Skip to content
Snippets Groups Projects
Commit 8d258e75 authored by Sebastian Ebert's avatar Sebastian Ebert
Browse files

configuration of datastreams between ros and rag, testnode to test stream configuration

parent b8ea6e87
No related branches found
No related tags found
No related merge requests found
Expand all Show whitespace changes
Inline Side-by-side
launch/simulation_rosrag_test.launch 0 → 100644
+ 65
− 0
View file @ 8d258e75
<launch>
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<!-- GAZEBO arguments -->
<arg name="paused" default="false" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="load_gripper" default="true" />
<!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
<arg name="use_sim_time" value="$(arg use_sim_time)" />
<arg name="headless" value="$(arg headless)" />
</include>
<node name="rqt_console" pkg="rqt_console" type="rqt_console" />
<!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
<node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true" />
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<group if="$(arg gui)">
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
</group>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
<!-- launch robot control node for moveit motion planning -->
<node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen" />
<!-- load (not start!) custom joint position controller -->
<node pkg="controller_manager" type="spawner" name="joint_position_launcher" args="--stopped joint_position_controller" />
<!-- run custom node for automatic intialization -->
<node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
<node name="TimedCartesianPlanner" pkg="panda_simulation" type="TimedCartesianPlanner" respawn="false" output="screen"/>
<node name="MqttToRosNode" pkg="panda_simulation" type="MqttToRosNode" respawn="false" output="screen"/>
<node name="MqttRosConnectionTestNode" pkg="panda_simulation" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
<node name="RobotStateProvider" pkg="panda_simulation" type="RobotStateProvider" respawn="false" output="screen"/>
</launch>
src/MqttRosConnectionTestNode.cpp 0 → 100644
+ 167
− 0
View file @ 8d258e75
//
// Created by sebastian on 31.03.20.
//
#include "ros/ros.h"
#include <gazebo_msgs/LinkStates.h>
#include <mqtt/client.h>
#include "string.h"
#include "robotconfig.pb.h"
#include "dataconfig.pb.h"
#include "mem_persistence.cpp"
using namespace std;
using namespace std::chrono;
/*
* mqtt-topics for all links
* ground, link0, link1, link2, link3, link4, link5, link6, link7 (end-effector), left finger, right finder
*/
std::string topics[11] = {"panda_link_0", "panda_link_1", "panda_link_2", "panda_link_3",
"panda_link_4", "panda_link_5", "panda_link_6", "panda_link_7",
"panda_link_8", "panda_link_9", "panda_link_10"};
const string SERVER_ADDRESS { "tcp://localhost:1883" };
const string CLIENT_ID { "ros_mqtt_tester" };
bool mqttSetup = false;
bool isInitialized = false;
const int QOS = 1;
mem_persistence persist;
mqtt::client client("tcp://localhost:1883", "robot_state_provider_mqtt_test", &persist);
void setupMqtt() {
if (!mqttSetup) {
std::cout << "MQTT: Initializing." << std::endl;
mqtt::connect_options connOpts;
connOpts.set_keep_alive_interval(20);
connOpts.set_clean_session(true);
std::cout << "MQTT: Initialized." << std::endl;
std::cout << "MQTT: Connecting." << std::endl;
client.connect(connOpts);
std::cout << "MQTT: Connected." << std::endl;
mqttSetup = true;
}
}
bool try_reconnect(mqtt::client& cli)
{
constexpr int N_ATTEMPT = 30;
for (int i=0; i<N_ATTEMPT && !cli.is_connected(); ++i) {
try {
cli.reconnect();
return true;
}
catch (const mqtt::exception&) {
this_thread::sleep_for(seconds(1));
}
}
return false;
}
void testConfig(ros::NodeHandle n) {
std::cout << ">>>>>>>>>>>> STARTING TEST <<<<<<<<<<<<<" << std::endl;
setupMqtt();
config::DataConfig dc;
dc.set_enableposition(true);
dc.set_enableorientation(true);
dc.set_enabletwistangular(true);
dc.set_enabletwistlinear(true);
dc.set_publishrate(1000);
std::string mqtt_msg;
dc.SerializeToString(&mqtt_msg);
auto pubmsg = mqtt::make_message("dataconfig", mqtt_msg);
pubmsg->set_qos(QOS);
client.publish(pubmsg);
}
void receiveMqttMessages(ros::NodeHandle n)
{
mqtt::connect_options connOpts;
mqtt::client cli(SERVER_ADDRESS, CLIENT_ID);
connOpts.set_keep_alive_interval(20);
connOpts.set_clean_session(true);
try {
ROS_INFO_STREAM("TEST Connecting to the MQTT server.");
mqtt::connect_response rsp = cli.connect(connOpts);
ROS_INFO_STREAM("TEST Connected to the MQTT server.");
if (!rsp.is_session_present()) {
ROS_INFO_STREAM("TEST Subscribing to topics.");
cli.subscribe("nodetest", 1);
ROS_INFO_STREAM("TEST Subscribed to topics.");
}else {
ROS_WARN_STREAM("TEST Session already present. Skipping subscribe.");
}
// Consume messages
while (true) {
auto msg = cli.consume_message();
if (!msg) {
if (!cli.is_connected()) {
ROS_ERROR_STREAM("TEST Lost connection. Attempting reconnect");
if (try_reconnect(cli)) {
cli.subscribe("nodetest", 1);
ROS_INFO_STREAM("TEST Reconnected");
continue;
}
else {
ROS_ERROR_STREAM("TEST Reconnect failed.");
}
}
else {
ROS_ERROR_STREAM("TEST An error occurred retrieving messages.");
}
break;
}
if (msg->get_topic() == "nodetest")
{
testConfig(n);
}
}
}
catch (const mqtt::exception& exc) {
ROS_ERROR_STREAM("TEST: " << exc.what());
cli.disconnect();
return;
}
cli.disconnect();
}
int main(int argc, char **argv) {
ros::init(argc, argv, "robot_state_provider_test");
ros::NodeHandle n;
n.getParam("ready", isInitialized);
while (ros::ok()) {
// make sure the robot is initialized
while (!isInitialized) {
n.getParam("tud_planner_ready", isInitialized);
}
receiveMqttMessages(n);
ros::spin();
}
// disconnect from mqtt
client.disconnect();
return 0;
}
\ No newline at end of file
src/MqttToRosNode.cpp
+ 35
− 16
View file @ 8d258e75
#include <iostream>
#include <cstdlib>
#include <string>
#include <cstring>
#include <cctype>
#include <thread>
#include <chrono>
#include "mqtt/client.h"
#include "ros/ros.h"
#include "robotconfig.pb.h"
#include "dataconfig.pb.h"
using namespace std;
using namespace std::chrono;
const string SERVER_ADDRESS { "tcp://localhost:1883" };
const string CLIENT_ID { "sync_consume_cpp2" };
const string CLIENT_ID { "ros_mqtt_consumer" };
// --------------------------------------------------------------------------
// Simple function to manually reconnect a client.
......@@ -36,17 +37,29 @@ bool try_reconnect(mqtt::client& cli)
/////////////////////////////////////////////////////////////////////////////
void handleCommand(auto msg)
void handleRobotConfig(config::RobotConfig robotConfig, ros::NodeHandle n)
{
// TBD
std::cout << "Retrieved new target-speed: " << robotConfig.speed() << std::endl;
n.setParam("robot_speed_factor", robotConfig.speed());
}
void handleConfig(auto msg)
void handleDataConfig(config::DataConfig dataConfig, ros::NodeHandle n)
{
// TBD
std::cout << "Retrieved new data-config: -- publish-rate: " << dataConfig.publishrate()
<< " -- enablePosition: " << dataConfig.enableposition()
<< " -- enableOrientation: " << dataConfig.enableorientation()
<< " -- enableTwistLinear: " << dataConfig.enabletwistlinear()
<< " -- enableTwistAngular: " << dataConfig.has_enabletwistangular()
<< std::endl;
n.setParam("data_publish_rate", dataConfig.publishrate());
n.setParam("data_enable_position", dataConfig.enableposition());
n.setParam("data_enable_orientation", dataConfig.enableorientation());
n.setParam("data_enable_twist_linear", dataConfig.enabletwistlinear());
n.setParam("data_enable_twist_angular", dataConfig.has_enabletwistangular());
