00001 """autogenerated by genpy from cogman_msgs/ArmHandActionResult.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import cogman_msgs.msg
00008 import genpy
00009 import actionlib_msgs.msg
00010 import vision_msgs.msg
00011 import std_msgs.msg
00012
00013 class ArmHandActionResult(genpy.Message):
00014 _md5sum = "26b3a465a08de176dd678232ecbf4c1e"
00015 _type = "cogman_msgs/ArmHandActionResult"
00016 _has_header = True
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 Header header
00020 actionlib_msgs/GoalStatus status
00021 ArmHandResult result
00022
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data
00027 # in a particular coordinate frame.
00028 #
00029 # sequence ID: consecutively increasing ID
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040
00041 ================================================================================
00042 MSG: actionlib_msgs/GoalStatus
00043 GoalID goal_id
00044 uint8 status
00045 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00046 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00047 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00048 # and has since completed its execution (Terminal State)
00049 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00050 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00051 # to some failure (Terminal State)
00052 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00053 # because the goal was unattainable or invalid (Terminal State)
00054 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00055 # and has not yet completed execution
00056 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00057 # but the action server has not yet confirmed that the goal is canceled
00058 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00059 # and was successfully cancelled (Terminal State)
00060 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00061 # sent over the wire by an action server
00062
00063 #Allow for the user to associate a string with GoalStatus for debugging
00064 string text
00065
00066
00067 ================================================================================
00068 MSG: actionlib_msgs/GoalID
00069 # The stamp should store the time at which this goal was requested.
00070 # It is used by an action server when it tries to preempt all
00071 # goals that were requested before a certain time
00072 time stamp
00073
00074 # The id provides a way to associate feedback and
00075 # result message with specific goal requests. The id
00076 # specified must be unique.
00077 string id
00078
00079
00080 ================================================================================
00081 MSG: cogman_msgs/ArmHandResult
00082 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00083
00084 #result
00085 float32 distance_to_goal
00086 string situation #Allowed: grasped slipped released unreachable ik_deadlock need_to_move_base
00087 vision_msgs/system_error error #Description of error
00088 uint64[] better_base_ids #List of lo_id's where we could grasp better
00089
00090 ================================================================================
00091 MSG: vision_msgs/system_error
00092 uint64 MANIPULATION_POSE_UNREACHABLE = 64
00093 uint64 GRASP_FAILED = 128 # Grasp into the void
00094 uint64 OBJECT_NOT_FOUND = 256
00095 uint64 VISION_PRIMITIVE_FAILED = 512
00096 uint64 CONTRADICTING_TACTILE_FEEDBACK = 1024 # Collide without expecting it
00097 uint64 CONTRADICTING_VISION_RESULTS = 2048
00098 uint64 GRASP_FAILED_AND_CRASHED = 4096 # Throwing something out of the way
00099 uint64 JLO_ERROR = 8192 # Could not get position
00100 uint64 VECTOR_FIELD_CANT_REACH = 16384 # The arm got stuck along the way, did not reach the final grasping pose
00101
00102 uint64 error_id # One of the error constants defined above
00103 string node_name # The node causing this error
00104 string error_description # Further information about the error
00105
00106 """
00107 __slots__ = ['header','status','result']
00108 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','cogman_msgs/ArmHandResult']
00109
00110 def __init__(self, *args, **kwds):
00111 """
00112 Constructor. Any message fields that are implicitly/explicitly
00113 set to None will be assigned a default value. The recommend
00114 use is keyword arguments as this is more robust to future message
00115 changes. You cannot mix in-order arguments and keyword arguments.
00116
00117 The available fields are:
00118 header,status,result
00119
00120 :param args: complete set of field values, in .msg order
00121 :param kwds: use keyword arguments corresponding to message field names
00122 to set specific fields.
