_MotorTrace.py
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00001 """autogenerated by genpy from ethercat_hardware/MotorTrace.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 ethercat_hardware.msg
00008 import std_msgs.msg
00009 
00010 class MotorTrace(genpy.Message):
00011   _md5sum = "ada0b8b7f00967d292bd5bb4f59d4bd8"
00012   _type = "ethercat_hardware/MotorTrace"
00013   _has_header = True #flag to mark the presence of a Header object
00014   _full_text = """Header header
00015 string reason
00016 ethercat_hardware/BoardInfo board_info
00017 ethercat_hardware/ActuatorInfo actuator_info
00018 ethercat_hardware/MotorTraceSample[] samples
00019 ================================================================================
00020 MSG: std_msgs/Header
00021 # Standard metadata for higher-level stamped data types.
00022 # This is generally used to communicate timestamped data 
00023 # in a particular coordinate frame.
00024 # 
00025 # sequence ID: consecutively increasing ID 
00026 uint32 seq
00027 #Two-integer timestamp that is expressed as:
00028 # * stamp.secs: seconds (stamp_secs) since epoch
00029 # * stamp.nsecs: nanoseconds since stamp_secs
00030 # time-handling sugar is provided by the client library
00031 time stamp
00032 #Frame this data is associated with
00033 # 0: no frame
00034 # 1: global frame
00035 string frame_id
00036 
00037 ================================================================================
00038 MSG: ethercat_hardware/BoardInfo
00039 string description
00040 uint32 product_code
00041 uint32 pcb
00042 uint32 pca
00043 uint32 serial
00044 uint32 firmware_major
00045 uint32 firmware_minor
00046 float64 board_resistance
00047 float64 max_pwm_ratio
00048 float64 hw_max_current
00049 bool poor_measured_motor_voltage
00050 ================================================================================
00051 MSG: ethercat_hardware/ActuatorInfo
00052 uint32 id
00053 string name
00054 string robot_name
00055 string motor_make
00056 string motor_model
00057 float64 max_current
00058 float64 speed_constant
00059 float64 motor_resistance
00060 float64 motor_torque_constant
00061 float64 encoder_reduction
00062 float64 pulses_per_revolution
00063 ================================================================================
00064 MSG: ethercat_hardware/MotorTraceSample
00065 float64 timestamp
00066 bool    enabled
00067 float64 supply_voltage
00068 float64 measured_motor_voltage
00069 float64 programmed_pwm
00070 float64 executed_current
00071 float64 measured_current
00072 float64 velocity
00073 float64 encoder_position
00074 uint32  encoder_error_count
00075 float64 motor_voltage_error_limit
00076 float64 filtered_motor_voltage_error
00077 float64 filtered_abs_motor_voltage_error
00078 float64 filtered_measured_voltage_error
00079 float64 filtered_abs_measured_voltage_error
00080 float64 filtered_current_error
00081 float64 filtered_abs_current_error
00082 """
00083   __slots__ = ['header','reason','board_info','actuator_info','samples']
00084   _slot_types = ['std_msgs/Header','string','ethercat_hardware/BoardInfo','ethercat_hardware/ActuatorInfo','ethercat_hardware/MotorTraceSample[]']
00085 
00086   def __init__(self, *args, **kwds):
00087     """
00088     Constructor. Any message fields that are implicitly/explicitly
00089     set to None will be assigned a default value. The recommend
00090     use is keyword arguments as this is more robust to future message
00091     changes.  You cannot mix in-order arguments and keyword arguments.
00092 
00093     The available fields are:
00094        header,reason,board_info,actuator_info,samples
00095 
00096     :param args: complete set of field values, in .msg order
00097     :param kwds: use keyword arguments corresponding to message field names
00098     to set specific fields.
