00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperSlipServoAction.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 genpy
00008 import actionlib_msgs.msg
00009 import pr2_gripper_sensor_msgs.msg
00010 import std_msgs.msg
00011
00012 class PR2GripperSlipServoAction(genpy.Message):
00013 _md5sum = "d1abef6e5d417a62bf67570de0fcd426"
00014 _type = "pr2_gripper_sensor_msgs/PR2GripperSlipServoAction"
00015 _has_header = False
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 PR2GripperSlipServoActionGoal action_goal
00019 PR2GripperSlipServoActionResult action_result
00020 PR2GripperSlipServoActionFeedback action_feedback
00021
00022 ================================================================================
00023 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 PR2GripperSlipServoGoal goal
00029
00030 ================================================================================
00031 MSG: std_msgs/Header
00032 # Standard metadata for higher-level stamped data types.
00033 # This is generally used to communicate timestamped data
00034 # in a particular coordinate frame.
00035 #
00036 # sequence ID: consecutively increasing ID
00037 uint32 seq
00038 #Two-integer timestamp that is expressed as:
00039 # * stamp.secs: seconds (stamp_secs) since epoch
00040 # * stamp.nsecs: nanoseconds since stamp_secs
00041 # time-handling sugar is provided by the client library
00042 time stamp
00043 #Frame this data is associated with
00044 # 0: no frame
00045 # 1: global frame
00046 string frame_id
00047
00048 ================================================================================
00049 MSG: actionlib_msgs/GoalID
00050 # The stamp should store the time at which this goal was requested.
00051 # It is used by an action server when it tries to preempt all
00052 # goals that were requested before a certain time
00053 time stamp
00054
00055 # The id provides a way to associate feedback and
00056 # result message with specific goal requests. The id
00057 # specified must be unique.
00058 string id
00059
00060
00061 ================================================================================
00062 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # Action to launch the gripper into slip servoing mode
00065
00066 #goals
00067 PR2GripperSlipServoCommand command
00068
00069 ================================================================================
00070 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoCommand
00071 # this command is currently blank, but may see additional variable
00072 # additions in the future
00073
00074 # see the param server documentation for a list of variables that effect
00075 # slip servo performance
00076 ================================================================================
00077 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult
00078 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00079
00080 Header header
00081 actionlib_msgs/GoalStatus status
00082 PR2GripperSlipServoResult result
00083
00084 ================================================================================
00085 MSG: actionlib_msgs/GoalStatus
00086 GoalID goal_id
00087 uint8 status
00088 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00089 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00090 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00091 # and has since completed its execution (Terminal State)
00092 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00093 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00094 # to some failure (Terminal State)
00095 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00096 # because the goal was unattainable or invalid (Terminal State)
00097 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00098 # and has not yet completed execution
00099 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00100 # but the action server has not yet confirmed that the goal is canceled
00101 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00102 # and was successfully cancelled (Terminal State)
00103 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00104 # sent over the wire by an action server
00105
00106 #Allow for the user to associate a string with GoalStatus for debugging
00107 string text
00108
00109
00110 ================================================================================
00111 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoResult
00112 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00113
00114 #result
00115 PR2GripperSlipServoData data
00116
00117
00118 ================================================================================
00119 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData
00120 # time the data was recorded at
00121 time stamp
00122
00123 # the amount of deformation from action start (in meters)
00124 float64 deformation
00125
00126 # the force experinced by the finger Pads (N)
00127 # NOTE:this ignores data from the edges of the finger pressure
00128 float64 left_fingertip_pad_force
00129 float64 right_fingertip_pad_force
00130
00131 # the current virtual parallel joint effort of the gripper (in N)
00132 float64 joint_effort
00133
00134 # true if the object recently slipped
00135 bool slip_detected
00136
00137 # true if we are at or exceeding the deformation limit
00138 # (see wiki page and param server for more info)
00139 bool deformation_limit_reached
00140
00141 # true if we are at or exceeding our force
00142 # (see wiki page and param server for more info)
00143 bool fingertip_force_limit_reached
00144
00145 # true if the controller thinks the gripper is empty
00146 # (see wiki page for more info)
00147 bool gripper_empty
00148
00149 # the control state of our realtime controller
00150 PR2GripperSensorRTState rtstate
00151 ================================================================================
00152 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00153 # the control state of our realtime controller
00154 int8 realtime_controller_state
00155
00156 # predefined values to indicate our realtime_controller_state
00157 int8 DISABLED = 0
00158 int8 POSITION_SERVO = 3
00159 int8 FORCE_SERVO = 4
00160 int8 FIND_CONTACT = 5
00161 int8 SLIP_SERVO = 6
00162 ================================================================================
00163 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback
00164 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00165
00166 Header header
00167 actionlib_msgs/GoalStatus status
00168 PR2GripperSlipServoFeedback feedback
00169
00170 ================================================================================
00171 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoFeedback
00172 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00173
00174 #feedback
00175 PR2GripperSlipServoData data
00176
00177 """
00178 __slots__ = ['action_goal','action_result','action_feedback']
00179 _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperSlipServoActionGoal','pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult','pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback']
00180
00181 def __init__(self, *args, **kwds):
00182 """
00183 Constructor. Any message fields that are implicitly/explicitly
00184 set to None will be assigned a default value. The recommend
00185 use is keyword arguments as this is more robust to future message
00186 changes. You cannot mix in-order arguments and keyword arguments.
