"""LCM type definitions This file automatically generated by lcm. DO NOT MODIFY BY HAND!!!! """ from io import BytesIO import struct import oi class sled_control_t(object): __slots__ = ["time_unix_sec", "count_publish", "sender_id", "valvesetting", "valvezero", "kft_pitch", "kft_valid", "rov_imu_pitch", "rov_imu_valid", "beam_1", "beam_2", "beam_3", "beam_4", "beam_height", "beam_pitch_source", "beam_diff", "beam_valid", "pitch_source", "selected_pitch", "target_pitch", "axle_valid", "axle_pitch", "axle_sine", "axle_cosine", "command", "pid_on", "moog_on", "coil_drive_on", "axle_on", "kp", "ki", "kd", "kbi", "kbp", "selected_mode", "limits"] __typenames__ = ["double", "int64_t", "string", "double", "double", "double", "boolean", "double", "boolean", "int64_t", "int64_t", "int64_t", "int64_t", "double", "double", "double", "boolean", "double", "double", "double", "boolean", "double", "int32_t", "int32_t", "double", "boolean", "boolean", "boolean", "boolean", "double", "double", "double", "double", "double", "int32_t", "oi.sled_control_limits_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, None] def __init__(self): self.time_unix_sec = 0.0 """ Time since Unix Epoch LCM Type: double """ self.count_publish = 0 """ LCM publish count LCM Type: int64_t """ self.sender_id = "" """ Self identifier for sender. LCM Type: string """ self.valvesetting = 0.0 """ valve output LCM Type: double """ self.valvezero = 0.0 """ LCM Type: double """ self.kft_pitch = 0.0 """ Kearfott LCM Type: double """ self.kft_valid = False """ LCM Type: boolean """ self.rov_imu_pitch = 0.0 """ ROV IMU LCM Type: double """ self.rov_imu_valid = False """ LCM Type: boolean """ self.beam_1 = 0 """ DVL LCM Type: int64_t """ self.beam_2 = 0 """ LCM Type: int64_t """ self.beam_3 = 0 """ LCM Type: int64_t """ self.beam_4 = 0 """ LCM Type: int64_t """ self.beam_height = 0.0 """ LCM Type: double """ self.beam_pitch_source = 0.0 """ LCM Type: double """ self.beam_diff = 0.0 """ LCM Type: double """ self.beam_valid = False """ LCM Type: boolean """ self.pitch_source = 0.0 """ LCM Type: double """ self.selected_pitch = 0.0 """ LCM Type: double """ self.target_pitch = 0.0 """ LCM Type: double """ self.axle_valid = False """ LCM Type: boolean """ self.axle_pitch = 0.0 """ LCM Type: double """ self.axle_sine = 0 """ LCM Type: int32_t """ self.axle_cosine = 0 """ counts of the sensor LCM Type: int32_t """ self.command = 0.0 """ counts of the opposed sensor LCM Type: double """ self.pid_on = False """ error value of the control loop status LCM Type: boolean """ self.moog_on = False """ status of the pid_loop LCM Type: boolean """ self.coil_drive_on = False """ power status of the moog amplifier LCM Type: boolean """ self.axle_on = False """ coil drive circuit LCM Type: boolean """ self.kp = 0.0 """ switch status of the tilt sensor current control loop gains LCM Type: double """ self.ki = 0.0 """ LCM Type: double """ self.kd = 0.0 """ LCM Type: double """ self.kbi = 0.0 """ LCM Type: double """ self.kbp = 0.0 """ LCM Type: double """ self.selected_mode = 0 """ LCM Type: int32_t """ self.limits = oi.sled_control_limits_t() """ LCM Type: oi.sled_control_limits_t """ def encode(self): buf = BytesIO() buf.write(sled_control_t._get_packed_fingerprint()) self._encode_one(buf) return