_Mesh.py

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

import rve_msgs.msg
import std_msgs.msg

class Mesh(genpy.Message):
  _md5sum = "544197659e77fd938c6b88a78a309ade"
  _type = "rve_msgs/Mesh"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """SubMesh[] submeshes
Material[] materials
================================================================================
MSG: rve_msgs/SubMesh
int8 material_index
uint32[] indices
Vector3[] positions
Vector3[] normals
Vector3[] tangents
Vector3[] binormals

TexCoordChannel[] tex_coords
ColorChannel[] colors
================================================================================
MSG: rve_msgs/Vector3
float32 x
float32 y
float32 z

================================================================================
MSG: rve_msgs/TexCoordChannel
uint8 dims
TexCoord[] array

================================================================================
MSG: rve_msgs/TexCoord
float32[3] uvw
================================================================================
MSG: rve_msgs/ColorChannel
std_msgs/ColorRGBA[] array

================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

================================================================================
MSG: rve_msgs/Material
uint8 CULL_CLOCKWISE = 0
uint8 CULL_COUNTERCLOCKWISE = 1
uint8 CULL_NONE = 2

UUID id

float32 opacity

bool has_color
ColorRGB color

bool has_texture
string texture 

bool has_normal_map
string normal_map

bool disable_shading

uint8 cull_mode
================================================================================
MSG: rve_msgs/UUID
uint8[16] data

================================================================================
MSG: rve_msgs/ColorRGB
float32 r
float32 g
float32 b

"""
  __slots__ = ['submeshes','materials']
  _slot_types = ['rve_msgs/SubMesh[]','rve_msgs/Material[]']

  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:
       submeshes,materials