00187
00188 The available fields are:
00189 action_goal,action_result,action_feedback
00190
00191 :param args: complete set of field values, in .msg order
00192 :param kwds: use keyword arguments corresponding to message field names
00193 to set specific fields.
00194 """
00195 if args or kwds:
00196 super(PR2GripperSlipServoAction, self).__init__(*args, **kwds)
00197
00198 if self.action_goal is None:
00199 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionGoal()
00200 if self.action_result is None:
00201 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionResult()
00202 if self.action_feedback is None:
00203 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionFeedback()
00204 else:
00205 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionGoal()
00206 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionResult()
00207 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionFeedback()
00208
00209 def _get_types(self):
00210 """
00211 internal API method
00212 """
00213 return self._slot_types
00214
00215 def serialize(self, buff):
00216 """
00217 serialize message into buffer
00218 :param buff: buffer, ``StringIO``
00219 """
00220 try:
00221 _x = self
00222 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00223 _x = self.action_goal.header.frame_id
00224 length = len(_x)
00225 if python3 or type(_x) == unicode:
00226 _x = _x.encode('utf-8')
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self
00230 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00231 _x = self.action_goal.goal_id.id
00232 length = len(_x)
00233 if python3 or type(_x) == unicode:
00234 _x = _x.encode('utf-8')
00235 length = len(_x)
00236 buff.write(struct.pack('<I%ss'%length, length, _x))
00237 _x = self
00238 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00239 _x = self.action_result.header.frame_id
00240 length = len(_x)
00241 if python3 or type(_x) == unicode:
00242 _x = _x.encode('utf-8')
00243 length = len(_x)
00244 buff.write(struct.pack('<I%ss'%length, length, _x))
00245 _x = self
00246 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00247 _x = self.action_result.status.goal_id.id
00248 length = len(_x)
00249 if python3 or type(_x) == unicode:
00250 _x = _x.encode('utf-8')
00251 length = len(_x)
00252 buff.write(struct.pack('<I%ss'%length, length, _x))
00253 buff.write(_struct_B.pack(self.action_result.status.status))
00254 _x = self.action_result.status.text
00255 length = len(_x)
00256 if python3 or type(_x) == unicode:
00257 _x = _x.encode('utf-8')
00258 length = len(_x)
00259 buff.write(struct.pack('<I%ss'%length, length, _x))
00260 _x = self
00261 buff.write(_struct_2I4d4Bb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.deformation, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.slip_detected, _x.action_result.result.data.deformation_limit_reached, _x.action_result.result.data.fingertip_force_limit_reached, _x.action_result.result.data.gripper_empty, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00262 _x = self.action_feedback.header.frame_id
00263 length = len(_x)
00264 if python3 or type(_x) == unicode:
00265 _x = _x.encode('utf-8')
00266 length = len(_x)
00267 buff.write(struct.pack('<I%ss'%length, length, _x))
00268 _x = self
00269 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00270 _x = self.action_feedback.status.goal_id.id
00271 length = len(_x)
00272 if python3 or type(_x) == unicode:
00273 _x = _x.encode('utf-8')
00274 length = len(_x)
00275 buff.write(struct.pack('<I%ss'%length, length, _x))
00276 buff.write(_struct_B.pack(self.action_feedback.status.status))
00277 _x = self.action_feedback.status.text
00278 length = len(_x)
00279 if python3 or type(_x) == unicode:
00280 _x = _x.encode('utf-8')
00281 length = len(_x)
00282 buff.write(struct.pack('<I%ss'%length, length, _x))
00283 _x = self
00284 buff.write(_struct_2I4d4Bb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.deformation, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.slip_detected, _x.action_feedback.feedback.data.deformation_limit_reached, _x.action_feedback.feedback.data.fingertip_force_limit_reached, _x.action_feedback.feedback.data.gripper_empty, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00285 except struct.error as se: self._check_types(se)
00286 except TypeError as te: self._check_types(te)
00287
00288 def deserialize(self, str):
00289 """
00290 unpack serialized message in str into this message instance
00291 :param str: byte array of serialized message, ``str``
00292 """
00293 try:
00294 if self.action_goal is None:
00295 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionGoal()
00296 if self.action_result is None:
00297 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionResult()
00298 if self.action_feedback is None:
00299 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionFeedback()
00300 end = 0
00301 _x = self
00302 start = end
00303 end += 12
00304 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00305 start = end
00306 end += 4
00307 (length,) = _struct_I.unpack(str[start:end])
00308 start = end
00309 end += length
00310 if python3:
00311 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00312 else:
00313 self.action_goal.header.frame_id = str[start:end]
00314 _x = self
00315 start = end
00316 end += 8
00317 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00318 start = end
00319 end += 4
00320 (length,) = _struct_I.unpack(str[start:end])
00321 start = end
00322 end += length
00323 if python3:
00324 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00325 else:
00326 self.action_goal.goal_id.id = str[start:end]
00327 _x = self
00328 start = end
00329 end += 12
00330 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00331 start = end
00332 end += 4
00333 (length,) = _struct_I.unpack(str[start:end])
00334 start = end
00335 end += length
00336 if python3:
00337 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00338 else:
00339 self.action_result.header.frame_id = str[start:end]
00340 _x = self
00341 start = end
00342 end += 8
00343 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00344 start = end
00345 end += 4
00346 (length,) = _struct_I.unpack(str[start:end])
00347 start = end
00348 end += length
00349 if python3:
00350 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00351 else:
00352 self.action_result.status.goal_id.id = str[start:end]
00353 start = end
00354 end += 1
00355 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00356 start = end
00357 end += 4
00358 (length,) = _struct_I.unpack(str[start:end])
00359 start = end
00360 end += length
00361 if python3:
00362 self.action_result.status.text = str[start:end].decode('utf-8')
00363 else:
00364 self.action_result.status.text = str[start:end]
00365 _x = self
00366 start = end
00367 end += 57
00368 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.deformation, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.slip_detected, _x.action_result.result.data.deformation_limit_reached, _x.action_result.result.data.fingertip_force_limit_reached, _x.action_result.result.data.gripper_empty, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I4d4Bb3I.unpack(str[start:end])
00369 self.action_result.result.data.slip_detected = bool(self.action_result.result.data.slip_detected)
00370 self.action_result.result.data.deformation_limit_reached = bool(self.action_result.result.data.deformation_limit_reached)
00371 self.action_result.result.data.fingertip_force_limit_reached = bool(self.action_result.result.data.fingertip_force_limit_reached)
00372 self.action_result.result.data.gripper_empty = bool(self.action_result.result.data.gripper_empty)
00373 start = end
00374 end += 4
00375 (length,) = _struct_I.unpack(str[start:end])
00376 start = end
00377 end += length
00378 if python3:
00379 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00380 else:
00381 self.action_feedback.header.frame_id = str[start:end]
00382 _x = self
00383 start = end
00384 end += 8
00385 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00386 start = end
00387 end += 4
00388 (length,) = _struct_I.unpack(str[start:end])
00389 start = end
00390 end += length
00391 if python3:
00392 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00393 else:
00394 self.action_feedback.status.goal_id.id = str[start:end]
00395 start = end
00396 end += 1
00397 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00398 start = end
00399 end += 4
00400 (length,) = _struct_I.unpack(str[start:end])
00401 start = end
00402 end += length
00403 if python3:
00404 self.action_feedback.status.text = str[start:end].decode('utf-8')
00405 else:
00406 self.action_feedback.status.text = str[start:end]
00407 _x = self
00408 start = end
00409 end += 45
00410 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.deformation, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.slip_detected, _x.action_feedback.feedback.data.deformation_limit_reached, _x.action_feedback.feedback.data.fingertip_force_limit_reached, _x.action_feedback.feedback.data.gripper_empty, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00411 self.action_feedback.feedback.data.slip_detected = bool(self.action_feedback.feedback.data.slip_detected)
00412 self.action_feedback.feedback.data.deformation_limit_reached = bool(self.action_feedback.feedback.data.deformation_limit_reached)
