_NavigatorCommand.py
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00001 """autogenerated by genpy from art_msgs/NavigatorCommand.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 geometry_msgs.msg
00008 import art_msgs.msg
00009 import std_msgs.msg
00010 
00011 class NavigatorCommand(genpy.Message):
00012   _md5sum = "415e5ee8b2ed1c9329a949ed123760f3"
00013   _type = "art_msgs/NavigatorCommand"
00014   _has_header = True #flag to mark the presence of a Header object
00015   _full_text = """# navigator command message
00016 # $Id: NavigatorCommand.msg 615 2010-09-24 16:07:50Z jack.oquin $
00017 
00018 Header header
00019 Order  order
00020 
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data 
00025 # in a particular coordinate frame.
00026 # 
00027 # sequence ID: consecutively increasing ID 
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038 
00039 ================================================================================
00040 MSG: art_msgs/Order
00041 # commander order for the navigator
00042 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $
00043 
00044 uint32 N_WAYPTS = 5                     # number of way-points in order
00045 uint32 N_CHKPTS = 2                     # number of checkpoints in order
00046 
00047 Behavior behavior                       # requested behavior
00048 art_msgs/WayPoint[5] waypt              # way-point array
00049 art_msgs/WayPoint[2] chkpt              # next two goal checkpoints
00050 float32 min_speed                       # in meters/sec
00051 float32 max_speed
00052 int32 replan_num
00053 int32 next_uturn                        # Uturn between [1] and [2]
00054 
00055 ================================================================================
00056 MSG: art_msgs/Behavior
00057 # ART Navigator behaviors (lower numbers have higher priority)
00058 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $
00059 
00060 # enumerated behavior values
00061 int16 Abort       = 0
00062 int16 Quit        = 1
00063 int16 Pause       = 2
00064 int16 Run         = 3
00065 int16 Suspend     = 4
00066 int16 Initialize  = 5
00067 int16 Go          = 6
00068 int16 NONE        = 7
00069 int16 N_behaviors = 8
00070 
00071 int16 value
00072 
00073 ================================================================================
00074 MSG: art_msgs/WayPoint
00075 # Way-point attributes
00076 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $
00077 
00078 float64 latitude                        # latitude in degrees
00079 float64 longitude                       # longitude in degrees
00080 geometry_msgs/Point32 mapxy             # MapXY position
00081 MapID id                                # way-point ID
00082 uint16 index                            # parser index of waypoint
00083 
00084 # way-point flags
00085 bool is_entry                           # lane or zone exit point
00086 bool is_exit                            # lane or zone entry point
00087 bool is_goal                            # this is a goal checkpoint
00088 bool is_lane_change                     # change lanes after here
00089 bool is_spot                            # parking spot
00090 bool is_stop                            # stop line here
00091 bool is_perimeter                       # zone perimeter point
00092 int32 checkpoint_id                     # checkpoint ID or zero
00093 float32 lane_width
00094 
00095 ================================================================================
00096 MSG: geometry_msgs/Point32
00097 # This contains the position of a point in free space(with 32 bits of precision).
00098 # It is recommeded to use Point wherever possible instead of Point32.  
00099 # 
00100 # This recommendation is to promote interoperability.  
00101 #
00102 # This message is designed to take up less space when sending
00103 # lots of points at once, as in the case of a PointCloud.  
00104 
00105 float32 x
00106 float32 y
00107 float32 z
00108 ================================================================================
00109 MSG: art_msgs/MapID
00110 # Road map identifier for segments, lanes and way-points.
00111 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $
00112 
00113 uint16 NULL_ID = 65535
00114 
00115 uint16 seg      # segment ID
00116 uint16 lane     # lane ID
00117 uint16 pt       # way-point ID
00118 
00119 """
00120   __slots__ = ['header','order']
00121   _slot_types = ['std_msgs/Header','art_msgs/Order']
00122 
00123   def __init__(self, *args, **kwds):
00124     """
00125     Constructor. Any message fields that are implicitly/explicitly
00126     set to None will be assigned a default value. The recommend
00127     use is keyword arguments as this is more robust to future message
00128     changes.  You cannot mix in-order arguments and keyword arguments.
00129 
00130     The available fields are:
00131        header,order
00132 
00133     :param args: complete set of field values, in .msg order
00134     :param kwds: use keyword arguments corresponding to message field names
00135     to set specific fields.
