_command.py

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

import sr_robot_msgs.msg

class command(genpy.Message):
  _md5sum = "2c927cc3decc25060b43219a05beb823"
  _type = "sr_robot_msgs/command"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# sendupdate is 1
# contrlr is 2
int8 command_type

sendupdate sendupdate_command
contrlr contrlr_command

================================================================================
MSG: sr_robot_msgs/sendupdate
int8 sendupdate_length
joint[] sendupdate_list


================================================================================
MSG: sr_robot_msgs/joint
string  joint_name
float64 joint_position
float64 joint_target
float64 joint_torque
float64 joint_temperature
float64 joint_current
string  error_flag

================================================================================
MSG: sr_robot_msgs/contrlr
# the contrlr name (e.g. smart_motor_ff2)
string   contrlr_name

# specify here a list of parameter_name:value
# e.g. p:10 sets the p value of the controller to 10
# the possible parameters are:
#int16  p
#int16  i
#int16  d
#int16  imax
#int16  target
#int16  sensor
#int16  valve 
#int16  deadband
#int16  offset
#int16  shift
#int16  max
#
## parameters for the motors
#int16  motor_maxforce
#int16  motor_safeforce
#int16  force_p
#int16  force_i
#int16  force_d
#int16  force_imax
#int16  force_out_shift
#int16  force_deadband
#int16  force_offset
#int16  sensor_imax
#int16  sensor_deadband
#int16  sensor_offset
#int16  max_temperature
#int16  max_current

string[] list_of_parameters

# the size of the list_of_parameters you are sending
uint8    length_of_list



"""
  __slots__ = ['command_type','sendupdate_command','contrlr_command']
  _slot_types = ['int8','sr_robot_msgs/sendupdate','sr_robot_msgs/contrlr']

  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:
       command_type,sendupdate_command,contrlr_command

    :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(command, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.command_type is None:
        self.command_type = 0
      if self.sendupdate_command is None:
        self.sendupdate_command = sr_robot_msgs.msg.sendupdate()
      if self.contrlr_command is None:
        self.contrlr_command = sr_robot_msgs.msg.contrlr()
    else:
      self.command_type = 0
      self.sendupdate_command = sr_robot_msgs.msg.sendupdate()
      self.contrlr_command = sr_robot_msgs.msg.contrlr()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_2b.pack(_x.command_type, _x.sendupdate_command.sendupdate_length))
      length = len(self.sendupdate_command.sendupdate_list)
      buff.write(_struct_I.pack(length))
      for val1 in self.sendupdate_command.sendupdate_list:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_5d.pack(_x.joint_position, _x.joint_target, _x.joint_torque, _x.joint_temperature, _x.joint_current))
        _x = val1.error_flag
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.contrlr_command.contrlr_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.contrlr_command.list_of_parameters)
      buff.write(_struct_I.pack(length))
      for val1 in self.contrlr_command.list_of_parameters:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      buff.write(_struct_B.pack(self.contrlr_command.length_of_list))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.sendupdate_command is None:
        self.sendupdate_command = sr_robot_msgs.msg.sendupdate()
      if self.contrlr_command is None:
        self.contrlr_command = sr_robot_msgs.msg.contrlr()
      end = 0
      _x = self
      start = end
      end += 2
      (_x.command_type, _x.sendupdate_command.sendupdate_length,) = _struct_2b.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sendupdate_command.sendupdate_list = []
      for i in range(0, length):
        val1 = sr_robot_msgs.msg.joint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 40
        (_x.joint_position, _x.joint_target, _x.joint_torque, _x.joint_temperature, _x.joint_current,) = _struct_5d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.error_flag = str[start:end].decode('utf-8')
        else:
          val1.error_flag = str[start:end]
        self.sendupdate_command.sendupdate_list.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contrlr_command.contrlr_name = str[start:end].decode('utf-8')
      else:
        self.contrlr_command.contrlr_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contrlr_command.list_of_parameters = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.contrlr_command.list_of_parameters.append(val1)
      start = end
      end += 1
      (self.contrlr_command.length_of_list,) = _struct_B.unpack(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:
      _x = self
      buff.write(_struct_2b.pack(_x.command_type, _x.sendupdate_command.sendupdate_length))
      length = len(self.sendupdate_command.sendupdate_list)
      buff.write(_struct_I.pack(length))
      for val1 in self.sendupdate_command.sendupdate_list:
        _x = val1.joint_name
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_5d.pack(_x.joint_position, _x.joint_target, _x.joint_torque, _x.joint_temperature, _x.joint_current))
        _x = val1.error_flag
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.contrlr_command.contrlr_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.contrlr_command.list_of_parameters)
      buff.write(_struct_I.pack(length))
      for val1 in self.contrlr_command.list_of_parameters:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      buff.write(_struct_B.pack(self.contrlr_command.length_of_list))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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.sendupdate_command is None:
        self.sendupdate_command = sr_robot_msgs.msg.sendupdate()
      if self.contrlr_command is None:
        self.contrlr_command = sr_robot_msgs.msg.contrlr()
      end = 0
      _x = self
      start = end
      end += 2
      (_x.command_type, _x.sendupdate_command.sendupdate_length,) = _struct_2b.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sendupdate_command.sendupdate_list = []
      for i in range(0, length):
        val1 = sr_robot_msgs.msg.joint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.joint_name = str[start:end].decode('utf-8')
        else:
          val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 40
        (_x.joint_position, _x.joint_target, _x.joint_torque, _x.joint_temperature, _x.joint_current,) = _struct_5d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.error_flag = str[start:end].decode('utf-8')
        else:
          val1.error_flag = str[start:end]
        self.sendupdate_command.sendupdate_list.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contrlr_command.contrlr_name = str[start:end].decode('utf-8')
      else:
        self.contrlr_command.contrlr_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contrlr_command.list_of_parameters = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.contrlr_command.list_of_parameters.append(val1)
      start = end
      end += 1
      (self.contrlr_command.length_of_list,) = _struct_B.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_5d = struct.Struct("<5d")
_struct_B = struct.Struct("<B")
_struct_2b = struct.Struct("<2b")