00413 self.action_feedback.feedback.data.fingertip_force_limit_reached = bool(self.action_feedback.feedback.data.fingertip_force_limit_reached)
00414 self.action_feedback.feedback.data.gripper_empty = bool(self.action_feedback.feedback.data.gripper_empty)
00415 return self
00416 except struct.error as e:
00417 raise genpy.DeserializationError(e)
00418
00419
00420 def serialize_numpy(self, buff, numpy):
00421 """
00422 serialize message with numpy array types into buffer
00423 :param buff: buffer, ``StringIO``
00424 :param numpy: numpy python module
00425 """
00426 try:
00427 _x = self
00428 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00429 _x = self.action_goal.header.frame_id
00430 length = len(_x)
00431 if python3 or type(_x) == unicode:
00432 _x = _x.encode('utf-8')
00433 length = len(_x)
00434 buff.write(struct.pack('<I%ss'%length, length, _x))
00435 _x = self
00436 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00437 _x = self.action_goal.goal_id.id
00438 length = len(_x)
00439 if python3 or type(_x) == unicode:
00440 _x = _x.encode('utf-8')
00441 length = len(_x)
00442 buff.write(struct.pack('<I%ss'%length, length, _x))
00443 _x = self
00444 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00445 _x = self.action_result.header.frame_id
00446 length = len(_x)
00447 if python3 or type(_x) == unicode:
00448 _x = _x.encode('utf-8')
00449 length = len(_x)
00450 buff.write(struct.pack('<I%ss'%length, length, _x))
00451 _x = self
00452 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00453 _x = self.action_result.status.goal_id.id
00454 length = len(_x)
00455 if python3 or type(_x) == unicode:
00456 _x = _x.encode('utf-8')
00457 length = len(_x)
00458 buff.write(struct.pack('<I%ss'%length, length, _x))
00459 buff.write(_struct_B.pack(self.action_result.status.status))
00460 _x = self.action_result.status.text
00461 length = len(_x)
00462 if python3 or type(_x) == unicode:
00463 _x = _x.encode('utf-8')
00464 length = len(_x)
00465 buff.write(struct.pack('<I%ss'%length, length, _x))
00466 _x = self
00467 buff.write(_struct_2I4d4Bb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.deformation, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.slip_detected, _x.action_result.result.data.deformation_limit_reached, _x.action_result.result.data.fingertip_force_limit_reached, _x.action_result.result.data.gripper_empty, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00468 _x = self.action_feedback.header.frame_id
00469 length = len(_x)
00470 if python3 or type(_x) == unicode:
00471 _x = _x.encode('utf-8')
00472 length = len(_x)
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 _x = self
00475 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00476 _x = self.action_feedback.status.goal_id.id
00477 length = len(_x)
00478 if python3 or type(_x) == unicode:
00479 _x = _x.encode('utf-8')
00480 length = len(_x)
00481 buff.write(struct.pack('<I%ss'%length, length, _x))
00482 buff.write(_struct_B.pack(self.action_feedback.status.status))
00483 _x = self.action_feedback.status.text
00484 length = len(_x)
00485 if python3 or type(_x) == unicode:
00486 _x = _x.encode('utf-8')
00487 length = len(_x)
00488 buff.write(struct.pack('<I%ss'%length, length, _x))
00489 _x = self
00490 buff.write(_struct_2I4d4Bb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.deformation, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.slip_detected, _x.action_feedback.feedback.data.deformation_limit_reached, _x.action_feedback.feedback.data.fingertip_force_limit_reached, _x.action_feedback.feedback.data.gripper_empty, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00491 except struct.error as se: self._check_types(se)
00492 except TypeError as te: self._check_types(te)
00493
00494 def deserialize_numpy(self, str, numpy):
00495 """
00496 unpack serialized message in str into this message instance using numpy for array types
00497 :param str: byte array of serialized message, ``str``
00498 :param numpy: numpy python module
00499 """
00500 try:
00501 if self.action_goal is None:
00502 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionGoal()
00503 if self.action_result is None:
00504 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionResult()
00505 if self.action_feedback is None:
00506 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoActionFeedback()
00507 end = 0
00508 _x = self
00509 start = end
00510 end += 12
00511 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00512 start = end
00513 end += 4
00514 (length,) = _struct_I.unpack(str[start:end])
00515 start = end
00516 end += length
00517 if python3:
00518 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00519 else:
00520 self.action_goal.header.frame_id = str[start:end]