00123 """
00124 if args or kwds:
00125 super(ArmHandActionResult, self).__init__(*args, **kwds)
00126
00127 if self.header is None:
00128 self.header = std_msgs.msg.Header()
00129 if self.status is None:
00130 self.status = actionlib_msgs.msg.GoalStatus()
00131 if self.result is None:
00132 self.result = cogman_msgs.msg.ArmHandResult()
00133 else:
00134 self.header = std_msgs.msg.Header()
00135 self.status = actionlib_msgs.msg.GoalStatus()
00136 self.result = cogman_msgs.msg.ArmHandResult()
00137
00138 def _get_types(self):
00139 """
00140 internal API method
00141 """
00142 return self._slot_types
00143
00144 def serialize(self, buff):
00145 """
00146 serialize message into buffer
00147 :param buff: buffer, ``StringIO``
00148 """
00149 try:
00150 _x = self
00151 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00152 _x = self.header.frame_id
00153 length = len(_x)
00154 if python3 or type(_x) == unicode:
00155 _x = _x.encode('utf-8')
00156 length = len(_x)
00157 buff.write(struct.pack('<I%ss'%length, length, _x))
00158 _x = self
00159 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00160 _x = self.status.goal_id.id
00161 length = len(_x)
00162 if python3 or type(_x) == unicode:
00163 _x = _x.encode('utf-8')
00164 length = len(_x)
00165 buff.write(struct.pack('<I%ss'%length, length, _x))
00166 buff.write(_struct_B.pack(self.status.status))
00167 _x = self.status.text
00168 length = len(_x)
00169 if python3 or type(_x) == unicode:
00170 _x = _x.encode('utf-8')
00171 length = len(_x)
00172 buff.write(struct.pack('<I%ss'%length, length, _x))
00173 buff.write(_struct_f.pack(self.result.distance_to_goal))
00174 _x = self.result.situation
00175 length = len(_x)
00176 if python3 or type(_x) == unicode:
00177 _x = _x.encode('utf-8')
00178 length = len(_x)
00179 buff.write(struct.pack('<I%ss'%length, length, _x))
00180 buff.write(_struct_Q.pack(self.result.error.error_id))
00181 _x = self.result.error.node_name
00182 length = len(_x)
00183 if python3 or type(_x) == unicode:
00184 _x = _x.encode('utf-8')
00185 length = len(_x)
00186 buff.write(struct.pack('<I%ss'%length, length, _x))
00187 _x = self.result.error.error_description
00188 length = len(_x)
00189 if python3 or type(_x) == unicode:
00190 _x = _x.encode('utf-8')
00191 length = len(_x)
00192 buff.write(struct.pack('<I%ss'%length, length, _x))
00193 length = len(self.result.better_base_ids)
00194 buff.write(_struct_I.pack(length))
00195 pattern = '<%sQ'%length
00196 buff.write(struct.pack(pattern, *self.result.better_base_ids))
00197 except struct.error as se: self._check_types(se)
00198 except TypeError as te: self._check_types(te)
00199
00200 def deserialize(self, str):
00201 """
00202 unpack serialized message in str into this message instance
00203 :param str: byte array of serialized message, ``str``
00204 """
00205 try:
00206 if self.header is None:
00207 self.header = std_msgs.msg.Header()
00208 if self.status is None:
00209 self.status = actionlib_msgs.msg.GoalStatus()
00210 if self.result is None:
00211 self.result = cogman_msgs.msg.ArmHandResult()
00212 end = 0
00213 _x = self
00214 start = end
00215 end += 12
00216 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00217 start = end
00218 end += 4
00219 (length,) = _struct_I.unpack(str[start:end])
00220 start = end
00221 end += length
00222 if python3:
00223 self.header.frame_id = str[start:end].decode('utf-8')
00224 else:
00225 self.header.frame_id = str[start:end]
00226 _x = self
00227 start = end
00228 end += 8
00229 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00230 start = end
00231 end += 4
00232 (length,) = _struct_I.unpack(str[start:end])
00233 start = end
00234 end += length
00235 if python3:
00236 self.status.goal_id.id = str[start:end].decode('utf-8')
00237 else:
00238 self.status.goal_id.id = str[start:end]
00239 start = end
00240 end += 1
00241 (self.status.status,) = _struct_B.unpack(str[start:end])
00242 start = end
00243 end += 4
00244 (length,) = _struct_I.unpack(str[start:end])
00245 start = end
00246 end += length
00247 if python3:
00248 self.status.text = str[start:end].decode('utf-8')
00249 else:
00250 self.status.text = str[start:end]
00251 start = end
00252 end += 4
00253 (self.result.distance_to_goal,) = _struct_f.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 if python3:
00260 self.result.situation = str[start:end].decode('utf-8')
00261 else:
00262 self.result.situation = str[start:end]
00263 start = end
00264 end += 8
00265 (self.result.error.error_id,) = _struct_Q.unpack(str[start:end])
00266 start = end
00267 end += 4
00268 (length,) = _struct_I.unpack(str[start:end])
00269 start = end
00270 end += length
00271 if python3:
00272 self.result.error.node_name = str[start:end].decode('utf-8')
00273 else:
00274 self.result.error.node_name = str[start:end]
00275 start = end
00276 end += 4
00277 (length,) = _struct_I.unpack(str[start:end])
00278 start = end
00279 end += length
00280 if python3:
00281 self.result.error.error_description = str[start:end].decode('utf-8')
00282 else:
00283 self.result.error.error_description = str[start:end]
00284 start = end
00285 end += 4
00286 (length,) = _struct_I.unpack(str[start:end])
00287 pattern = '<%sQ'%length
00288 start = end
00289 end += struct.calcsize(pattern)
00290 self.result.better_base_ids = struct.unpack(pattern, str[start:end])
00291 return self