}
void receiveMqttMessages()
void receiveMqttMessages(ros::NodeHandle n)
{
mqtt::connect_options connOpts;
mqtt::client cli(SERVER_ADDRESS, CLIENT_ID);
......@@ -54,7 +67,7 @@ void receiveMqttMessages()
connOpts.set_keep_alive_interval(20);
connOpts.set_clean_session(true);
const vector<string> TOPICS { "config", "command" };
const vector<string> TOPICS { "robotconfig", "dataconfig" };
const vector<int> QOS { 0, 1 };
try {
......@@ -93,21 +106,27 @@ void receiveMqttMessages()
break;
}
if (msg->get_topic() == "command")
if (msg->get_topic() == "robotconfig")
{
handleCommand(msg);
const std::string rc_payload = msg->get_payload_str();
config::RobotConfig robotConfig;
robotConfig.ParseFromString(rc_payload);
handleRobotConfig(robotConfig, n);
}
if (msg->get_topic() == "config")
if (msg->get_topic() == "dataconfig")
{
handleConfig(msg);
const std::string dc_payload = msg->get_payload_str();
config::DataConfig dataConfig;
dataConfig.ParseFromString(dc_payload);
handleDataConfig(dataConfig, n);
}
ROS_INFO_STREAM("NEW MESSAGE: " << msg->get_topic() << ": " << msg->to_string());
//ROS_INFO_STREAM("NEW MESSAGE: " << msg->get_topic() << ": " << msg->to_string());
}
}
catch (const mqtt::exception& exc) {
ROS_ERROR_STREAM(exc.what());
ROS_ERROR_STREAM("MQTT2ROS " << exc.what());
cli.disconnect();
return;
}
......@@ -120,7 +139,7 @@ int main(int argc, char* argv[])
ros::init(argc, argv, "mqtt_listener");
ros::NodeHandle n;
receiveMqttMessages();
receiveMqttMessages(n);
ros::spin();
return 0;
......
src/RobotStateProvider.cpp
+ 61
− 34
View file @ 8d258e75
......@@ -8,23 +8,8 @@
#include "linkstate.pb.h"
#include "mem_persistence.cpp"
// CONFIGURATION START
// ^^^^^^^^^^^^^^^^^^^
// configure the number of not redirected messages between redirected messages
const int message_redirect_rate = 100;
// values to export
bool export_position = true;
bool export_orientation = true;
bool export_twist_linear = true;
bool export_twist_angular = true;
bool export_to_log = false;
// CONFIGURATION END
// ^^^^^^^^^^^^^^^^^
/*
* mqtt-topics for all links
* ground, link0, link1, link2, link3, link4, link5, link6, link7 (end-effector), left finger, right finder
......@@ -46,6 +31,19 @@ mqtt::client client("tcp://localhost:1883", "robot_state_provider_mqtt", &persis
* logs to its own file in /.ros/logs (configured in launch-file)
*/
void exportMessageToLog(const gazebo_msgs::LinkStates &msg) {
bool export_position = false;
bool export_orientation = false;
bool export_twist_linear = false;
bool export_twist_angular = false;
ros::NodeHandle n;
n.getParam("data_enable_position", export_position);
n.getParam("data_enable_orientation", export_orientation);
n.getParam("data_enable_twist_linear", export_twist_linear);
n.getParam("data_enable_twist_angular", export_twist_angular);
ROS_INFO_STREAM("<<< LINK NAMES >>>");
for (int i = 0; i < msg.name.size(); i++) {
......@@ -96,6 +94,21 @@ void exportMessageToLog(const gazebo_msgs::LinkStates &msg) {
panda::PandaLinkState buildLinkStateMessage(const gazebo_msgs::LinkStates &msg, int link_number) {
bool export_position = false;
bool export_orientation = false;
bool export_twist_linear = false;
bool export_twist_angular = false;
ros::NodeHandle n;
n.getParam("data_enable_position", export_position);
n.getParam("data_enable_orientation", export_orientation);
n.getParam("data_enable_twist_linear", export_twist_linear);
n.getParam("data_enable_twist_angular", export_twist_angular);
//std::cout << "Building LinkStateMessage with pos: " << export_position << " ori: " << export_orientation << " twistlin: "
// << export_twist_linear << " twistang: " << export_twist_angular << std::endl;
panda::PandaLinkState pls_msg;
pls_msg.set_name(msg.name.at(link_number));
