msg.BlockDetectionActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.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.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.frame = str[start:end]
      _x = self
      start = end
      end += 20
      (_x.action_goal.goal.table_height, _x.action_goal.goal.block_size, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.blocks.header.seq, _x.action_result.result.blocks.header.stamp.secs, _x.action_result.result.blocks.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.action_result.result.blocks.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.blocks.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v3 = val1.position
        _x = _v3
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v4 = val1.orientation
        _x = _v4
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.action_result.result.blocks.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.text = str[start:end]
      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.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
      _x = self.action_goal.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
      _x = self.action_goal.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.action_goal.goal.frame
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f3I.pack(_x.action_goal.goal.table_height, _x.action_goal.goal.block_size, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
      _x = self.action_result.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
      _x = self.action_result.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_result.status.status))
      _x = self.action_result.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.action_result.result.blocks.header.seq, _x.action_result.result.blocks.header.stamp.secs, _x.action_result.result.blocks.header.stamp.nsecs))
      _x = self.action_result.result.blocks.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.action_result.result.blocks.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.action_result.result.blocks.poses:
        _v5 = val1.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
      _x = self.action_feedback.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
      _x = self.action_feedback.status.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_B.pack(self.action_feedback.status.status))
      _x = self.action_feedback.status.text
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.action_goal is None:
        self.action_goal = turtlebot_block_manipulation.msg.BlockDetectionActionGoal()
      if self.action_result is None:
        self.action_result = turtlebot_block_manipulation.msg.BlockDetectionActionResult()
      if self.action_feedback is None:
        self.action_feedback = turtlebot_block_manipulation.msg.BlockDetectionActionFeedback()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.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.action_goal.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_goal.goal.frame = str[start:end]
      _x = self
      start = end
      end += 20
      (_x.action_goal.goal.table_height, _x.action_goal.goal.block_size, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_result.status.text = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.action_result.result.blocks.header.seq, _x.action_result.result.blocks.header.stamp.secs, _x.action_result.result.blocks.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.action_result.result.blocks.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.action_result.result.blocks.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v7 = val1.position
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.orientation
        _x = _v8
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.action_result.result.blocks.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.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.action_feedback.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.goal_id.id = str[start:end]
      start = end
      end += 1
      (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.action_feedback.status.text = str[start:end]
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_B = struct.Struct("<B")
_struct_2f3I = struct.Struct("<2f3I")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")

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turtlebot_block_manipulation
Author(s): Helen Oleynikova
autogenerated on Sat Mar 2 14:06:36 2013