"""LCM type definitions This file automatically generated by lcm. DO NOT MODIFY BY HAND!!!! """ from io import BytesIO import struct import oi class oi_control_status_t(object): __slots__ = ["header", "heading_control", "track_line_control", "cross_track_control", "range_control", "x_effort_filter", "y_effort_filter", "z_effort_filter", "psi_effort_filter", "heading_traj", "track_line_traj", "cross_track_traj", "range_traj", "x_effort", "y_effort", "z_effort", "psi_effort", "tl_pos_goal", "tl_pos_rate", "tl_pos_enabled", "surf_pose_sequence", "range_assist", "xtrack_assist", "range_src", "xtrack_src", "heading_src", "is_control_enabled", "is_x_effort_enabled", "is_y_effort_enabled", "is_z_effort_enabled", "is_psi_effort_enabled", "control_exec_ms", "other_exec_ms", "percent_idle", "missed_updates"] __typenames__ = ["oi.lcm_header_t", "oi.controller_status_t", "oi.controller_status_t", "oi.controller_status_t", "oi.controller_status_t", "oi.filter_status_t", "oi.filter_status_t", "oi.filter_status_t", "oi.filter_status_t", "oi.trajectory_status_t", "oi.trajectory_status_t", "oi.trajectory_status_t", "oi.trajectory_status_t", "double", "double", "double", "double", "double", "double", "boolean", "int32_t", "double", "double", "int64_t", "int64_t", "int64_t", "boolean", "boolean", "boolean", "boolean", "boolean", "double", "double", "double", "int64_t"] __dimensions__ = [None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None] def __init__(self): self.header = oi.lcm_header_t() """ message header LCM Type: oi.lcm_header_t """ self.heading_control = oi.controller_status_t() """ controller status LCM Type: oi.controller_status_t """ self.track_line_control = oi.controller_status_t() """ LCM Type: oi.controller_status_t """ self.cross_track_control = oi.controller_status_t() """ LCM Type: oi.controller_status_t """ self.range_control = oi.controller_status_t() """ LCM Type: oi.controller_status_t """ self.x_effort_filter = oi.filter_status_t() """ output filter status LCM Type: oi.filter_status_t """ self.y_effort_filter = oi.filter_status_t() """ LCM Type: oi.filter_status_t """ self.z_effort_filter = oi.filter_status_t() """ LCM Type: oi.filter_status_t """ self.psi_effort_filter = oi.filter_status_t() """ LCM Type: oi.filter_status_t """ self.heading_traj = oi.trajectory_status_t() """ trajectory status LCM Type: oi.trajectory_status_t """ self.track_line_traj = oi.trajectory_status_t() """ LCM Type: oi.trajectory_status_t """ self.cross_track_traj = oi.trajectory_status_t() """ LCM Type: oi.trajectory_status_t """ self.range_traj = oi.trajectory_status_t() """ LCM Type: oi.trajectory_status_t """ self.x_effort = 0.0 """ body frame effort LCM Type: double """ self.y_effort = 0.0 """ LCM Type: double """ self.z_effort = 0.0 """ LCM Type: double """ self.psi_effort = 0.0 """ LCM Type: double """ self.tl_pos_goal = 0.0 """ track-line position variables LCM Type: double """ self.tl_pos_rate = 0.0 """ LCM Type: double """ self.tl_pos_enabled = False """ LCM Type: boolean """ self.surf_pose_sequence = 0 """ LCM Type: int32_t """ self.range_assist = 0.0 """ process variables LCM Type: double """ self.xtrack_assist = 0.0 """ LCM Type: double """ self.range_src = 0 """ LCM Type: int64_t """ self.xtrack_src = 0 """ LCM Type: int64_t """ self.heading_src = 0 """ LCM Type: int64_t """ self.is_control_enabled = False """ LCM Type: boolean """ self.is_x_effort_enabled = False """ LCM Type: boolean """ self.is_y_effort_enabled = False """ LCM Type: boolean """ self.is_z_effort_enabled = False """ LCM Type: boolean """ self.is_psi_effort_enabled = False """ LCM Type: boolean """ self.control_exec_ms = 0.0 """ loop statistics LCM Type: double """ self.other_exec_ms = 0.0 """ LCM Type: double """ self.percent_idle = 0.0 """ LCM Type: double """ self.missed_updates = 0 """ LCM Type: int64_t """ def encode(self): buf = BytesIO() buf.write(oi_control_status_t._get_packed_fingerprint()) self._encode_one(buf) return buf.getvalue() def _encode_one(self, buf): assert self.header._get_packed_fingerprint() == oi.lcm_header_t._get_packed_fingerprint() self.header._encode_one(buf) assert self.heading_control._get_packed_fingerprint() == oi.controller_status_t._get_packed_fingerprint() self.heading_control._encode_one(buf) assert self.track_line_control._get_packed_fingerprint() == oi.controller_status_t._get_packed_fingerprint() self.track_line_control._encode_one(buf) assert self.cross_track_control._get_packed_fingerprint() == oi.controller_status_t._get_packed_fingerprint() self.cross_track_control._encode_one(buf) assert self.range_control._get_packed_fingerprint() == oi.controller_status_t._get_packed_fingerprint() self.range_control._encode_one(buf) assert self.x_effort_filter._get_packed_fingerprint() == oi.filter_status_t._get_packed_fingerprint() self.x_effort_filter._encode_one(buf) assert