00521 _x = self
00522 start = end
00523 end += 8
00524 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00525 start = end
00526 end += 4
00527 (length,) = _struct_I.unpack(str[start:end])
00528 start = end
00529 end += length
00530 if python3:
00531 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00532 else:
00533 self.action_goal.goal_id.id = str[start:end]
00534 _x = self
00535 start = end
00536 end += 12
00537 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00538 start = end
00539 end += 4
00540 (length,) = _struct_I.unpack(str[start:end])
00541 start = end
00542 end += length
00543 if python3:
00544 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00545 else:
00546 self.action_result.header.frame_id = str[start:end]
00547 _x = self
00548 start = end
00549 end += 8
00550 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00551 start = end
00552 end += 4
00553 (length,) = _struct_I.unpack(str[start:end])
00554 start = end
00555 end += length
00556 if python3:
00557 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00558 else:
00559 self.action_result.status.goal_id.id = str[start:end]
00560 start = end
00561 end += 1
00562 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00563 start = end
00564 end += 4
00565 (length,) = _struct_I.unpack(str[start:end])
00566 start = end
00567 end += length
00568 if python3:
00569 self.action_result.status.text = str[start:end].decode('utf-8')
00570 else:
00571 self.action_result.status.text = str[start:end]
00572 _x = self
00573 start = end
00574 end += 57
00575 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.deformation, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.slip_detected, _x.action_result.result.data.deformation_limit_reached, _x.action_result.result.data.fingertip_force_limit_reached, _x.action_result.result.data.gripper_empty, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I4d4Bb3I.unpack(str[start:end])
00576 self.action_result.result.data.slip_detected = bool(self.action_result.result.data.slip_detected)
00577 self.action_result.result.data.deformation_limit_reached = bool(self.action_result.result.data.deformation_limit_reached)
00578 self.action_result.result.data.fingertip_force_limit_reached = bool(self.action_result.result.data.fingertip_force_limit_reached)
00579 self.action_result.result.data.gripper_empty = bool(self.action_result.result.data.gripper_empty)
00580 start = end
00581 end += 4
00582 (length,) = _struct_I.unpack(str[start:end])
00583 start = end
00584 end += length
00585 if python3:
00586 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00587 else:
00588 self.action_feedback.header.frame_id = str[start:end]
00589 _x = self
00590 start = end
00591 end += 8
00592 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00593 start = end
00594 end += 4
00595 (length,) = _struct_I.unpack(str[start:end])
00596 start = end
00597 end += length
00598 if python3:
00599 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00600 else:
00601 self.action_feedback.status.goal_id.id = str[start:end]
00602 start = end
00603 end += 1
00604 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00605 start = end
00606 end += 4
00607 (length,) = _struct_I.unpack(str[start:end])
00608 start = end
00609 end += length
00610 if python3:
00611 self.action_feedback.status.text = str[start:end].decode('utf-8')
00612 else:
00613 self.action_feedback.status.text = str[start:end]
00614 _x = self
00615 start = end
00616 end += 45
00617 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.deformation, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.slip_detected, _x.action_feedback.feedback.data.deformation_limit_reached, _x.action_feedback.feedback.data.fingertip_force_limit_reached, _x.action_feedback.feedback.data.gripper_empty, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00618 self.action_feedback.feedback.data.slip_detected = bool(self.action_feedback.feedback.data.slip_detected)
00619 self.action_feedback.feedback.data.deformation_limit_reached = bool(self.action_feedback.feedback.data.deformation_limit_reached)
00620 self.action_feedback.feedback.data.fingertip_force_limit_reached = bool(self.action_feedback.feedback.data.fingertip_force_limit_reached)
00621 self.action_feedback.feedback.data.gripper_empty = bool(self.action_feedback.feedback.data.gripper_empty)
00622 return self
00623 except struct.error as e:
00624 raise genpy.DeserializationError(e)
00625
00626 _struct_I = genpy.struct_I
00627 _struct_2I4d4Bb3I = struct.Struct("<2I4d4Bb3I")
00628 _struct_3I = struct.Struct("<3I")
00629 _struct_B = struct.Struct("<B")
00630 _struct_2I = struct.Struct("<2I")
00631 _struct_2I4d4Bb = struct.Struct("<2I4d4Bb")