00099     """
00100     if args or kwds:
00101       super(MotorTrace, self).__init__(*args, **kwds)
00102       #message fields cannot be None, assign default values for those that are
00103       if self.header is None:
00104         self.header = std_msgs.msg.Header()
00105       if self.reason is None:
00106         self.reason = ''
00107       if self.board_info is None:
00108         self.board_info = ethercat_hardware.msg.BoardInfo()
00109       if self.actuator_info is None:
00110         self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
00111       if self.samples is None:
00112         self.samples = []
00113     else:
00114       self.header = std_msgs.msg.Header()
00115       self.reason = ''
00116       self.board_info = ethercat_hardware.msg.BoardInfo()
00117       self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
00118       self.samples = []
00119 
00120   def _get_types(self):
00121     """
00122     internal API method
00123     """
00124     return self._slot_types
00125 
00126   def serialize(self, buff):
00127     """
00128     serialize message into buffer
00129     :param buff: buffer, ``StringIO``
00130     """
00131     try:
00132       _x = self
00133       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00134       _x = self.header.frame_id
00135       length = len(_x)
00136       if python3 or type(_x) == unicode:
00137         _x = _x.encode('utf-8')
00138         length = len(_x)
00139       buff.write(struct.pack('<I%ss'%length, length, _x))
00140       _x = self.reason
00141       length = len(_x)
00142       if python3 or type(_x) == unicode:
00143         _x = _x.encode('utf-8')
00144         length = len(_x)
00145       buff.write(struct.pack('<I%ss'%length, length, _x))
00146       _x = self.board_info.description
00147       length = len(_x)
00148       if python3 or type(_x) == unicode:
00149         _x = _x.encode('utf-8')
00150         length = len(_x)
00151       buff.write(struct.pack('<I%ss'%length, length, _x))
00152       _x = self
00153       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))
00154       _x = self.actuator_info.name
00155       length = len(_x)
00156       if python3 or type(_x) == unicode:
00157         _x = _x.encode('utf-8')
00158         length = len(_x)
00159       buff.write(struct.pack('<I%ss'%length, length, _x))
00160       _x = self.actuator_info.robot_name
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       _x = self.actuator_info.motor_make
00167       length = len(_x)
00168       if python3 or type(_x) == unicode:
00169         _x = _x.encode('utf-8')
00170         length = len(_x)
00171       buff.write(struct.pack('<I%ss'%length, length, _x))
00172       _x = self.actuator_info.motor_model
00173       length = len(_x)
00174       if python3 or type(_x) == unicode:
00175         _x = _x.encode('utf-8')
00176         length = len(_x)
00177       buff.write(struct.pack('<I%ss'%length, length, _x))
00178       _x = self
00179       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))
00180       length = len(self.samples)
00181       buff.write(_struct_I.pack(length))
00182       for val1 in self.samples:
00183         _x = val1
00184         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))
00185     except struct.error as se: self._check_types(se)
00186     except TypeError as te: self._check_types(te)
00187 
00188   def deserialize(self, str):
00189     """
00190     unpack serialized message in str into this message instance
00191     :param str: byte array of serialized message, ``str``
00192     """
00193     try:
00194       if self.header is None:
00195         self.header = std_msgs.msg.Header()
00196       if self.board_info is None:
00197         self.board_info = ethercat_hardware.msg.BoardInfo()
00198       if self.actuator_info is None:
00199         self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
00200       if self.samples is None:
00201         self.samples = None
00202       end = 0
00203       _x = self
00204       start = end
00205       end += 12
00206       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00207       start = end
00208       end += 4
00209       (length,) = _struct_I.unpack(str[start:end])
00210       start = end
00211       end += length
00212       if python3:
00213         self.header.frame_id = str[start:end].decode('utf-8')
00214       else:
00215         self.header.frame_id = str[start:end]
00216       start = end
00217       end += 4
00218       (length,) = _struct_I.unpack(str[start:end])
00219       start = end
00220       end += length
00221       if python3:
00222         self.reason = str[start:end].decode('utf-8')
00223       else:
00224         self.reason = str[start:end]
00225       start = end
00226       end += 4
00227       (length,) = _struct_I.unpack(str[start:end])
00228       start = end
00229       end += length
00230       if python3:
00231         self.board_info.description = str[start:end].decode('utf-8')
00232       else:
00233         self.board_info.description = str[start:end]
00234       _x = self
00235       start = end
00236       end += 53
00237       (_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])
00238       self.board_info.poor_measured_motor_voltage = bool(self.board_info.poor_measured_motor_voltage)
00239       start = end
00240       end += 4
00241       (length,) = _struct_I.unpack(str[start:end])
00242       start = end
00243       end += length
00244       if python3:
00245         self.actuator_info.name = str[start:end].decode('utf-8')
00246       else:
00247         self.actuator_info.name = str[start:end]
00248       start = end
00249       end += 4
00250       (length,) = _struct_I.unpack(str[start:end])
00251       start = end
00252       end += length
00253       if python3:
00254         self.actuator_info.robot_name = str[start:end].decode('utf-8')
00255       else:
00256         self.actuator_info.robot_name = str[start:end]
00257       start = end
00258       end += 4
00259       (length,) = _struct_I.unpack(str[start:end])
00260       start = end
00261       end += length
00262       if python3:
00263         self.actuator_info.motor_make = str[start:end].decode('utf-8')
00264       else:
00265         self.actuator_info.motor_make = 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.actuator_info.motor_model = str[start:end].decode('utf-8')
00273       else:
00274         self.actuator_info.motor_model = str[start:end]
00275       _x = self
00276       start = end
00277       end += 48
00278       (_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])
00279       start = end