00292 except struct.error as e:
00293 raise genpy.DeserializationError(e)
00294
00295
00296 def serialize_numpy(self, buff, numpy):
00297 """
00298 serialize message with numpy array types into buffer
00299 :param buff: buffer, ``StringIO``
00300 :param numpy: numpy python module
00301 """
00302 try:
00303 _x = self
00304 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00305 _x = self.header.frame_id
00306 length = len(_x)
00307 if python3 or type(_x) == unicode:
00308 _x = _x.encode('utf-8')
00309 length = len(_x)
00310 buff.write(struct.pack('<I%ss'%length, length, _x))
00311 _x = self
00312 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00313 _x = self.status.goal_id.id
00314 length = len(_x)
00315 if python3 or type(_x) == unicode:
00316 _x = _x.encode('utf-8')
00317 length = len(_x)
00318 buff.write(struct.pack('<I%ss'%length, length, _x))
00319 buff.write(_struct_B.pack(self.status.status))
00320 _x = self.status.text
00321 length = len(_x)
00322 if python3 or type(_x) == unicode:
00323 _x = _x.encode('utf-8')
00324 length = len(_x)
00325 buff.write(struct.pack('<I%ss'%length, length, _x))
00326 buff.write(_struct_f.pack(self.result.distance_to_goal))
00327 _x = self.result.situation
00328 length = len(_x)
00329 if python3 or type(_x) == unicode:
00330 _x = _x.encode('utf-8')
00331 length = len(_x)
00332 buff.write(struct.pack('<I%ss'%length, length, _x))
00333 buff.write(_struct_Q.pack(self.result.error.error_id))
00334 _x = self.result.error.node_name
00335 length = len(_x)
00336 if python3 or type(_x) == unicode:
00337 _x = _x.encode('utf-8')
00338 length = len(_x)
00339 buff.write(struct.pack('<I%ss'%length, length, _x))
00340 _x = self.result.error.error_description
00341 length = len(_x)
00342 if python3 or type(_x) == unicode:
00343 _x = _x.encode('utf-8')
00344 length = len(_x)
00345 buff.write(struct.pack('<I%ss'%length, length, _x))
00346 length = len(self.result.better_base_ids)
00347 buff.write(_struct_I.pack(length))
00348 pattern = '<%sQ'%length
00349 buff.write(self.result.better_base_ids.tostring())
00350 except struct.error as se: self._check_types(se)
00351 except TypeError as te: self._check_types(te)
00352
00353 def deserialize_numpy(self, str, numpy):
00354 """
00355 unpack serialized message in str into this message instance using numpy for array types
00356 :param str: byte array of serialized message, ``str``
00357 :param numpy: numpy python module
00358 """
00359 try:
00360 if self.header is None:
00361 self.header = std_msgs.msg.Header()
00362 if self.status is None:
00363 self.status = actionlib_msgs.msg.GoalStatus()
00364 if self.result is None:
00365 self.result = cogman_msgs.msg.ArmHandResult()
00366 end = 0
00367 _x = self
00368 start = end
00369 end += 12
00370 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00371 start = end
00372 end += 4
00373 (length,) = _struct_I.unpack(str[start:end])
00374 start = end
00375 end += length
00376 if python3:
00377 self.header.frame_id = str[start:end].decode('utf-8')
00378 else:
00379 self.header.frame_id = str[start:end]
00380 _x = self
00381 start = end
00382 end += 8
00383 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00384 start = end
00385 end += 4
00386 (length,) = _struct_I.unpack(str[start:end])
00387 start = end
00388 end += length
00389 if python3:
00390 self.status.goal_id.id = str[start:end].decode('utf-8')
00391 else:
00392 self.status.goal_id.id = str[start:end]
00393 start = end
00394 end += 1
00395 (self.status.status,) = _struct_B.unpack(str[start:end])
00396 start = end
00397 end += 4
00398 (length,) = _struct_I.unpack(str[start:end])
00399 start = end
00400 end += length
00401 if python3:
00402 self.status.text = str[start:end].decode('utf-8')
00403 else:
00404 self.status.text = str[start:end]
00405 start = end
00406 end += 4
00407 (self.result.distance_to_goal,) = _struct_f.unpack(str[start:end])
00408 start = end
00409 end += 4
00410 (length,) = _struct_I.unpack(str[start:end])
00411 start = end
00412 end += length
00413 if python3:
00414 self.result.situation = str[start:end].decode('utf-8')
00415 else:
00416 self.result.situation = str[start:end]
00417 start = end
00418 end += 8
00419 (self.result.error.error_id,) = _struct_Q.unpack(str[start:end])
00420 start = end
00421 end += 4
00422 (length,) = _struct_I.unpack(str[start:end])
00423 start = end
00424 end += length
00425 if python3:
00426 self.result.error.node_name = str[start:end].decode('utf-8')
00427 else:
00428 self.result.error.node_name = str[start:end]
00429 start = end
00430 end += 4
00431 (length,) = _struct_I.unpack(str[start:end])
00432 start = end
00433 end += length
00434 if python3:
00435 self.result.error.error_description = str[start:end].decode('utf-8')
00436 else:
00437 self.result.error.error_description = str[start:end]
00438 start = end
00439 end += 4
00440 (length,) = _struct_I.unpack(str[start:end])
00441 pattern = '<%sQ'%length
00442 start = end
00443 end += struct.calcsize(pattern)
00444 self.result.better_base_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00445 return self
00446 except struct.error as e:
00447 raise genpy.DeserializationError(e)
00448
00449 _struct_I = genpy.struct_I
00450 _struct_Q = struct.Struct("<Q")
00451 _struct_3I = struct.Struct("<3I")
00452 _struct_B = struct.Struct("<B")
00453 _struct_2I = struct.Struct("<2I")
00454 _struct_f = struct.Struct("<f")