00001 """autogenerated by genpy from oro_controllers_manager/SwitchControllerAction.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 oro_controllers_manager.msg
00008 import genpy
00009 import actionlib_msgs.msg
00010 import std_msgs.msg
00011
00012 class SwitchControllerAction(genpy.Message):
00013 _md5sum = "05c57e0b256d69d8df7dbe86469062fd"
00014 _type = "oro_controllers_manager/SwitchControllerAction"
00015 _has_header = False
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 SwitchControllerActionGoal action_goal
00019 SwitchControllerActionResult action_result
00020 SwitchControllerActionFeedback action_feedback
00021
00022 ================================================================================
00023 MSG: oro_controllers_manager/SwitchControllerActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 SwitchControllerGoal 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: oro_controllers_manager/SwitchControllerGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # Define the goal
00065 string controller_id # Specify which dishwasher we want to use
00066
00067 ================================================================================
00068 MSG: oro_controllers_manager/SwitchControllerActionResult
00069 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00070
00071 Header header
00072 actionlib_msgs/GoalStatus status
00073 SwitchControllerResult result
00074
00075 ================================================================================
00076 MSG: actionlib_msgs/GoalStatus
00077 GoalID goal_id
00078 uint8 status
00079 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00080 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00081 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00082 # and has since completed its execution (Terminal State)
00083 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00084 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00085 # to some failure (Terminal State)
00086 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00087 # because the goal was unattainable or invalid (Terminal State)
00088 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00089 # and has not yet completed execution
00090 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00091 # but the action server has not yet confirmed that the goal is canceled
00092 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00093 # and was successfully cancelled (Terminal State)
00094 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00095 # sent over the wire by an action server
00096
00097 #Allow for the user to associate a string with GoalStatus for debugging
00098 string text
00099
00100
00101 ================================================================================
00102 MSG: oro_controllers_manager/SwitchControllerResult
00103 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00104 # Define the result
00105 uint32 error_code
00106
00107 ================================================================================
00108 MSG: oro_controllers_manager/SwitchControllerActionFeedback
00109 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00110
00111 Header header
00112 actionlib_msgs/GoalStatus status
00113 SwitchControllerFeedback feedback
00114
00115 ================================================================================
00116 MSG: oro_controllers_manager/SwitchControllerFeedback
00117 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00118 # Define a feedback message
00119
00120
00121
00122 """
00123 __slots__ = ['action_goal','action_result','action_feedback']
00124 _slot_types = ['oro_controllers_manager/SwitchControllerActionGoal','oro_controllers_manager/SwitchControllerActionResult','oro_controllers_manager/SwitchControllerActionFeedback']
00125
00126 def __init__(self, *args, **kwds):
00127 """
00128 Constructor. Any message fields that are implicitly/explicitly
00129 set to None will be assigned a default value. The recommend
00130 use is keyword arguments as this is more robust to future message
00131 changes. You cannot mix in-order arguments and keyword arguments.
00132
00133 The available fields are:
00134 action_goal,action_result,action_feedback
00135
00136 :param args: complete set of field values, in .msg order
00137 :param kwds: use keyword arguments corresponding to message field names
00138 to set specific fields.
