Go to the documentation of this file.00001 #include "r2_msgs/RosMsgPrinter.h"
00002
00003 std::string RosMsgPrinter::powerStateToString(const r2_msgs::PowerState& powerState)
00004 {
00005 switch (powerState.data)
00006 {
00007 case r2_msgs::PowerState::LOGIC_POWER:
00008 return "LOGIC_POWER";
00009
00010 case r2_msgs::PowerState::MOTOR48_POWER:
00011 return "MOTOR48_POWER";
00012
00013 case r2_msgs::PowerState::MOTOR96_POWER:
00014 return "MOTOR96_POWER";
00015
00016 case r2_msgs::PowerState::MOTOR_POWER:
00017 return "MOTOR_POWER";
00018
00019 case r2_msgs::PowerState::POWER_OFF:
00020 return "POWER_OFF";
00021
00022 case r2_msgs::PowerState::TRANSITIONING:
00023 return "TRANSITIONING";
00024
00025 default:
00026 return "UNKNOWN";
00027 }
00028 }
00029
00030 std::string RosMsgPrinter::jointControlModeToString(const r2_msgs::JointControlMode& controlMode)
00031 {
00032 switch (controlMode.state)
00033 {
00034 case r2_msgs::JointControlMode::IGNORE:
00035 return "IGNORE";
00036
00037 case r2_msgs::JointControlMode::INVALID:
00038 return "INVALID";
00039
00040 case r2_msgs::JointControlMode::BOOTLOADER:
00041 return "BOOTLOADER";
00042
00043 case r2_msgs::JointControlMode::FAULTED:
00044 return "FAULTED";
00045
00046 case r2_msgs::JointControlMode::OFF:
00047 return "OFF";
00048
00049 case r2_msgs::JointControlMode::PARK:
00050 return "PARK";
00051
00052 case r2_msgs::JointControlMode::NEUTRAL:
00053 return "NEUTRAL";
00054
00055 case r2_msgs::JointControlMode::DRIVE:
00056 return "DRIVE";
00057
00058 default:
00059 return "UNDEFINED";
00060 }
00061 }
00062
00063 std::string RosMsgPrinter::jointControlCommandModeToString(const r2_msgs::JointControlCommandMode& commandMode)
00064 {
00065 switch (commandMode.state)
00066 {
00067 case r2_msgs::JointControlCommandMode::IGNORE:
00068 return "IGNORE";
00069
00070 case r2_msgs::JointControlCommandMode::INVALID:
00071 return "INVALID";
00072
00073 case r2_msgs::JointControlCommandMode::MOTCOM:
00074 return "MOTCOM";
00075
00076 case r2_msgs::JointControlCommandMode::MULTILOOPSTEP:
00077 return "MULTILOOPSTEP";
00078
00079 case r2_msgs::JointControlCommandMode::MULTILOOPSMOOTH:
00080 return "MULTILOOPSMOOTH";
00081
00082 case r2_msgs::JointControlCommandMode::ACTUATOR:
00083 return "ACTUATOR";
00084
00085 default:
00086 return "UNDEFINED";
00087 }
00088 }
00089
00090 std::string RosMsgPrinter::jointControlCalibrationModeToString(const r2_msgs::JointControlCalibrationMode& calibrationMode)
00091 {
00092 switch (calibrationMode.state)
00093 {
00094 case r2_msgs::JointControlCalibrationMode::IGNORE:
00095 return "IGNORE";
00096
00097 case r2_msgs::JointControlCalibrationMode::DISABLE:
00098 return "DISABLE";
00099
00100 case r2_msgs::JointControlCalibrationMode::ENABLE:
00101 return "ENABLE";
00102
00103 case r2_msgs::JointControlCalibrationMode::UNCALIBRATED:
00104 return "UNCALIBRATED";
00105
00106 default:
00107 return "UNDEFINED";
00108 }
00109 }
00110
00111 std::string RosMsgPrinter::jointControlClearFaultModeToString(const r2_msgs::JointControlClearFaultMode& clearFaultMode)
00112 {
00113 switch (clearFaultMode.state)
00114 {
00115 case r2_msgs::JointControlClearFaultMode::IGNORE:
00116 return "IGNORE";
00117
00118 case r2_msgs::JointControlClearFaultMode::DISABLE:
00119 return "DISABLE";
00120
00121 case r2_msgs::JointControlClearFaultMode::ENABLE:
00122 return "ENABLE";
00123
00124 default:
00125 return "UNDEFINED";
00126 }
00127 }
00128
00129 std::string RosMsgPrinter::jointControlCoeffsLoadedStateToString(const r2_msgs::JointControlCoeffState& coeffState)
00130 {
00131 switch (coeffState.state)
00132 {
00133 case r2_msgs::JointControlCoeffState::LOADED:
00134 return "LOADED";
00135
00136 case r2_msgs::JointControlCoeffState::NOTLOADED:
00137 return "NOTLOADED";
00138
00139 default:
00140 return "UNDEFINED";
00141 }
00142 }