buf.getvalue() def _encode_one(self, buf): buf.write(struct.pack(">dq", self.time_unix_sec, self.count_publish)) __sender_id_encoded = self.sender_id.encode('utf-8') buf.write(struct.pack('>I', len(__sender_id_encoded)+1)) buf.write(__sender_id_encoded) buf.write(b"\0") buf.write(struct.pack(">dddbdbqqqqdddbdddbdiidbbbbdddddi", self.valvesetting, self.valvezero, self.kft_pitch, self.kft_valid, self.rov_imu_pitch, self.rov_imu_valid, self.beam_1, self.beam_2, self.beam_3, self.beam_4, self.beam_height, self.beam_pitch_source, self.beam_diff, self.beam_valid, self.pitch_source, self.selected_pitch, self.target_pitch, self.axle_valid, self.axle_pitch, self.axle_sine, self.axle_cosine, self.command, self.pid_on, self.moog_on, self.coil_drive_on, self.axle_on, self.kp, self.ki, self.kd, self.kbi, self.kbp, self.selected_mode)) assert self.limits._get_packed_fingerprint() == oi.sled_control_limits_t._get_packed_fingerprint() self.limits._encode_one(buf) @staticmethod def decode(data: bytes): if hasattr(data, 'read'): buf = data else: buf = BytesIO(data) if buf.read(8) != sled_control_t._get_packed_fingerprint(): raise ValueError("Decode error") return sled_control_t._decode_one(buf) @staticmethod def _decode_one(buf): self = sled_control_t() self.time_unix_sec, self.count_publish = struct.unpack(">dq", buf.read(16)) __sender_id_len = struct.unpack('>I', buf.read(4))[0] self.sender_id = buf.read(__sender_id_len)[:-1].decode('utf-8', 'replace') self.valvesetting, self.valvezero, self.kft_pitch = struct.unpack(">ddd", buf.read(24)) self.kft_valid = bool(struct.unpack('b', buf.read(1))[0]) self.rov_imu_pitch = struct.unpack(">d", buf.read(8))[0] self.rov_imu_valid = bool(struct.unpack('b', buf.read(1))[0]) self.beam_1, self.beam_2, self.beam_3, self.beam_4, self.beam_height, self.beam_pitch_source, self.beam_diff = struct.unpack(">qqqqddd", buf.read(56)) self.beam_valid = bool(struct.unpack('b', buf.read(1))[0]) self.pitch_source, self.selected_pitch, self.target_pitch = struct.unpack(">ddd", buf.read(24)) self.axle_valid = bool(struct.unpack('b', buf.read(1))[0]) self.axle_pitch, self.axle_sine, self.axle_cosine, self.command = struct.unpack(">diid", buf.read(24)) self.pid_on = bool(struct.unpack('b', buf.read(1))[0]) self.moog_on = bool(struct.unpack('b', buf.read(1))[0]) self.coil_drive_on = bool(struct.unpack('b', buf.read(1))[0]) self.axle_on = bool(struct.unpack('b', buf.read(1))[0]) self.kp, self.ki, self.kd, self.kbi, self.kbp, self.selected_mode = struct.unpack(">dddddi", buf.read(44)) self.limits = oi.sled_control_limits_t._decode_one(buf) return self @staticmethod def _get_hash_recursive(parents): if sled_control_t in parents: return 0 newparents = parents + [sled_control_t] tmphash = (0x35261286448c54d9+ oi.sled_control_limits_t._get_hash_recursive(newparents)) & 0xffffffffffffffff tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff return tmphash _packed_fingerprint = None @staticmethod def _get_packed_fingerprint(): if sled_control_t._packed_fingerprint is None: sled_control_t._packed_fingerprint = struct.pack(">Q", sled_control_t._get_hash_recursive([])) return sled_control_t._packed_fingerprint def get_hash(self): """Get the LCM hash of the struct""" return struct.unpack(">Q", sled_control_t._get_packed_fingerprint())[0]