00136     """
00137     if args or kwds:
00138       super(NavigatorCommand, self).__init__(*args, **kwds)
00139       #message fields cannot be None, assign default values for those that are
00140       if self.header is None:
00141         self.header = std_msgs.msg.Header()
00142       if self.order is None:
00143         self.order = art_msgs.msg.Order()
00144     else:
00145       self.header = std_msgs.msg.Header()
00146       self.order = art_msgs.msg.Order()
00147 
00148   def _get_types(self):
00149     """
00150     internal API method
00151     """
00152     return self._slot_types
00153 
00154   def serialize(self, buff):
00155     """
00156     serialize message into buffer
00157     :param buff: buffer, ``StringIO``
00158     """
00159     try:
00160       _x = self
00161       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00162       _x = self.header.frame_id
00163       length = len(_x)
00164       if python3 or type(_x) == unicode:
00165         _x = _x.encode('utf-8')
00166         length = len(_x)
00167       buff.write(struct.pack('<I%ss'%length, length, _x))
00168       buff.write(_struct_h.pack(self.order.behavior.value))
00169       for val1 in self.order.waypt:
00170         _x = val1
00171         buff.write(_struct_2d.pack(_x.latitude, _x.longitude))
00172         _v1 = val1.mapxy
00173         _x = _v1
00174         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00175         _v2 = val1.id
00176         _x = _v2
00177         buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt))
00178         _x = val1
00179         buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width))
00180       for val1 in self.order.chkpt:
00181         _x = val1
00182         buff.write(_struct_2d.pack(_x.latitude, _x.longitude))
00183         _v3 = val1.mapxy
00184         _x = _v3
00185         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00186         _v4 = val1.id
00187         _x = _v4
00188         buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt))
00189         _x = val1
00190         buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width))
00191       _x = self
00192       buff.write(_struct_2f2i.pack(_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn))
00193     except struct.error as se: self._check_types(se)
00194     except TypeError as te: self._check_types(te)
00195 
00196   def deserialize(self, str):
00197     """
00198     unpack serialized message in str into this message instance
00199     :param str: byte array of serialized message, ``str``
00200     """
00201     try:
00202       if self.header is None:
00203         self.header = std_msgs.msg.Header()
00204       if self.order is None:
00205         self.order = art_msgs.msg.Order()
00206       end = 0
00207       _x = self
00208       start = end
00209       end += 12
00210       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00211       start = end
00212       end += 4
00213       (length,) = _struct_I.unpack(str[start:end])
00214       start = end
00215       end += length
00216       if python3:
00217         self.header.frame_id = str[start:end].decode('utf-8')
00218       else:
00219         self.header.frame_id = str[start:end]
00220       start = end
00221       end += 2
00222       (self.order.behavior.value,) = _struct_h.unpack(str[start:end])
00223       self.order.waypt = []
00224       for i in range(0, 5):
00225         val1 = art_msgs.msg.WayPoint()
00226         _x = val1
00227         start = end
00228         end += 16
00229         (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end])
00230         _v5 = val1.mapxy
00231         _x = _v5
00232         start = end
00233         end += 12
00234         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00235         _v6 = val1.id
00236         _x = _v6
00237         start = end
00238         end += 6
00239         (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end])
00240         _x = val1
00241         start = end
00242         end += 17
00243         (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end])
00244         val1.is_entry = bool(val1.is_entry)
00245         val1.is_exit = bool(val1.is_exit)
00246         val1.is_goal = bool(val1.is_goal)
00247         val1.is_lane_change = bool(val1.is_lane_change)
00248         val1.is_spot = bool(val1.is_spot)
00249         val1.is_stop = bool(val1.is_stop)
00250         val1.is_perimeter = bool(val1.is_perimeter)
00251         self.order.waypt.append(val1)
00252       self.order.chkpt = []
00253       for i in range(0, 2):
00254         val1 = art_msgs.msg.WayPoint()
00255         _x = val1
00256         start = end
00257         end += 16
00258         (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end])
00259         _v7 = val1.mapxy
00260         _x = _v7
00261         start = end
00262         end += 12
00263         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00264         _v8 = val1.id
00265         _x = _v8
00266         start = end
00267         end += 6
00268         (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end])
00269         _x = val1
00270         start = end
00271         end += 17
00272         (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end])
00273         val1.is_entry = bool(val1.is_entry)
00274         val1.is_exit = bool(val1.is_exit)
00275         val1.is_goal = bool(val1.is_goal)
00276         val1.is_lane_change = bool(val1.is_lane_change)
00277         val1.is_spot = bool(val1.is_spot)
00278         val1.is_stop = bool(val1.is_stop)
00279         val1.is_perimeter = bool(val1.is_perimeter)
00280         self.order.chkpt.append(val1)
00281       _x = self
00282       start = end
00283       end += 16
00284       (_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn,) = _struct_2f2i.unpack(str[start:end])
00285       return self
00286     except struct.error as e:
00287       raise genpy.DeserializationError(e) #most likely buffer underfill
00288 
00289 
00290   def serialize_numpy(self, buff, numpy):
00291     """
00292     serialize message with numpy array types into buffer