00280       end += 4
00281       (length,) = _struct_I.unpack(str[start:end])
00282       self.samples = []
00283       for i in range(0, length):
00284         val1 = ethercat_hardware.msg.MotorTraceSample()
00285         _x = val1
00286         start = end
00287         end += 125
00288         (_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])
00289         val1.enabled = bool(val1.enabled)
00290         self.samples.append(val1)
00291       return self
00292     except struct.error as e:
00293       raise genpy.DeserializationError(e) #most likely buffer underfill
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.reason
00312       length = len(_x)
00313       if python3 or type(_x) == unicode:
00314         _x = _x.encode('utf-8')
00315         length = len(_x)
00316       buff.write(struct.pack('<I%ss'%length, length, _x))
00317       _x = self.board_info.description
00318       length = len(_x)
00319       if python3 or type(_x) == unicode:
00320         _x = _x.encode('utf-8')
00321         length = len(_x)
00322       buff.write(struct.pack('<I%ss'%length, length, _x))
00323       _x = self
00324       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))
00325       _x = self.actuator_info.name
00326       length = len(_x)
00327       if python3 or type(_x) == unicode:
00328         _x = _x.encode('utf-8')
00329         length = len(_x)
00330       buff.write(struct.pack('<I%ss'%length, length, _x))
00331       _x = self.actuator_info.robot_name
00332       length = len(_x)
00333       if python3 or type(_x) == unicode:
00334         _x = _x.encode('utf-8')
00335         length = len(_x)
00336       buff.write(struct.pack('<I%ss'%length, length, _x))
00337       _x = self.actuator_info.motor_make
00338       length = len(_x)
00339       if python3 or type(_x) == unicode:
00340         _x = _x.encode('utf-8')
00341         length = len(_x)
00342       buff.write(struct.pack('<I%ss'%length, length, _x))
00343       _x = self.actuator_info.motor_model
00344       length = len(_x)
00345       if python3 or type(_x) == unicode:
00346         _x = _x.encode('utf-8')
00347         length = len(_x)
00348       buff.write(struct.pack('<I%ss'%length, length, _x))
00349       _x = self
00350       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))
00351       length = len(self.samples)
00352       buff.write(_struct_I.pack(length))
00353       for val1 in self.samples:
00354         _x = val1
00355         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))
00356     except struct.error as se: self._check_types(se)
00357     except TypeError as te: self._check_types(te)
00358 
00359   def deserialize_numpy(self, str, numpy):
00360     """
00361     unpack serialized message in str into this message instance using numpy for array types
00362     :param str: byte array of serialized message, ``str``
00363     :param numpy: numpy python module
00364     """
00365     try:
00366       if self.header is None:
00367         self.header = std_msgs.msg.Header()
00368       if self.board_info is None:
00369         self.board_info = ethercat_hardware.msg.BoardInfo()
00370       if self.actuator_info is None:
00371         self.actuator_info = ethercat_hardware.msg.ActuatorInfo()
00372       if self.samples is None:
00373         self.samples = None
00374       end = 0
00375       _x = self
00376       start = end
00377       end += 12
00378       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00379       start = end
00380       end += 4
00381       (length,) = _struct_I.unpack(str[start:end])
00382       start = end
00383       end += length
00384       if python3:
00385         self.header.frame_id = str[start:end].decode('utf-8')
00386       else:
00387         self.header.frame_id = str[start:end]
00388       start = end
00389       end += 4
00390       (length,) = _struct_I.unpack(str[start:end])
00391       start = end
00392       end += length
00393       if python3:
00394         self.reason = str[start:end].decode('utf-8')
00395       else:
00396         self.reason = str[start:end]
00397       start = end
00398       end += 4
00399       (length,) = _struct_I.unpack(str[start:end])
00400       start = end
00401       end += length
00402       if python3:
00403         self.board_info.description = str[start:end].decode('utf-8')
00404       else:
00405         self.board_info.description = str[start:end]
00406       _x = self
00407       start = end
00408       end += 53
00409       (_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])
00410       self.board_info.poor_measured_motor_voltage = bool(self.board_info.poor_measured_motor_voltage)
00411       start = end
00412       end += 4
00413       (length,) = _struct_I.unpack(str[start:end])
00414       start = end
00415       end += length
00416       if python3:
00417         self.actuator_info.name = str[start:end].decode('utf-8')
00418       else:
00419         self.actuator_info.name = 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.actuator_info.robot_name = str[start:end].decode('utf-8')
00427       else:
00428         self.actuator_info.robot_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.actuator_info.motor_make = str[start:end].decode('utf-8')
00436       else:
00437         self.actuator_info.motor_make = str[start:end]
00438       start = end
00439       end += 4
00440       (length,) = _struct_I.unpack(str[start:end])
00441       start = end
00442       end += length
00443       if python3:
00444         self.actuator_info.motor_model = str[start:end].decode('utf-8')
00445       else:
00446         self.actuator_info.motor_model = str[start:end]
00447       _x = self
00448       start = end
00449       end += 48
00450       (_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])
00451       start = end
00452       end += 4
00453       (length,) = _struct_I.unpack(str[start:end])
00454       self.samples = []
00455       for i in range(0, length):
00456         val1 = ethercat_hardware.msg.MotorTraceSample()
00457         _x = val1
00458         start = end
00459         end += 125
00460         (_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])
00461         val1.enabled = bool(val1.enabled)
00462         self.samples.append(val1)
00463       return self
00464     except struct.error as e:
00465       raise genpy.DeserializationError(e) #most likely buffer underfill
00466 
00467 _struct_I = genpy.struct_I
00468 _struct_3I = struct.Struct("<3I")
00469 _struct_6I3dBI = struct.Struct("<6I3dBI")
00470 _struct_6d = struct.Struct("<6d")
00471 _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 Thu Jan 2 2014 11:39:31