00139 """
00140 if args or kwds:
00141 super(SwitchControllerAction, self).__init__(*args, **kwds)
00142
00143 if self.action_goal is None:
00144 self.action_goal = oro_controllers_manager.msg.SwitchControllerActionGoal()
00145 if self.action_result is None:
00146 self.action_result = oro_controllers_manager.msg.SwitchControllerActionResult()
00147 if self.action_feedback is None:
00148 self.action_feedback = oro_controllers_manager.msg.SwitchControllerActionFeedback()
00149 else:
00150 self.action_goal = oro_controllers_manager.msg.SwitchControllerActionGoal()
00151 self.action_result = oro_controllers_manager.msg.SwitchControllerActionResult()
00152 self.action_feedback = oro_controllers_manager.msg.SwitchControllerActionFeedback()
00153
00154 def _get_types(self):
00155 """
00156 internal API method
00157 """
00158 return self._slot_types
00159
00160 def serialize(self, buff):
00161 """
00162 serialize message into buffer
00163 :param buff: buffer, ``StringIO``
00164 """
00165 try:
00166 _x = self
00167 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00168 _x = self.action_goal.header.frame_id
00169 length = len(_x)
00170 if python3 or type(_x) == unicode:
00171 _x = _x.encode('utf-8')
00172 length = len(_x)
00173 buff.write(struct.pack('<I%ss'%length, length, _x))
00174 _x = self
00175 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00176 _x = self.action_goal.goal_id.id
00177 length = len(_x)
00178 if python3 or type(_x) == unicode:
00179 _x = _x.encode('utf-8')
00180 length = len(_x)
00181 buff.write(struct.pack('<I%ss'%length, length, _x))
00182 _x = self.action_goal.goal.controller_id
00183 length = len(_x)
00184 if python3 or type(_x) == unicode:
00185 _x = _x.encode('utf-8')
00186 length = len(_x)
00187 buff.write(struct.pack('<I%ss'%length, length, _x))
00188 _x = self
00189 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00190 _x = self.action_result.header.frame_id
00191 length = len(_x)
00192 if python3 or type(_x) == unicode:
00193 _x = _x.encode('utf-8')
00194 length = len(_x)
00195 buff.write(struct.pack('<I%ss'%length, length, _x))
00196 _x = self
00197 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00198 _x = self.action_result.status.goal_id.id
00199 length = len(_x)
00200 if python3 or type(_x) == unicode:
00201 _x = _x.encode('utf-8')
00202 length = len(_x)
00203 buff.write(struct.pack('<I%ss'%length, length, _x))
00204 buff.write(_struct_B.pack(self.action_result.status.status))
00205 _x = self.action_result.status.text
00206 length = len(_x)
00207 if python3 or type(_x) == unicode:
00208 _x = _x.encode('utf-8')
00209 length = len(_x)
00210 buff.write(struct.pack('<I%ss'%length, length, _x))
00211 _x = self
00212 buff.write(_struct_4I.pack(_x.action_result.result.error_code, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00213 _x = self.action_feedback.header.frame_id
00214 length = len(_x)
00215 if python3 or type(_x) == unicode:
00216 _x = _x.encode('utf-8')
00217 length = len(_x)
00218 buff.write(struct.pack('<I%ss'%length, length, _x))
00219 _x = self
00220 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00221 _x = self.action_feedback.status.goal_id.id
00222 length = len(_x)
00223 if python3 or type(_x) == unicode:
00224 _x = _x.encode('utf-8')
00225 length = len(_x)
00226 buff.write(struct.pack('<I%ss'%length, length, _x))
00227 buff.write(_struct_B.pack(self.action_feedback.status.status))
00228 _x = self.action_feedback.status.text
00229 length = len(_x)
00230 if python3 or type(_x) == unicode:
00231 _x = _x.encode('utf-8')
00232 length = len(_x)
00233 buff.write(struct.pack('<I%ss'%length, length, _x))
00234 except struct.error as se: self._check_types(se)
00235 except TypeError as te: self._check_types(te)
00236
00237 def deserialize(self, str):
00238 """
00239 unpack serialized message in str into this message instance
00240 :param str: byte array of serialized message, ``str``
00241 """
00242 try:
00243 if self.action_goal is None:
00244 self.action_goal = oro_controllers_manager.msg.SwitchControllerActionGoal()
00245 if self.action_result is None:
00246 self.action_result = oro_controllers_manager.msg.SwitchControllerActionResult()
00247 if self.action_feedback is None:
00248 self.action_feedback = oro_controllers_manager.msg.SwitchControllerActionFeedback()
00249 end = 0
00250 _x = self
00251 start = end
00252 end += 12
00253 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00254 start = end
00255 end += 4
00256 (length,) = _struct_I.unpack(str[start:end])
00257 start = end
00258 end += length
00259 if python3:
00260 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00261 else:
00262 self.action_goal.header.frame_id = str[start:end]
00263 _x = self
00264 start = end
00265 end += 8
00266 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00267 start = end
00268 end += 4
00269 (length,) = _struct_I.unpack(str[start:end])
00270 start = end
00271 end += length
00272 if python3:
00273 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00274 else:
00275 self.action_goal.goal_id.id = str[start:end]
00276 start = end
00277 end += 4
00278 (length,) = _struct_I.unpack(str[start:end])
00279 start = end
00280 end += length
00281 if python3:
00282 self.action_goal.goal.controller_id = str[start:end].decode('utf-8')
00283 else:
00284 self.action_goal.goal.controller_id = str[start:end]
00285 _x = self
00286 start = end
00287 end += 12
00288 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00289 start = end
00290 end += 4
00291 (length,) = _struct_I.unpack(str[start:end])
00292 start = end
00293 end += length
00294 if python3:
00295 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00296 else:
00297 self.action_result.header.frame_id = str[start:end]
00298 _x = self
00299 start = end
00300 end += 8
00301 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00302 start = end
00303 end += 4
00304 (length,) = _struct_I.unpack(str[start:end])
00305 start = end
00306 end += length
00307 if python3:
00308 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00309 else:
00310 self.action_result.status.goal_id.id = str[start:end]
00311 start = end
00312 end += 1
00313 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00314 start = end
00315 end += 4
00316 (length,) = _struct_I.unpack(str[start:end])
00317 start = end
00318 end += length
00319 if python3:
00320 self.action_result.status.text = str[start:end].decode('utf-8')
00321 else:
00322 self.action_result.status.text = str[start:end]
00323 _x = self
00324 start = end
00325 end += 16
00326 (_x.action_result.result.error_code, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
00327 start = end
00328 end += 4
00329 (length,) = _struct_I.unpack(str[start:end])
00330 start = end
00331 end += length
00332 if python3:
00333 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00334 else:
00335 self.action_feedback.header.frame_id = str[start:end]
00336 _x = self
00337 start = end
00338 end += 8
00339 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00340 start = end
00341 end += 4
00342 (length,) = _struct_I.unpack(str[start:end])
00343 start = end
00344 end += length
00345 if python3:
00346 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00347 else:
00348 self.action_feedback.status.goal_id.id = str[start:end]
00349 start = end
00350 end += 1
00351 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00352 start = end
00353 end += 4
00354 (length,) = _struct_I.unpack(str[start:end])
00355 start = end
00356 end += length
00357 if python3:
00358 self.action_feedback.status.text = str[start:end].decode('utf-8')
00359 else:
00360 self.action_feedback.status.text = str[start:end]
00361 return self
00362 except struct.error as e:
00363 raise genpy.DeserializationError(e)
00364
00365
00366 def serialize_numpy(self, buff, numpy):
00367 """
00368 serialize message with numpy array types into buffer
00369 :param buff: buffer, ``StringIO``
00370 :param numpy: numpy python module
00371 """
00372 try:
00373 _x = self
00374 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00375 _x = self.action_goal.header.frame_id
00376 length = len(_x)
00377 if python3 or type(_x) == unicode:
00378 _x = _x.encode('utf-8')
00379 length = len(_x)
00380 buff.write(struct.pack('<I%ss'%length, length, _x))
00381 _x = self
00382 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00383 _x = self.action_goal.goal_id.id
00384 length = len(_x)
00385 if python3 or type(_x) == unicode:
00386 _x = _x.encode('utf-8')
00387 length = len(_x)
00388 buff.write(struct.pack('<I%ss'%length, length, _x))
00389 _x = self.action_goal.goal.controller_id
00390 length = len(_x)
00391 if python3 or type(_x) == unicode:
00392 _x = _x.encode('utf-8')
00393 length = len(_x)
00394 buff.write(struct.pack('<I%ss'%length, length, _x))
00395 _x = self
00396 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00397 _x = self.action_result.header.frame_id
00398 length = len(_x)
00399 if python3 or type(_x) == unicode:
00400 _x = _x.encode('utf-8')
00401 length = len(_x)
00402 buff.write(struct.pack('<I%ss'%length, length, _x))
00403 _x = self
00404 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00405 _x = self.action_result.status.goal_id.id
00406 length = len(_x)
00407 if python3 or type(_x) == unicode:
00408 _x = _x.encode('utf-8')
00409 length = len(_x)
00410 buff.write(struct.pack('<I%ss'%length, length, _x))
00411 buff.write(_struct_B.pack(self.action_result.status.status))
00412 _x = self.action_result.status.text
00413 length = len(_x)
00414 if python3 or type(_x) == unicode:
00415 _x = _x.encode('utf-8')
00416 length = len(_x)
00417 buff.write(struct.pack('<I%ss'%length, length, _x))
00418 _x = self
00419 buff.write(_struct_4I.pack(_x.action_result.result.error_code, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00420 _x = self.action_feedback.header.frame_id
00421 length = len(_x)
00422 if python3 or type(_x) == unicode:
00423 _x = _x.encode('utf-8')
00424 length = len(_x)
00425 buff.write(struct.pack('<I%ss'%length, length, _x))
