00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult.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 PR2GripperFindContactActionResult(genpy.Message):
00013 _md5sum = "a6c2a5d7fd0f224cb63dad13756a8a2a"
00014 _type = "pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult"
00015 _has_header = True
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 Header header
00019 actionlib_msgs/GoalStatus status
00020 PR2GripperFindContactResult result
00021
00022 ================================================================================
00023 MSG: std_msgs/Header
00024 # Standard metadata for higher-level stamped data types.
00025 # This is generally used to communicate timestamped data
00026 # in a particular coordinate frame.
00027 #
00028 # sequence ID: consecutively increasing ID
00029 uint32 seq
00030 #Two-integer timestamp that is expressed as:
00031 # * stamp.secs: seconds (stamp_secs) since epoch
00032 # * stamp.nsecs: nanoseconds since stamp_secs
00033 # time-handling sugar is provided by the client library
00034 time stamp
00035 #Frame this data is associated with
00036 # 0: no frame
00037 # 1: global frame
00038 string frame_id
00039
00040 ================================================================================
00041 MSG: actionlib_msgs/GoalStatus
00042 GoalID goal_id
00043 uint8 status
00044 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00045 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00046 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00047 # and has since completed its execution (Terminal State)
00048 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00049 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00050 # to some failure (Terminal State)
00051 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00052 # because the goal was unattainable or invalid (Terminal State)
00053 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00054 # and has not yet completed execution
00055 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00056 # but the action server has not yet confirmed that the goal is canceled
00057 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00058 # and was successfully cancelled (Terminal State)
00059 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00060 # sent over the wire by an action server
00061
00062 #Allow for the user to associate a string with GoalStatus for debugging
00063 string text
00064
00065
00066 ================================================================================
00067 MSG: actionlib_msgs/GoalID
00068 # The stamp should store the time at which this goal was requested.
00069 # It is used by an action server when it tries to preempt all
00070 # goals that were requested before a certain time
00071 time stamp
00072
00073 # The id provides a way to associate feedback and
00074 # result message with specific goal requests. The id
00075 # specified must be unique.
00076 string id
00077
00078
00079 ================================================================================
00080 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactResult
00081 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00082 #results
00083 PR2GripperFindContactData data
00084
00085 ================================================================================
00086 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData
00087 # Time the data was recorded at
00088 time stamp
00089
00090 # true when our contact conditions have been met
00091 # (see PR2GripperFindContact command)
00092 bool contact_conditions_met
00093
00094 # the finger contact conditions
00095 # true if the finger experienced a contact event
00096 #
00097 # contact events are defined as contact with the fingerpads
00098 # as either steady-state or high-freq force events
00099 bool left_fingertip_pad_contact
00100 bool right_fingertip_pad_contact
00101
00102 # the force experinced by the finger Pads (N)
00103 # NOTE:this ignores data from the edges of the finger pressure
00104 float64 left_fingertip_pad_force
00105 float64 right_fingertip_pad_force
00106
00107 # the current joint position (m)
00108 float64 joint_position
00109
00110 # the virtual (parallel) joint effort (N)
00111 float64 joint_effort
00112
00113 # the control state of our realtime controller
00114 PR2GripperSensorRTState rtstate
00115 ================================================================================
00116 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00117 # the control state of our realtime controller
00118 int8 realtime_controller_state
00119
00120 # predefined values to indicate our realtime_controller_state
00121 int8 DISABLED = 0
00122 int8 POSITION_SERVO = 3
00123 int8 FORCE_SERVO = 4
00124 int8 FIND_CONTACT = 5
00125 int8 SLIP_SERVO = 6
00126 """
00127 __slots__ = ['header','status','result']
00128 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','pr2_gripper_sensor_msgs/PR2GripperFindContactResult']
00129
00130 def __init__(self, *args, **kwds):
00131 """
00132 Constructor. Any message fields that are implicitly/explicitly
00133 set to None will be assigned a default value. The recommend
00134 use is keyword arguments as this is more robust to future message
00135 changes. You cannot mix in-order arguments and keyword arguments.