......@@ -139,16 +152,16 @@ panda::PandaLinkState buildLinkStateMessage(const gazebo_msgs::LinkStates &msg,
void setupMqtt() {
if (!mqttSetup) {
std::cout << "Initializing..." << std::endl;
std::cout << "MQTT: Initializing." << std::endl;
mqtt::connect_options connOpts;
connOpts.set_keep_alive_interval(20);
connOpts.set_clean_session(true);
std::cout << "...OK" << std::endl;
std::cout << "MQTT: Initialized." << std::endl;
std::cout << "\nConnecting..." << std::endl;
std::cout << "MQTT: Connecting." << std::endl;
client.connect(connOpts);
std::cout << "...OK" << std::endl;
std::cout << "MQTT: Connected." << std::endl;
mqttSetup = true;
}
}
......@@ -158,20 +171,33 @@ void sendMqttMessages(const gazebo_msgs::LinkStates &msg) {
setupMqtt();
for(int i = 0; i < msg.name.size(); i++)
{
try {
for (int i = 0; i < msg.name.size(); i++) {
panda::PandaLinkState pls_msg = buildLinkStateMessage(msg, i);
std::string mqtt_msg;
pls_msg.SerializeToString(&mqtt_msg);
//std::cout << "SENDING MESSAGE" << std::endl;
//std::cout << "SENDING MESSAGE TO " << topics[i] << std::endl;
auto pubmsg = mqtt::make_message(topics[i], mqtt_msg);
pubmsg->set_qos(QOS);
client.publish(pubmsg);
}
}
// happens at lib paho sometimes when multiple instances of an mqtt-client are publishing at the same time
catch (const mqtt::exception &exc) {
ROS_ERROR_STREAM("RSP: " << exc.what());
// causes automatic reconnect
mqttSetup = false;
return;
}
}
void providerCallback(const gazebo_msgs::LinkStates &msg) {
ros::NodeHandle n;
int message_redirect_rate = 200;
n.getParam("data_publish_rate", message_redirect_rate);
if (current_redirect != 0 && current_redirect != message_redirect_rate) {
// std::cout << "Ignoring message (redirect: " << current_redirect << " )" << std::endl;
current_redirect++;
......@@ -179,7 +205,7 @@ void providerCallback(const gazebo_msgs::LinkStates &msg) {
}
if (current_redirect == 0 || current_redirect == message_redirect_rate) {
//std::cout << "Redirecting message:" << msg.pose.at(1).position << std::endl;
//std::cout << "Sending LinkStates with rate: " << message_redirect_rate << std::endl;
if (export_to_log) {
exportMessageToLog(msg);
......@@ -196,11 +222,12 @@ void providerCallback(const gazebo_msgs::LinkStates &msg) {
}
int main(int argc, char **argv) {
ros::init(argc, argv, "listener");
ros::init(argc, argv, "robot_state_provider");
ros::NodeHandle n;
n.getParam("ready", isInitialized);
while (ros::ok()) {
// make sure the robot is initialized
while (!isInitialized) {
//std::cout << "Waiting" << std::endl;
......
src/dataconfig.pb.cc 0 → 100644
+ 673
− 0
View file @ 8d258e75
This diff is collapsed.
src/dataconfig.pb.h 0 → 100644
+ 313
− 0
View file @ 8d258e75
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: dataconfig.proto
#ifndef PROTOBUF_dataconfig_2eproto__INCLUDED
#define PROTOBUF_dataconfig_2eproto__INCLUDED
#include <string>
#include <google/protobuf/stubs/common.h>
#if GOOGLE_PROTOBUF_VERSION < 3000000
#error This file was generated by a newer version of protoc which is
#error incompatible with your Protocol Buffer headers. Please update
#error your headers.
#endif
#if 3000000 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
#error This file was generated by an older version of protoc which is
#error incompatible with your Protocol Buffer headers. Please
#error regenerate this file with a newer version of protoc.
#endif
#include <google/protobuf/arena.h>
#include <google/protobuf/arenastring.h>
#include <google/protobuf/generated_message_util.h>
#include <google/protobuf/metadata.h>
#include <google/protobuf/message.h>
#include <google/protobuf/repeated_field.h>
#include <google/protobuf/extension_set.h>
#include <google/protobuf/unknown_field_set.h>
// @@protoc_insertion_point(includes)
namespace config {
// Internal implementation detail -- do not call these.
