_AssistedArmNavigationState.py

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


class AssistedArmNavigationState(genpy.Message):
  _md5sum = "4535a19480c891b40f666fd0e350e902"
  _type = "srs_assisted_arm_navigation_msgs/AssistedArmNavigationState"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """###
# This message is used to publish internal state of assisted arm navigation node
###

# Internal state (planned, executing etc.) - TBD

bool planning_started
bool position_reachable # IK can be found
bool position_in_collision

bool joints_out_of_limits

string error_description # position not reachable, collision etc.

# Spacenav variables
bool position_locked
bool orientation_locked

bool aco_state # true - enable, false - disabled

string[] attached_objects

"""
  __slots__ = ['planning_started','position_reachable','position_in_collision','joints_out_of_limits','error_description','position_locked','orientation_locked','aco_state','attached_objects']
  _slot_types = ['bool','bool','bool','bool','string','bool','bool','bool','string[]']

  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:
       planning_started,position_reachable,position_in_collision,joints_out_of_limits,error_description,position_locked,orientation_locked,aco_state,attached_objects

    :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(AssistedArmNavigationState, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.planning_started is None:
        self.planning_started = False
      if self.position_reachable is None:
        self.position_reachable = False
      if self.position_in_collision is None:
        self.position_in_collision = False
      if self.joints_out_of_limits is None:
        self.joints_out_of_limits = False
      if self.error_description is None:
        self.error_description = ''
      if self.position_locked is None:
        self.position_locked = False
      if self.orientation_locked is None:
        self.orientation_locked = False
      if self.aco_state is None:
        self.aco_state = False
      if self.attached_objects is None:
        self.attached_objects = []
    else:
      self.planning_started = False
      self.position_reachable = False
      self.position_in_collision = False
      self.joints_out_of_limits = False
      self.error_description = ''
      self.position_locked = False
      self.orientation_locked = False
      self.aco_state = False
      self.attached_objects = []

  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_4B.pack(_x.planning_started, _x.position_reachable, _x.position_in_collision, _x.joints_out_of_limits))
      _x = self.error_description
      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 = self
      buff.write(_struct_3B.pack(_x.position_locked, _x.orientation_locked, _x.aco_state))
      length = len(self.attached_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.attached_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      end = 0
      _x = self
      start = end
      end += 4
      (_x.planning_started, _x.position_reachable, _x.position_in_collision, _x.joints_out_of_limits,) = _struct_4B.unpack(str[start:end])
      self.planning_started = bool(self.planning_started)
      self.position_reachable = bool(self.position_reachable)
      self.position_in_collision = bool(self.position_in_collision)
      self.joints_out_of_limits = bool(self.joints_out_of_limits)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.error_description = str[start:end].decode('utf-8')
      else:
        self.error_description = str[start:end]
      _x = self
      start = end
      end += 3
      (_x.position_locked, _x.orientation_locked, _x.aco_state,) = _struct_3B.unpack(str[start:end])
      self.position_locked = bool(self.position_locked)
      self.orientation_locked = bool(self.orientation_locked)
      self.aco_state = bool(self.aco_state)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attached_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.attached_objects.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_4B.pack(_x.planning_started, _x.position_reachable, _x.position_in_collision, _x.joints_out_of_limits))
      _x = self.error_description
      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 = self
      buff.write(_struct_3B.pack(_x.position_locked, _x.orientation_locked, _x.aco_state))
      length = len(self.attached_objects)
      buff.write(_struct_I.pack(length))
      for val1 in self.attached_objects:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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
      _x = self
      start = end
      end += 4
      (_x.planning_started, _x.position_reachable, _x.position_in_collision, _x.joints_out_of_limits,) = _struct_4B.unpack(str[start:end])
      self.planning_started = bool(self.planning_started)
      self.position_reachable = bool(self.position_reachable)
      self.position_in_collision = bool(self.position_in_collision)
      self.joints_out_of_limits = bool(self.joints_out_of_limits)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.error_description = str[start:end].decode('utf-8')
      else:
        self.error_description = str[start:end]
      _x = self
      start = end
      end += 3
      (_x.position_locked, _x.orientation_locked, _x.aco_state,) = _struct_3B.unpack(str[start:end])
      self.position_locked = bool(self.position_locked)
      self.orientation_locked = bool(self.orientation_locked)
      self.aco_state = bool(self.aco_state)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.attached_objects = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.attached_objects.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3B = struct.Struct("<3B")
_struct_4B = struct.Struct("<4B")