00136
00137 The available fields are:
00138 header,status,result
00139
00140 :param args: complete set of field values, in .msg order
00141 :param kwds: use keyword arguments corresponding to message field names
00142 to set specific fields.
00143 """
00144 if args or kwds:
00145 super(PR2GripperFindContactActionResult, self).__init__(*args, **kwds)
00146
00147 if self.header is None:
00148 self.header = std_msgs.msg.Header()
00149 if self.status is None:
00150 self.status = actionlib_msgs.msg.GoalStatus()
00151 if self.result is None:
00152 self.result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactResult()
00153 else:
00154 self.header = std_msgs.msg.Header()
00155 self.status = actionlib_msgs.msg.GoalStatus()
00156 self.result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactResult()
00157
00158 def _get_types(self):
00159 """
00160 internal API method
00161 """
00162 return self._slot_types
00163
00164 def serialize(self, buff):
00165 """
00166 serialize message into buffer
00167 :param buff: buffer, ``StringIO``
00168 """
00169 try:
00170 _x = self
00171 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00172 _x = self.header.frame_id
00173 length = len(_x)
00174 if python3 or type(_x) == unicode:
00175 _x = _x.encode('utf-8')
00176 length = len(_x)
00177 buff.write(struct.pack('<I%ss'%length, length, _x))
00178 _x = self
00179 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00180 _x = self.status.goal_id.id
00181 length = len(_x)
00182 if python3 or type(_x) == unicode:
00183 _x = _x.encode('utf-8')
00184 length = len(_x)
00185 buff.write(struct.pack('<I%ss'%length, length, _x))
00186 buff.write(_struct_B.pack(self.status.status))
00187 _x = self.status.text
00188 length = len(_x)
00189 if python3 or type(_x) == unicode:
00190 _x = _x.encode('utf-8')
00191 length = len(_x)
00192 buff.write(struct.pack('<I%ss'%length, length, _x))
00193 _x = self
00194 buff.write(_struct_2I3B4db.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.contact_conditions_met, _x.result.data.left_fingertip_pad_contact, _x.result.data.right_fingertip_pad_contact, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_position, _x.result.data.joint_effort, _x.result.data.rtstate.realtime_controller_state))
00195 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00196 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00197
00198 def deserialize(self, str):
00199 """
00200 unpack serialized message in str into this message instance
00201 :param str: byte array of serialized message, ``str``
00202 """
00203 try:
00204 if self.header is None:
00205 self.header = std_msgs.msg.Header()
00206 if self.status is None:
00207 self.status = actionlib_msgs.msg.GoalStatus()
00208 if self.result is None:
00209 self.result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactResult()
00210 end = 0
00211 _x = self
00212 start = end
00213 end += 12
00214 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00215 start = end
00216 end += 4
00217 (length,) = _struct_I.unpack(str[start:end])
00218 start = end
00219 end += length
00220 if python3:
00221 self.header.frame_id = str[start:end].decode('utf-8')
00222 else:
00223 self.header.frame_id = str[start:end]
00224 _x = self
00225 start = end
00226 end += 8
00227 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00228 start = end
00229 end += 4
00230 (length,) = _struct_I.unpack(str[start:end])
00231 start = end
00232 end += length
00233 if python3:
00234 self.status.goal_id.id = str[start:end].decode('utf-8')
00235 else:
00236 self.status.goal_id.id = str[start:end]
00237 start = end
00238 end += 1
00239 (self.status.status,) = _struct_B.unpack(str[start:end])
00240 start = end
00241 end += 4
00242 (length,) = _struct_I.unpack(str[start:end])
00243 start = end
00244 end += length
00245 if python3:
00246 self.status.text = str[start:end].decode('utf-8')
00247 else:
00248 self.status.text = str[start:end]
00249 _x = self
00250 start = end
00251 end += 44
00252 (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.contact_conditions_met, _x.result.data.left_fingertip_pad_contact, _x.result.data.right_fingertip_pad_contact, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_position, _x.result.data.joint_effort, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00253 self.result.data.contact_conditions_met = bool(self.result.data.contact_conditions_met)
