_CleaningPathSrv.py

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"""autogenerated by genpy from coverage_3d_tools/CleaningPathSrvRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class CleaningPathSrvRequest(genpy.Message):
  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
  _type = "coverage_3d_tools/CleaningPathSrvRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
"""
  __slots__ = []
  _slot_types = []

  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:
       

    :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(CleaningPathSrvRequest, self).__init__(*args, **kwds)

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      pass
    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, ``str``
    """
    try:
      end = 0
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      pass
    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, ``str``
    :param numpy: numpy python module
    """
    try:
      end = 0
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
"""autogenerated by genpy from coverage_3d_tools/CleaningPathSrvResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import coverage_3d_tools.msg
import geometry_msgs.msg
import std_msgs.msg

class CleaningPathSrvResponse(genpy.Message):
  _md5sum = "76f238a8f00cdd5bbbb10f68af78a35a"
  _type = "coverage_3d_tools/CleaningPathSrvResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/PoseArray coverage_path
coverage_3d_tools/CleanPathReachability[] robot_path


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

Header header

Pose[] poses

================================================================================
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: 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: coverage_3d_tools/CleanPathReachability
geometry_msgs/PoseStamped pose
uint32[] reachability
================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

"""
  __slots__ = ['coverage_path','robot_path']
  _slot_types = ['geometry_msgs/PoseArray','coverage_3d_tools/CleanPathReachability[]']

  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:
       coverage_path,robot_path

    :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(CleaningPathSrvResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.coverage_path is None:
        self.coverage_path = geometry_msgs.msg.PoseArray()
      if self.robot_path is None:
        self.robot_path = []
    else:
      self.coverage_path = geometry_msgs.msg.PoseArray()
      self.robot_path = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.coverage_path.header.seq, _x.coverage_path.header.stamp.secs, _x.coverage_path.header.stamp.nsecs))
      _x = self.coverage_path.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.coverage_path.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.coverage_path.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))
      length = len(self.robot_path)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_path:
        _v3 = val1.pose
        _v4 = _v3.header
        buff.write(_struct_I.pack(_v4.seq))
        _v5 = _v4.stamp
        _x = _v5
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v4.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v6 = _v3.pose
        _v7 = _v6.position
        _x = _v7
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v8 = _v6.orientation
        _x = _v8
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.reachability)
        buff.write(_struct_I.pack(length))
        pattern = '<%sI'%length
        buff.write(struct.pack(pattern, *val1.reachability))
    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, ``str``
    """
    try:
      if self.coverage_path is None:
        self.coverage_path = geometry_msgs.msg.PoseArray()
      if self.robot_path is None:
        self.robot_path = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.coverage_path.header.seq, _x.coverage_path.header.stamp.secs, _x.coverage_path.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.coverage_path.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.coverage_path.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.coverage_path.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v9 = val1.position
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = val1.orientation
        _x = _v10
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.coverage_path.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_path = []
      for i in range(0, length):
        val1 = coverage_3d_tools.msg.CleanPathReachability()
        _v11 = val1.pose
        _v12 = _v11.header
        start = end
        end += 4
        (_v12.seq,) = _struct_I.unpack(str[start:end])
        _v13 = _v12.stamp
        _x = _v13
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v12.frame_id = str[start:end].decode('utf-8')
        else:
          _v12.frame_id = str[start:end]
        _v14 = _v11.pose
        _v15 = _v14.position
        _x = _v15
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v16 = _v14.orientation
        _x = _v16
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sI'%length
        start = end
        end += struct.calcsize(pattern)
        val1.reachability = struct.unpack(pattern, str[start:end])
        self.robot_path.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.coverage_path.header.seq, _x.coverage_path.header.stamp.secs, _x.coverage_path.header.stamp.nsecs))
      _x = self.coverage_path.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.coverage_path.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.coverage_path.poses:
        _v17 = val1.position
        _x = _v17
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v18 = val1.orientation
        _x = _v18
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.robot_path)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_path:
        _v19 = val1.pose
        _v20 = _v19.header
        buff.write(_struct_I.pack(_v20.seq))
        _v21 = _v20.stamp
        _x = _v21
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v20.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v22 = _v19.pose
        _v23 = _v22.position
        _x = _v23
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v24 = _v22.orientation
        _x = _v24
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.reachability)
        buff.write(_struct_I.pack(length))
        pattern = '<%sI'%length
        buff.write(val1.reachability.tostring())
    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, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.coverage_path is None:
        self.coverage_path = geometry_msgs.msg.PoseArray()
      if self.robot_path is None:
        self.robot_path = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.coverage_path.header.seq, _x.coverage_path.header.stamp.secs, _x.coverage_path.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.coverage_path.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.coverage_path.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.coverage_path.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v25 = val1.position
        _x = _v25
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v26 = val1.orientation
        _x = _v26
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.coverage_path.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_path = []
      for i in range(0, length):
        val1 = coverage_3d_tools.msg.CleanPathReachability()
        _v27 = val1.pose
        _v28 = _v27.header
        start = end
        end += 4
        (_v28.seq,) = _struct_I.unpack(str[start:end])
        _v29 = _v28.stamp
        _x = _v29
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v28.frame_id = str[start:end].decode('utf-8')
        else:
          _v28.frame_id = str[start:end]
        _v30 = _v27.pose
        _v31 = _v30.position
        _x = _v31
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v32 = _v30.orientation
        _x = _v32
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sI'%length
        start = end
        end += struct.calcsize(pattern)
        val1.reachability = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
        self.robot_path.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class CleaningPathSrv(object):
  _type          = 'coverage_3d_tools/CleaningPathSrv'
  _md5sum = '76f238a8f00cdd5bbbb10f68af78a35a'
  _request_class  = CleaningPathSrvRequest
  _response_class = CleaningPathSrvResponse