Add: lcm response type for actuators.

Babak-SSH · May 18, 2024 · 6182d6b · 6182d6b
1 parent a0b0493
commit 6182d6b
Showing 1 changed file with 175 additions and 0 deletions.
diff --git a/types/actuatorlcm/actuator_response_t.hpp b/types/actuatorlcm/actuator_response_t.hpp
@@ -0,0 +1,175 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __actuatorlcm_actuator_response_t_hpp__
+#define __actuatorlcm_actuator_response_t_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace actuatorlcm
+{
+
+class actuator_response_t
+{
+    public:
+        int64_t    id;
+
+        double     position;
+
+        double     velocity;
+
+        double     current;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "actuator_response_t"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int actuator_response_t::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int actuator_response_t::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int actuator_response_t::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t actuator_response_t::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* actuator_response_t::getTypeName()
+{
+    return "actuator_response_t";
+}
+
+int actuator_response_t::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->id, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->position, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->velocity, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->current, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int actuator_response_t::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->id, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->position, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->velocity, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->current, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int actuator_response_t::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t actuator_response_t::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x5506640baf43a4c5LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif