_RawFTData.py
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00001 """autogenerated by genpy from ethercat_hardware/RawFTData.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 
00009 class RawFTData(genpy.Message):
00010   _md5sum = "85f5ed45095367bfb8fb2e57954c0b89"
00011   _type = "ethercat_hardware/RawFTData"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# Raw Data from WG035 F/T input via WG006 (gripper MCB).
00014 RawFTDataSample[] samples  # The realtime loop receives upto 4 new samples each 1hKhz cycle 
00015 int64 sample_count         # Counts number of samples
00016 int64 missed_samples       # Counts number of samples that were missed
00017 ================================================================================
00018 MSG: ethercat_hardware/RawFTDataSample
00019 # One raw Data sample from WG035 F/T input via WG006 (gripper MCB).
00020 uint64  sample_count
00021 int16[] data
00022 uint16  vhalf
00023 """
00024   __slots__ = ['samples','sample_count','missed_samples']
00025   _slot_types = ['ethercat_hardware/RawFTDataSample[]','int64','int64']
00026 
00027   def __init__(self, *args, **kwds):
00028     """
00029     Constructor. Any message fields that are implicitly/explicitly
00030     set to None will be assigned a default value. The recommend
00031     use is keyword arguments as this is more robust to future message
00032     changes.  You cannot mix in-order arguments and keyword arguments.
00033 
00034     The available fields are:
00035        samples,sample_count,missed_samples
00036 
00037     :param args: complete set of field values, in .msg order
00038     :param kwds: use keyword arguments corresponding to message field names
00039     to set specific fields.
00040     """
00041     if args or kwds:
00042       super(RawFTData, self).__init__(*args, **kwds)
00043       #message fields cannot be None, assign default values for those that are
00044       if self.samples is None:
00045         self.samples = []
00046       if self.sample_count is None:
00047         self.sample_count = 0
00048       if self.missed_samples is None:
00049         self.missed_samples = 0
00050     else:
00051       self.samples = []
00052       self.sample_count = 0
00053       self.missed_samples = 0
00054 
00055   def _get_types(self):
00056     """
00057     internal API method
00058     """
00059     return self._slot_types
00060 
00061   def serialize(self, buff):
00062     """
00063     serialize message into buffer
00064     :param buff: buffer, ``StringIO``
00065     """
00066     try:
00067       length = len(self.samples)
00068       buff.write(_struct_I.pack(length))
00069       for val1 in self.samples:
00070         buff.write(_struct_Q.pack(val1.sample_count))
00071         length = len(val1.data)
00072         buff.write(_struct_I.pack(length))
00073         pattern = '<%sh'%length
00074         buff.write(struct.pack(pattern, *val1.data))
00075         buff.write(_struct_H.pack(val1.vhalf))
00076       _x = self
00077       buff.write(_struct_2q.pack(_x.sample_count, _x.missed_samples))
00078     except struct.error as se: self._check_types(se)
00079     except TypeError as te: self._check_types(te)
00080 
00081   def deserialize(self, str):
00082     """
00083     unpack serialized message in str into this message instance
00084     :param str: byte array of serialized message, ``str``
00085     """
00086     try:
00087       if self.samples is None:
00088         self.samples = None
00089       end = 0
00090       start = end
00091       end += 4
00092       (length,) = _struct_I.unpack(str[start:end])
00093       self.samples = []
00094       for i in range(0, length):
00095         val1 = ethercat_hardware.msg.RawFTDataSample()
00096         start = end
00097         end += 8
00098         (val1.sample_count,) = _struct_Q.unpack(str[start:end])
00099         start = end
00100         end += 4
00101         (length,) = _struct_I.unpack(str[start:end])
00102         pattern = '<%sh'%length
00103         start = end
00104         end += struct.calcsize(pattern)
00105         val1.data = struct.unpack(pattern, str[start:end])
00106         start = end
00107         end += 2
00108         (val1.vhalf,) = _struct_H.unpack(str[start:end])
00109         self.samples.append(val1)
00110       _x = self
00111       start = end
00112       end += 16
00113       (_x.sample_count, _x.missed_samples,) = _struct_2q.unpack(str[start:end])
00114       return self
00115     except struct.error as e:
00116       raise genpy.DeserializationError(e) #most likely buffer underfill
00117 
00118 
00119   def serialize_numpy(self, buff, numpy):
00120     """
00121     serialize message with numpy array types into buffer
00122     :param buff: buffer, ``StringIO``
00123     :param numpy: numpy python module
00124     """
00125     try:
00126       length = len(self.samples)
00127       buff.write(_struct_I.pack(length))
00128       for val1 in self.samples:
00129         buff.write(_struct_Q.pack(val1.sample_count))
00130         length = len(val1.data)
00131         buff.write(_struct_I.pack(length))
00132         pattern = '<%sh'%length
00133         buff.write(val1.data.tostring())
00134         buff.write(_struct_H.pack(val1.vhalf))
00135       _x = self
00136       buff.write(_struct_2q.pack(_x.sample_count, _x.missed_samples))
00137     except struct.error as se: self._check_types(se)
00138     except TypeError as te: self._check_types(te)
00139 
00140   def deserialize_numpy(self, str, numpy):
00141     """
00142     unpack serialized message in str into this message instance using numpy for array types
00143     :param str: byte array of serialized message, ``str``
00144     :param numpy: numpy python module
00145     """
00146     try:
00147       if self.samples is None:
00148         self.samples = None
00149       end = 0
00150       start = end
00151       end += 4
00152       (length,) = _struct_I.unpack(str[start:end])
00153       self.samples = []
00154       for i in range(0, length):
00155         val1 = ethercat_hardware.msg.RawFTDataSample()
00156         start = end
00157         end += 8
00158         (val1.sample_count,) = _struct_Q.unpack(str[start:end])
00159         start = end
00160         end += 4
00161         (length,) = _struct_I.unpack(str[start:end])
00162         pattern = '<%sh'%length
00163         start = end
00164         end += struct.calcsize(pattern)
00165         val1.data = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=length)
00166         start = end
00167         end += 2
00168         (val1.vhalf,) = _struct_H.unpack(str[start:end])
00169         self.samples.append(val1)
00170       _x = self
00171       start = end
00172       end += 16
00173       (_x.sample_count, _x.missed_samples,) = _struct_2q.unpack(str[start:end])
00174       return self
00175     except struct.error as e:
00176       raise genpy.DeserializationError(e) #most likely buffer underfill
00177 
00178 _struct_I = genpy.struct_I
00179 _struct_Q = struct.Struct("<Q")
00180 _struct_H = struct.Struct("<H")
00181 _struct_2q = struct.Struct("<2q")


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