00293     :param buff: buffer, ``StringIO``
00294     :param numpy: numpy python module
00295     """
00296     try:
00297       _x = self
00298       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00299       _x = self.header.frame_id
00300       length = len(_x)
00301       if python3 or type(_x) == unicode:
00302         _x = _x.encode('utf-8')
00303         length = len(_x)
00304       buff.write(struct.pack('<I%ss'%length, length, _x))
00305       buff.write(_struct_h.pack(self.order.behavior.value))
00306       for val1 in self.order.waypt:
00307         _x = val1
00308         buff.write(_struct_2d.pack(_x.latitude, _x.longitude))
00309         _v9 = val1.mapxy
00310         _x = _v9
00311         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00312         _v10 = val1.id
00313         _x = _v10
00314         buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt))
00315         _x = val1
00316         buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width))
00317       for val1 in self.order.chkpt:
00318         _x = val1
00319         buff.write(_struct_2d.pack(_x.latitude, _x.longitude))
00320         _v11 = val1.mapxy
00321         _x = _v11
00322         buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00323         _v12 = val1.id
00324         _x = _v12
00325         buff.write(_struct_3H.pack(_x.seg, _x.lane, _x.pt))
00326         _x = val1
00327         buff.write(_struct_H7Bif.pack(_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width))
00328       _x = self
00329       buff.write(_struct_2f2i.pack(_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn))
00330     except struct.error as se: self._check_types(se)
00331     except TypeError as te: self._check_types(te)
00332 
00333   def deserialize_numpy(self, str, numpy):
00334     """
00335     unpack serialized message in str into this message instance using numpy for array types
00336     :param str: byte array of serialized message, ``str``
00337     :param numpy: numpy python module
00338     """
00339     try:
00340       if self.header is None:
00341         self.header = std_msgs.msg.Header()
00342       if self.order is None:
00343         self.order = art_msgs.msg.Order()
00344       end = 0
00345       _x = self
00346       start = end
00347       end += 12
00348       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00349       start = end
00350       end += 4
00351       (length,) = _struct_I.unpack(str[start:end])
00352       start = end
00353       end += length
00354       if python3:
00355         self.header.frame_id = str[start:end].decode('utf-8')
00356       else:
00357         self.header.frame_id = str[start:end]
00358       start = end
00359       end += 2
00360       (self.order.behavior.value,) = _struct_h.unpack(str[start:end])
00361       self.order.waypt = []
00362       for i in range(0, 5):
00363         val1 = art_msgs.msg.WayPoint()
00364         _x = val1
00365         start = end
00366         end += 16
00367         (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end])
00368         _v13 = val1.mapxy
00369         _x = _v13
00370         start = end
00371         end += 12
00372         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00373         _v14 = val1.id
00374         _x = _v14
00375         start = end
00376         end += 6
00377         (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end])
00378         _x = val1
00379         start = end
00380         end += 17
00381         (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end])
00382         val1.is_entry = bool(val1.is_entry)
00383         val1.is_exit = bool(val1.is_exit)
00384         val1.is_goal = bool(val1.is_goal)
00385         val1.is_lane_change = bool(val1.is_lane_change)
00386         val1.is_spot = bool(val1.is_spot)
00387         val1.is_stop = bool(val1.is_stop)
00388         val1.is_perimeter = bool(val1.is_perimeter)
00389         self.order.waypt.append(val1)
00390       self.order.chkpt = []
00391       for i in range(0, 2):
00392         val1 = art_msgs.msg.WayPoint()
00393         _x = val1
00394         start = end
00395         end += 16
00396         (_x.latitude, _x.longitude,) = _struct_2d.unpack(str[start:end])
00397         _v15 = val1.mapxy
00398         _x = _v15
00399         start = end
00400         end += 12
00401         (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00402         _v16 = val1.id
00403         _x = _v16
00404         start = end
00405         end += 6
00406         (_x.seg, _x.lane, _x.pt,) = _struct_3H.unpack(str[start:end])
00407         _x = val1
00408         start = end
00409         end += 17
00410         (_x.index, _x.is_entry, _x.is_exit, _x.is_goal, _x.is_lane_change, _x.is_spot, _x.is_stop, _x.is_perimeter, _x.checkpoint_id, _x.lane_width,) = _struct_H7Bif.unpack(str[start:end])
00411         val1.is_entry = bool(val1.is_entry)
00412         val1.is_exit = bool(val1.is_exit)
00413         val1.is_goal = bool(val1.is_goal)
00414         val1.is_lane_change = bool(val1.is_lane_change)
00415         val1.is_spot = bool(val1.is_spot)
00416         val1.is_stop = bool(val1.is_stop)
00417         val1.is_perimeter = bool(val1.is_perimeter)
00418         self.order.chkpt.append(val1)
00419       _x = self
00420       start = end
00421       end += 16
00422       (_x.order.min_speed, _x.order.max_speed, _x.order.replan_num, _x.order.next_uturn,) = _struct_2f2i.unpack(str[start:end])
00423       return self
00424     except struct.error as e:
00425       raise genpy.DeserializationError(e) #most likely buffer underfill
00426 
00427 _struct_I = genpy.struct_I
00428 _struct_h = struct.Struct("<h")
00429 _struct_2f2i = struct.Struct("<2f2i")
00430 _struct_H7Bif = struct.Struct("<H7Bif")
00431 _struct_2d = struct.Struct("<2d")
00432 _struct_3I = struct.Struct("<3I")
00433 _struct_3H = struct.Struct("<3H")
00434 _struct_3f = struct.Struct("<3f")
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art_msgs
Author(s): Jack O'Quin
autogenerated on Tue Sep 24 2013 10:40:45