_CBPositionData.py

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

import joint_qualification_controllers.msg

class CBPositionData(genpy.Message):
  _md5sum = "e7b62743b80e10dde08aea881b6ccf7b"
  _type = "joint_qualification_controllers/CBPositionData"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """float32 flex_position
JointPositionData lift_hold
JointPositionData flex_hold

================================================================================
MSG: joint_qualification_controllers/JointPositionData
float32[] time
float32[] position
float32[] velocity
float32[] effort
"""
  __slots__ = ['flex_position','lift_hold','flex_hold']
  _slot_types = ['float32','joint_qualification_controllers/JointPositionData','joint_qualification_controllers/JointPositionData']

  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:
       flex_position,lift_hold,flex_hold

    :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(CBPositionData, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.flex_position is None:
        self.flex_position = 0.
      if self.lift_hold is None:
        self.lift_hold = joint_qualification_controllers.msg.JointPositionData()
      if self.flex_hold is None:
        self.flex_hold = joint_qualification_controllers.msg.JointPositionData()
    else:
      self.flex_position = 0.
      self.lift_hold = joint_qualification_controllers.msg.JointPositionData()
      self.flex_hold = joint_qualification_controllers.msg.JointPositionData()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_f.pack(self.flex_position))
      length = len(self.lift_hold.time)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.lift_hold.time))
      length = len(self.lift_hold.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.lift_hold.position))
      length = len(self.lift_hold.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.lift_hold.velocity))
      length = len(self.lift_hold.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.lift_hold.effort))
      length = len(self.flex_hold.time)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.flex_hold.time))
      length = len(self.flex_hold.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.flex_hold.position))
      length = len(self.flex_hold.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.flex_hold.velocity))
      length = len(self.flex_hold.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.flex_hold.effort))
    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.lift_hold is None:
        self.lift_hold = joint_qualification_controllers.msg.JointPositionData()
      if self.flex_hold is None:
        self.flex_hold = joint_qualification_controllers.msg.JointPositionData()
      end = 0
      start = end
      end += 4
      (self.flex_position,) = _struct_f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.time = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.effort = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.time = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.effort = struct.unpack(pattern, str[start:end])
      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:
      buff.write(_struct_f.pack(self.flex_position))
      length = len(self.lift_hold.time)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.lift_hold.time.tostring())
      length = len(self.lift_hold.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.lift_hold.position.tostring())
      length = len(self.lift_hold.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.lift_hold.velocity.tostring())
      length = len(self.lift_hold.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.lift_hold.effort.tostring())
      length = len(self.flex_hold.time)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.flex_hold.time.tostring())
      length = len(self.flex_hold.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.flex_hold.position.tostring())
      length = len(self.flex_hold.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.flex_hold.velocity.tostring())
      length = len(self.flex_hold.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.flex_hold.effort.tostring())
    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.lift_hold is None:
        self.lift_hold = joint_qualification_controllers.msg.JointPositionData()
      if self.flex_hold is None:
        self.flex_hold = joint_qualification_controllers.msg.JointPositionData()
      end = 0
      start = end
      end += 4
      (self.flex_position,) = _struct_f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.time = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lift_hold.effort = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.time = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.flex_hold.effort = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_f = struct.Struct("<f")