    :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(Mesh, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.submeshes is None:
        self.submeshes = []
      if self.materials is None:
        self.materials = []
    else:
      self.submeshes = []
      self.materials = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.submeshes)
      buff.write(_struct_I.pack(length))
      for val1 in self.submeshes:
        buff.write(_struct_b.pack(val1.material_index))
        length = len(val1.indices)
        buff.write(_struct_I.pack(length))
        pattern = '<%sI'%length
        buff.write(struct.pack(pattern, *val1.indices))
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        for val2 in val1.positions:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.normals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.normals:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.tangents)
        buff.write(_struct_I.pack(length))
        for val2 in val1.tangents:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.binormals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.binormals:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.tex_coords)
        buff.write(_struct_I.pack(length))
        for val2 in val1.tex_coords:
          buff.write(_struct_B.pack(val2.dims))
          length = len(val2.array)
          buff.write(_struct_I.pack(length))
          for val3 in val2.array:
            buff.write(_struct_3f.pack(*val3.uvw))
        length = len(val1.colors)
        buff.write(_struct_I.pack(length))
        for val2 in val1.colors:
          length = len(val2.array)
          buff.write(_struct_I.pack(length))
          for val3 in val2.array:
            _x = val3
            buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.materials)
      buff.write(_struct_I.pack(length))
      for val1 in self.materials:
        _v1 = val1.id
        _x = _v1.data
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(_struct_16B.pack(*_x))
        else:
          buff.write(_struct_16s.pack(_x))
        _x = val1
        buff.write(_struct_fB.pack(_x.opacity, _x.has_color))
        _v2 = val1.color
        _x = _v2
        buff.write(_struct_3f.pack(_x.r, _x.g, _x.b))
        buff.write(_struct_B.pack(val1.has_texture))
        _x = val1.texture
        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))
        buff.write(_struct_B.pack(val1.has_normal_map))
        _x = val1.normal_map
        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))
        _x = val1
        buff.write(_struct_2B.pack(_x.disable_shading, _x.cull_mode))
    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.submeshes is None:
        self.submeshes = None
      if self.materials is None:
        self.materials = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.submeshes = []
      for i in range(0, length):
        val1 = rve_msgs.msg.SubMesh()
        start = end
        end += 1
        (val1.material_index,) = _struct_b.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.indices = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.positions = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.positions.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.normals = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.normals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.tangents = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.tangents.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.binormals = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.binormals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.tex_coords = []
        for i in range(0, length):
          val2 = rve_msgs.msg.TexCoordChannel()
          start = end
          end += 1
          (val2.dims,) = _struct_B.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.array = []
          for i in range(0, length):
            val3 = rve_msgs.msg.TexCoord()
            start = end
            end += 12
            val3.uvw = _struct_3f.unpack(str[start:end])
            val2.array.append(val3)
          val1.tex_coords.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.colors = []
        for i in range(0, length):
          val2 = rve_msgs.msg.ColorChannel()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.array = []
          for i in range(0, length):
            val3 = std_msgs.msg.ColorRGBA()
            _x = val3
            start = end
            end += 16
            (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
            val2.array.append(val3)
          val1.colors.append(val2)
        self.submeshes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.materials = []
      for i in range(0, length):
        val1 = rve_msgs.msg.Material()
        _v3 = val1.id
        start = end
        end += 16
        _v3.data = str[start:end]
        _x = val1
        start = end
        end += 5
        (_x.opacity, _x.has_color,) = _struct_fB.unpack(str[start:end])
        val1.has_color = bool(val1.has_color)
        _v4 = val1.color
        _x = _v4
        start = end
        end += 12
        (_x.r, _x.g, _x.b,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 1
        (val1.has_texture,) = _struct_B.unpack(str[start:end])
        val1.has_texture = bool(val1.has_texture)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.texture = str[start:end].decode('utf-8')
        else:
          val1.texture = str[start:end]
        start = end
        end += 1
        (val1.has_normal_map,) = _struct_B.unpack(str[start:end])
        val1.has_normal_map = bool(val1.has_normal_map)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.normal_map = str[start:end].decode('utf-8')
        else:
          val1.normal_map = str[start:end]
        _x = val1
        start = end
        end += 2
        (_x.disable_shading, _x.cull_mode,) = _struct_2B.unpack(str[start:end])
        val1.disable_shading = bool(val1.disable_shading)
        self.materials.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:
      length = len(self.submeshes)
      buff.write(_struct_I.pack(length))
      for val1 in self.submeshes:
        buff.write(_struct_b.pack(val1.material_index))
        length = len(val1.indices)
        buff.write(_struct_I.pack(length))
        pattern = '<%sI'%length
        buff.write(val1.indices.tostring())
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        for val2 in val1.positions:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.normals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.normals:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.tangents)
        buff.write(_struct_I.pack(length))
        for val2 in val1.tangents:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.binormals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.binormals:
          _x = val2
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
        length = len(val1.tex_coords)
        buff.write(_struct_I.pack(length))
        for val2 in val1.tex_coords:
          buff.write(_struct_B.pack(val2.dims))
          length = len(val2.array)
          buff.write(_struct_I.pack(length))
          for val3 in val2.array:
            buff.write(val3.uvw.tostring())
        length = len(val1.colors)
        buff.write(_struct_I.pack(length))
        for val2 in val1.colors:
          length = len(val2.array)
          buff.write(_struct_I.pack(length))
          for val3 in val2.array:
            _x = val3
            buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
      length = len(self.materials)
      buff.write(_struct_I.pack(length))
      for val1 in self.materials:
        _v5 = val1.id
        _x = _v5.data
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(_struct_16B.pack(*_x))
        else:
          buff.write(_struct_16s.pack(_x))
        _x = val1
        buff.write(_struct_fB.pack(_x.opacity, _x.has_color))
        _v6 = val1.color
        _x = _v6
        buff.write(_struct_3f.pack(_x.r, _x.g, _x.b))
        buff.write(_struct_B.pack(val1.has_texture))
        _x = val1.texture
        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))
        buff.write(_struct_B.pack(val1.has_normal_map))
        _x = val1.normal_map
        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))
        _x = val1
        buff.write(_struct_2B.pack(_x.disable_shading, _x.cull_mode))
    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.submeshes is None:
        self.submeshes = None
      if self.materials is None:
        self.materials = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.submeshes = []
      for i in range(0, length):
        val1 = rve_msgs.msg.SubMesh()
        start = end
        end += 1
        (val1.material_index,) = _struct_b.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.indices = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.positions = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.positions.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.normals = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.normals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.tangents = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.tangents.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.binormals = []
        for i in range(0, length):
          val2 = rve_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          val1.binormals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.tex_coords = []
        for i in range(0, length):
          val2 = rve_msgs.msg.TexCoordChannel()
          start = end
          end += 1
          (val2.dims,) = _struct_B.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.array = []
          for i in range(0, length):
            val3 = rve_msgs.msg.TexCoord()
            start = end
            end += 12
            val3.uvw = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
            val2.array.append(val3)
          val1.tex_coords.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.colors = []
        for i in range(0, length):
          val2 = rve_msgs.msg.ColorChannel()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.array = []
          for i in range(0, length):
            val3 = std_msgs.msg.ColorRGBA()
            _x = val3
            start = end
            end += 16
            (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
            val2.array.append(val3)
          val1.colors.append(val2)
        self.submeshes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.materials = []
      for i in range(0, length):
        val1 = rve_msgs.msg.Material()
        _v7 = val1.id
        start = end
        end += 16
        _v7.data = str[start:end]
        _x = val1
        start = end
        end += 5
        (_x.opacity, _x.has_color,) = _struct_fB.unpack(str[start:end])
        val1.has_color = bool(val1.has_color)
        _v8 = val1.color
        _x = _v8
        start = end
        end += 12
        (_x.r, _x.g, _x.b,) = _struct_3f.unpack(str[start:end])
        start = end
        end += 1
        (val1.has_texture,) = _struct_B.unpack(str[start:end])
        val1.has_texture = bool(val1.has_texture)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.texture = str[start:end].decode('utf-8')
        else:
          val1.texture = str[start:end]
        start = end
        end += 1
        (val1.has_normal_map,) = _struct_B.unpack(str[start:end])
        val1.has_normal_map = bool(val1.has_normal_map)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.normal_map = str[start:end].decode('utf-8')
        else:
          val1.normal_map = str[start:end]
        _x = val1
        start = end
        end += 2
        (_x.disable_shading, _x.cull_mode,) = _struct_2B.unpack(str[start:end])
        val1.disable_shading = bool(val1.disable_shading)
        self.materials.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
_struct_16B = struct.Struct("<16B")
_struct_fB = struct.Struct("<fB")
_struct_b = struct.Struct("<b")
_struct_2B = struct.Struct("<2B")
_struct_4f = struct.Struct("<4f")
_struct_3f = struct.Struct("<3f")
_struct_16s = struct.Struct("<16s")