void protobuf_AddDesc_dataconfig_2eproto();
void protobuf_AssignDesc_dataconfig_2eproto();
void protobuf_ShutdownFile_dataconfig_2eproto();
class DataConfig;
// ===================================================================
class DataConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:config.DataConfig) */ {
public:
DataConfig();
virtual ~DataConfig();
DataConfig(const DataConfig& from);
inline DataConfig& operator=(const DataConfig& from) {
CopyFrom(from);
return *this;
}
inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
return _internal_metadata_.unknown_fields();
}
inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
return _internal_metadata_.mutable_unknown_fields();
}
static const ::google::protobuf::Descriptor* descriptor();
static const DataConfig& default_instance();
void Swap(DataConfig* other);
// implements Message ----------------------------------------------
inline DataConfig* New() const { return New(NULL); }
DataConfig* New(::google::protobuf::Arena* arena) const;
void CopyFrom(const ::google::protobuf::Message& from);
void MergeFrom(const ::google::protobuf::Message& from);
void CopyFrom(const DataConfig& from);
void MergeFrom(const DataConfig& from);
void Clear();
bool IsInitialized() const;
int ByteSize() const;
bool MergePartialFromCodedStream(
::google::protobuf::io::CodedInputStream* input);
void SerializeWithCachedSizes(
::google::protobuf::io::CodedOutputStream* output) const;
::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
bool deterministic, ::google::protobuf::uint8* output) const;
::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const {
return InternalSerializeWithCachedSizesToArray(false, output);
}
int GetCachedSize() const { return _cached_size_; }
private:
void SharedCtor();
void SharedDtor();
void SetCachedSize(int size) const;
void InternalSwap(DataConfig* other);
private:
inline ::google::protobuf::Arena* GetArenaNoVirtual() const {
return _internal_metadata_.arena();
}
inline void* MaybeArenaPtr() const {
return _internal_metadata_.raw_arena_ptr();
}
public:
::google::protobuf::Metadata GetMetadata() const;
// nested types ----------------------------------------------------
// accessors -------------------------------------------------------
// required bool enablePosition = 1;
bool has_enableposition() const;
void clear_enableposition();
static const int kEnablePositionFieldNumber = 1;
bool enableposition() const;
void set_enableposition(bool value);
// required bool enableOrientation = 2;
bool has_enableorientation() const;
void clear_enableorientation();
static const int kEnableOrientationFieldNumber = 2;
bool enableorientation() const;
void set_enableorientation(bool value);
// required bool enableTwistLinear = 3;
bool has_enabletwistlinear() const;
void clear_enabletwistlinear();
static const int kEnableTwistLinearFieldNumber = 3;
bool enabletwistlinear() const;
void set_enabletwistlinear(bool value);
// required bool enableTwistAngular = 4;
bool has_enabletwistangular() const;
void clear_enabletwistangular();
static const int kEnableTwistAngularFieldNumber = 4;
bool enabletwistangular() const;
void set_enabletwistangular(bool value);
// required int32 publishRate = 5;
bool has_publishrate() const;
void clear_publishrate();
static const int kPublishRateFieldNumber = 5;
::google::protobuf::int32 publishrate() const;
void set_publishrate(::google::protobuf::int32 value);
// @@protoc_insertion_point(class_scope:config.DataConfig)
private:
inline void set_has_enableposition();
inline void clear_has_enableposition();
inline void set_has_enableorientation();
inline void clear_has_enableorientation();
inline void set_has_enabletwistlinear();
inline void clear_has_enabletwistlinear();
inline void set_has_enabletwistangular();
inline void clear_has_enabletwistangular();
inline void set_has_publishrate();
inline void clear_has_publishrate();
// helper for ByteSize()
int RequiredFieldsByteSizeFallback() const;
::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
::google::protobuf::uint32 _has_bits_[1];
mutable int _cached_size_;
bool enableposition_;
bool enableorientation_;
bool enabletwistlinear_;
bool enabletwistangular_;
::google::protobuf::int32 publishrate_;