00254 self.result.data.left_fingertip_pad_contact = bool(self.result.data.left_fingertip_pad_contact)
00255 self.result.data.right_fingertip_pad_contact = bool(self.result.data.right_fingertip_pad_contact)
00256 return self
00257 except struct.error as e:
00258 raise genpy.DeserializationError(e)
00259
00260
00261 def serialize_numpy(self, buff, numpy):
00262 """
00263 serialize message with numpy array types into buffer
00264 :param buff: buffer, ``StringIO``
00265 :param numpy: numpy python module
00266 """
00267 try:
00268 _x = self
00269 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00270 _x = self.header.frame_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 _x = self
00277 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00278 _x = self.status.goal_id.id
00279 length = len(_x)
00280 if python3 or type(_x) == unicode:
00281 _x = _x.encode('utf-8')
00282 length = len(_x)
00283 buff.write(struct.pack('<I%ss'%length, length, _x))
00284 buff.write(_struct_B.pack(self.status.status))
00285 _x = self.status.text
00286 length = len(_x)
00287 if python3 or type(_x) == unicode:
00288 _x = _x.encode('utf-8')
00289 length = len(_x)
00290 buff.write(struct.pack('<I%ss'%length, length, _x))
00291 _x = self
00292 buff.write(_struct_2I3B4db.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.contact_conditions_met, _x.result.data.left_fingertip_pad_contact, _x.result.data.right_fingertip_pad_contact, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_position, _x.result.data.joint_effort, _x.result.data.rtstate.realtime_controller_state))
00293 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00294 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00295
00296 def deserialize_numpy(self, str, numpy):
00297 """
00298 unpack serialized message in str into this message instance using numpy for array types
00299 :param str: byte array of serialized message, ``str``
00300 :param numpy: numpy python module
00301 """
00302 try:
00303 if self.header is None:
00304 self.header = std_msgs.msg.Header()
00305 if self.status is None:
00306 self.status = actionlib_msgs.msg.GoalStatus()
00307 if self.result is None:
00308 self.result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactResult()
00309 end = 0
00310 _x = self
00311 start = end
00312 end += 12
00313 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.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.header.frame_id = str[start:end].decode('utf-8')
00321 else:
00322 self.header.frame_id = str[start:end]
00323 _x = self
00324 start = end
00325 end += 8
00326 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.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.status.goal_id.id = str[start:end].decode('utf-8')
00334 else:
00335 self.status.goal_id.id = str[start:end]
00336 start = end
00337 end += 1
00338 (self.status.status,) = _struct_B.unpack(str[start:end])
00339 start = end
00340 end += 4
00341 (length,) = _struct_I.unpack(str[start:end])
00342 start = end
00343 end += length
00344 if python3:
00345 self.status.text = str[start:end].decode('utf-8')
00346 else:
00347 self.status.text = str[start:end]
00348 _x = self
00349 start = end
00350 end += 44
00351 (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.contact_conditions_met, _x.result.data.left_fingertip_pad_contact, _x.result.data.right_fingertip_pad_contact, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_position, _x.result.data.joint_effort, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00352 self.result.data.contact_conditions_met = bool(self.result.data.contact_conditions_met)
00353 self.result.data.left_fingertip_pad_contact = bool(self.result.data.left_fingertip_pad_contact)
00354 self.result.data.right_fingertip_pad_contact = bool(self.result.data.right_fingertip_pad_contact)
00355 return self
00356 except struct.error as e:
00357 raise genpy.DeserializationError(e)
00358
00359 _struct_I = genpy.struct_I
00360 _struct_3I = struct.Struct("<3I")
00361 _struct_B = struct.Struct("<B")
00362 _struct_2I = struct.Struct("<2I")
00363 _struct_2I3B4db = struct.Struct("<2I3B4db")