self.y_effort_filter._get_packed_fingerprint() == oi.filter_status_t._get_packed_fingerprint() self.y_effort_filter._encode_one(buf) assert self.z_effort_filter._get_packed_fingerprint() == oi.filter_status_t._get_packed_fingerprint() self.z_effort_filter._encode_one(buf) assert self.psi_effort_filter._get_packed_fingerprint() == oi.filter_status_t._get_packed_fingerprint() self.psi_effort_filter._encode_one(buf) assert self.heading_traj._get_packed_fingerprint() == oi.trajectory_status_t._get_packed_fingerprint() self.heading_traj._encode_one(buf) assert self.track_line_traj._get_packed_fingerprint() == oi.trajectory_status_t._get_packed_fingerprint() self.track_line_traj._encode_one(buf) assert self.cross_track_traj._get_packed_fingerprint() == oi.trajectory_status_t._get_packed_fingerprint() self.cross_track_traj._encode_one(buf) assert self.range_traj._get_packed_fingerprint() == oi.trajectory_status_t._get_packed_fingerprint() self.range_traj._encode_one(buf) buf.write(struct.pack(">ddddddbiddqqqbbbbbdddq", self.x_effort, self.y_effort, self.z_effort, self.psi_effort, self.tl_pos_goal, self.tl_pos_rate, self.tl_pos_enabled, self.surf_pose_sequence, self.range_assist, self.xtrack_assist, self.range_src, self.xtrack_src, self.heading_src, self.is_control_enabled, self.is_x_effort_enabled, self.is_y_effort_enabled, self.is_z_effort_enabled, self.is_psi_effort_enabled, self.control_exec_ms, self.other_exec_ms, self.percent_idle, self.missed_updates)) @staticmethod def decode(data: bytes): if hasattr(data, 'read'): buf = data else: buf = BytesIO(data) if buf.read(8) != oi_control_status_t._get_packed_fingerprint(): raise ValueError("Decode error") return oi_control_status_t._decode_one(buf) @staticmethod def _decode_one(buf): self = oi_control_status_t() self.header = oi.lcm_header_t._decode_one(buf) self.heading_control = oi.controller_status_t._decode_one(buf) self.track_line_control = oi.controller_status_t._decode_one(buf) self.cross_track_control = oi.controller_status_t._decode_one(buf) self.range_control = oi.controller_status_t._decode_one(buf) self.x_effort_filter = oi.filter_status_t._decode_one(buf) self.y_effort_filter = oi.filter_status_t._decode_one(buf) self.z_effort_filter = oi.filter_status_t._decode_one(buf) self.psi_effort_filter = oi.filter_status_t._decode_one(buf) self.heading_traj = oi.trajectory_status_t._decode_one(buf) self.track_line_traj = oi.trajectory_status_t._decode_one(buf) self.cross_track_traj = oi.trajectory_status_t._decode_one(buf) self.range_traj = oi.trajectory_status_t._decode_one(buf) self.x_effort, self.y_effort, self.z_effort, self.psi_effort, self.tl_pos_goal, self.tl_pos_rate = struct.unpack(">dddddd", buf.read(48)) self.tl_pos_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.surf_pose_sequence, self.range_assist, self.xtrack_assist, self.range_src, self.xtrack_src, self.heading_src = struct.unpack(">iddqqq", buf.read(44)) self.is_control_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.is_x_effort_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.is_y_effort_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.is_z_effort_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.is_psi_effort_enabled = bool(struct.unpack('b', buf.read(1))[0]) self.control_exec_ms, self.other_exec_ms, self.percent_idle, self.missed_updates = struct.unpack(">dddq", buf.read(32)) return self @staticmethod def _get_hash_recursive(parents): if oi_control_status_t in parents: return 0 newparents = parents + [oi_control_status_t] tmphash = (0x284854f1f7be9694+ oi.lcm_header_t._get_hash_recursive(newparents)+ oi.controller_status_t._get_hash_recursive(newparents)+ oi.controller_status_t._get_hash_recursive(newparents)+ oi.controller_status_t._get_hash_recursive(newparents)+ oi.controller_status_t._get_hash_recursive(newparents)+ oi.filter_status_t._get_hash_recursive(newparents)+ oi.filter_status_t._get_hash_recursive(newparents)+ oi.filter_status_t._get_hash_recursive(newparents)+ oi.filter_status_t._get_hash_recursive(newparents)+ oi.trajectory_status_t._get_hash_recursive(newparents)+ oi.trajectory_status_t._get_hash_recursive(newparents)+ oi.trajectory_status_t._get_hash_recursive(newparents)+ oi.trajectory_status_t._get_hash_recursive(newparents)) & 0xffffffffffffffff tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff return tmphash _packed_fingerprint = None @staticmethod def _get_packed_fingerprint(): if oi_control_status_t._packed_fingerprint is None: oi_control_status_t._packed_fingerprint = struct.pack(">Q", oi_control_status_t._get_hash_recursive([])) return oi_control_status_t._packed_fingerprint def get_hash(self): """Get the LCM hash of the struct""" return struct.unpack(">Q", oi_control_status_t._get_packed_fingerprint())[0]