friend void protobuf_AddDesc_dataconfig_2eproto();
friend void protobuf_AssignDesc_dataconfig_2eproto();
friend void protobuf_ShutdownFile_dataconfig_2eproto();
void InitAsDefaultInstance();
static DataConfig* default_instance_;
};
// ===================================================================
// ===================================================================
#if !PROTOBUF_INLINE_NOT_IN_HEADERS
// DataConfig
// required bool enablePosition = 1;
inline bool DataConfig::has_enableposition() const {
return (_has_bits_[0] & 0x00000001u) != 0;
}
inline void DataConfig::set_has_enableposition() {
_has_bits_[0] |= 0x00000001u;
}
inline void DataConfig::clear_has_enableposition() {
_has_bits_[0] &= ~0x00000001u;
}
inline void DataConfig::clear_enableposition() {
enableposition_ = false;
clear_has_enableposition();
}
inline bool DataConfig::enableposition() const {
// @@protoc_insertion_point(field_get:config.DataConfig.enablePosition)
return enableposition_;
}
inline void DataConfig::set_enableposition(bool value) {
set_has_enableposition();
enableposition_ = value;
// @@protoc_insertion_point(field_set:config.DataConfig.enablePosition)
}
// required bool enableOrientation = 2;
inline bool DataConfig::has_enableorientation() const {
return (_has_bits_[0] & 0x00000002u) != 0;
}
inline void DataConfig::set_has_enableorientation() {
_has_bits_[0] |= 0x00000002u;
}
inline void DataConfig::clear_has_enableorientation() {
_has_bits_[0] &= ~0x00000002u;
}
inline void DataConfig::clear_enableorientation() {
enableorientation_ = false;
clear_has_enableorientation();
}
inline bool DataConfig::enableorientation() const {
// @@protoc_insertion_point(field_get:config.DataConfig.enableOrientation)
return enableorientation_;
}
inline void DataConfig::set_enableorientation(bool value) {
set_has_enableorientation();
enableorientation_ = value;
// @@protoc_insertion_point(field_set:config.DataConfig.enableOrientation)
}
// required bool enableTwistLinear = 3;
inline bool DataConfig::has_enabletwistlinear() const {
return (_has_bits_[0] & 0x00000004u) != 0;
}
inline void DataConfig::set_has_enabletwistlinear() {
_has_bits_[0] |= 0x00000004u;
}
inline void DataConfig::clear_has_enabletwistlinear() {
_has_bits_[0] &= ~0x00000004u;
}
inline void DataConfig::clear_enabletwistlinear() {
enabletwistlinear_ = false;
clear_has_enabletwistlinear();
}
inline bool DataConfig::enabletwistlinear() const {
// @@protoc_insertion_point(field_get:config.DataConfig.enableTwistLinear)
return enabletwistlinear_;
}
inline void DataConfig::set_enabletwistlinear(bool value) {
set_has_enabletwistlinear();
enabletwistlinear_ = value;
// @@protoc_insertion_point(field_set:config.DataConfig.enableTwistLinear)
}
// required bool enableTwistAngular = 4;
inline bool DataConfig::has_enabletwistangular() const {
return (_has_bits_[0] & 0x00000008u) != 0;
}
inline void DataConfig::set_has_enabletwistangular() {
_has_bits_[0] |= 0x00000008u;
}
inline void DataConfig::clear_has_enabletwistangular() {
_has_bits_[0] &= ~0x00000008u;
}
inline void DataConfig::clear_enabletwistangular() {
enabletwistangular_ = false;
clear_has_enabletwistangular();
}
inline bool DataConfig::enabletwistangular() const {
// @@protoc_insertion_point(field_get:config.DataConfig.enableTwistAngular)
return enabletwistangular_;
}
inline void DataConfig::set_enabletwistangular(bool value) {
set_has_enabletwistangular();
enabletwistangular_ = value;
// @@protoc_insertion_point(field_set:config.DataConfig.enableTwistAngular)
}
// required int32 publishRate = 5;
inline bool DataConfig::has_publishrate() const {
return (_has_bits_[0] & 0x00000010u) != 0;
}
inline void DataConfig::set_has_publishrate() {
_has_bits_[0] |= 0x00000010u;
}
inline void DataConfig::clear_has_publishrate() {
_has_bits_[0] &= ~0x00000010u;
}
inline void DataConfig::clear_publishrate() {
publishrate_ = 0;
clear_has_publishrate();
}
inline ::google::protobuf::int32 DataConfig::publishrate() const {
// @@protoc_insertion_point(field_get:config.DataConfig.publishRate)
return publishrate_;
}
inline void DataConfig::set_publishrate(::google::protobuf::int32 value) {
set_has_publishrate();
publishrate_ = value;