00426 _x = self
00427 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00428 _x = self.action_feedback.status.goal_id.id
00429 length = len(_x)
00430 if python3 or type(_x) == unicode:
00431 _x = _x.encode('utf-8')
00432 length = len(_x)
00433 buff.write(struct.pack('<I%ss'%length, length, _x))
00434 buff.write(_struct_B.pack(self.action_feedback.status.status))
00435 _x = self.action_feedback.status.text
00436 length = len(_x)
00437 if python3 or type(_x) == unicode:
00438 _x = _x.encode('utf-8')
00439 length = len(_x)
00440 buff.write(struct.pack('<I%ss'%length, length, _x))
00441 except struct.error as se: self._check_types(se)
00442 except TypeError as te: self._check_types(te)
00443
00444 def deserialize_numpy(self, str, numpy):
00445 """
00446 unpack serialized message in str into this message instance using numpy for array types
00447 :param str: byte array of serialized message, ``str``
00448 :param numpy: numpy python module
00449 """
00450 try:
00451 if self.action_goal is None:
00452 self.action_goal = oro_controllers_manager.msg.SwitchControllerActionGoal()
00453 if self.action_result is None:
00454 self.action_result = oro_controllers_manager.msg.SwitchControllerActionResult()
00455 if self.action_feedback is None:
00456 self.action_feedback = oro_controllers_manager.msg.SwitchControllerActionFeedback()
00457 end = 0
00458 _x = self
00459 start = end
00460 end += 12
00461 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00462 start = end
00463 end += 4
00464 (length,) = _struct_I.unpack(str[start:end])
00465 start = end
00466 end += length
00467 if python3:
00468 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00469 else:
00470 self.action_goal.header.frame_id = str[start:end]
00471 _x = self
00472 start = end
00473 end += 8
00474 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00475 start = end
00476 end += 4
00477 (length,) = _struct_I.unpack(str[start:end])
00478 start = end
00479 end += length
00480 if python3:
00481 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00482 else:
00483 self.action_goal.goal_id.id = str[start:end]
00484 start = end
00485 end += 4
00486 (length,) = _struct_I.unpack(str[start:end])
00487 start = end
00488 end += length
00489 if python3:
00490 self.action_goal.goal.controller_id = str[start:end].decode('utf-8')
00491 else:
00492 self.action_goal.goal.controller_id = str[start:end]
00493 _x = self
00494 start = end
00495 end += 12
00496 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00497 start = end
00498 end += 4
00499 (length,) = _struct_I.unpack(str[start:end])
00500 start = end
00501 end += length
00502 if python3:
00503 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00504 else:
00505 self.action_result.header.frame_id = str[start:end]
00506 _x = self
00507 start = end
00508 end += 8
00509 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00510 start = end
00511 end += 4
00512 (length,) = _struct_I.unpack(str[start:end])
00513 start = end
00514 end += length
00515 if python3:
00516 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00517 else:
00518 self.action_result.status.goal_id.id = str[start:end]
00519 start = end
00520 end += 1
00521 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00522 start = end
00523 end += 4
00524 (length,) = _struct_I.unpack(str[start:end])
00525 start = end
00526 end += length
00527 if python3:
00528 self.action_result.status.text = str[start:end].decode('utf-8')
00529 else:
00530 self.action_result.status.text = str[start:end]
00531 _x = self
00532 start = end
00533 end += 16
00534 (_x.action_result.result.error_code, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_4I.unpack(str[start:end])
00535 start = end
00536 end += 4
00537 (length,) = _struct_I.unpack(str[start:end])
00538 start = end
00539 end += length
00540 if python3:
00541 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00542 else:
00543 self.action_feedback.header.frame_id = str[start:end]
00544 _x = self
00545 start = end
00546 end += 8
00547 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00548 start = end
00549 end += 4
00550 (length,) = _struct_I.unpack(str[start:end])
00551 start = end
00552 end += length
00553 if python3:
00554 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00555 else:
00556 self.action_feedback.status.goal_id.id = str[start:end]
00557 start = end
00558 end += 1
00559 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00560 start = end
00561 end += 4
00562 (length,) = _struct_I.unpack(str[start:end])
00563 start = end
00564 end += length
00565 if python3:
00566 self.action_feedback.status.text = str[start:end].decode('utf-8')
00567 else:
00568 self.action_feedback.status.text = str[start:end]
00569 return self
00570 except struct.error as e:
00571 raise genpy.DeserializationError(e)
00572
00573 _struct_I = genpy.struct_I
00574 _struct_3I = struct.Struct("<3I")
00575 _struct_B = struct.Struct("<B")
00576 _struct_2I = struct.Struct("<2I")
00577 _struct_4I = struct.Struct("<4I")