// @@protoc_insertion_point(field_set:config.DataConfig.publishRate)
}
#endif // !PROTOBUF_INLINE_NOT_IN_HEADERS
// @@protoc_insertion_point(namespace_scope)
} // namespace config
// @@protoc_insertion_point(global_scope)
#endif // PROTOBUF_dataconfig_2eproto__INCLUDED
src/robotconfig.pb.cc 0 → 100644
+ 374
− 0
View file @ 8d258e75
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: robotconfig.proto
#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
#include "robotconfig.pb.h"
#include <algorithm>
#include <google/protobuf/stubs/common.h>
#include <google/protobuf/stubs/port.h>
#include <google/protobuf/stubs/once.h>
#include <google/protobuf/io/coded_stream.h>
#include <google/protobuf/wire_format_lite_inl.h>
#include <google/protobuf/descriptor.h>
#include <google/protobuf/generated_message_reflection.h>
#include <google/protobuf/reflection_ops.h>
#include <google/protobuf/wire_format.h>
// @@protoc_insertion_point(includes)
namespace config {
namespace {
const ::google::protobuf::Descriptor* RobotConfig_descriptor_ = NULL;
const ::google::protobuf::internal::GeneratedMessageReflection*
RobotConfig_reflection_ = NULL;
} // namespace
void protobuf_AssignDesc_robotconfig_2eproto() GOOGLE_ATTRIBUTE_COLD;
void protobuf_AssignDesc_robotconfig_2eproto() {
protobuf_AddDesc_robotconfig_2eproto();
const ::google::protobuf::FileDescriptor* file =
::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
"robotconfig.proto");
GOOGLE_CHECK(file != NULL);
RobotConfig_descriptor_ = file->message_type(0);
static const int RobotConfig_offsets_[1] = {
GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RobotConfig, speed_),
};
RobotConfig_reflection_ =
::google::protobuf::internal::GeneratedMessageReflection::NewGeneratedMessageReflection(
RobotConfig_descriptor_,
RobotConfig::default_instance_,
RobotConfig_offsets_,
GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RobotConfig, _has_bits_[0]),
-1,
-1,
sizeof(RobotConfig),
GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RobotConfig, _internal_metadata_),
-1);
}
namespace {
GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_);
inline void protobuf_AssignDescriptorsOnce() {
::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_,
&protobuf_AssignDesc_robotconfig_2eproto);
}
void protobuf_RegisterTypes(const ::std::string&) GOOGLE_ATTRIBUTE_COLD;
void protobuf_RegisterTypes(const ::std::string&) {
protobuf_AssignDescriptorsOnce();
::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
RobotConfig_descriptor_, &RobotConfig::default_instance());
}
} // namespace
void protobuf_ShutdownFile_robotconfig_2eproto() {
delete RobotConfig::default_instance_;
delete RobotConfig_reflection_;
}
void protobuf_AddDesc_robotconfig_2eproto() GOOGLE_ATTRIBUTE_COLD;
void protobuf_AddDesc_robotconfig_2eproto() {
static bool already_here = false;
if (already_here) return;
already_here = true;
GOOGLE_PROTOBUF_VERIFY_VERSION;
::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
"\n\021robotconfig.proto\022\006config\"\034\n\013RobotConf"
"ig\022\r\n\005speed\030\001 \002(\001", 57);
::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
"robotconfig.proto", &protobuf_RegisterTypes);
RobotConfig::default_instance_ = new RobotConfig();
RobotConfig::default_instance_->InitAsDefaultInstance();
::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_robotconfig_2eproto);
}
// Force AddDescriptors() to be called at static initialization time.
struct StaticDescriptorInitializer_robotconfig_2eproto {
StaticDescriptorInitializer_robotconfig_2eproto() {
protobuf_AddDesc_robotconfig_2eproto();
}
} static_descriptor_initializer_robotconfig_2eproto_;
// ===================================================================
#if !defined(_MSC_VER) || _MSC_VER >= 1900
const int RobotConfig::kSpeedFieldNumber;
#endif // !defined(_MSC_VER) || _MSC_VER >= 1900
RobotConfig::RobotConfig()
: ::google::protobuf::Message(), _internal_metadata_(NULL) {
SharedCtor();
// @@protoc_insertion_point(constructor:config.RobotConfig)
}
void RobotConfig::InitAsDefaultInstance() {
}
RobotConfig::RobotConfig(const RobotConfig& from)
: ::google::protobuf::Message(),
_internal_metadata_(NULL) {
SharedCtor();
MergeFrom(from);
// @@protoc_insertion_point(copy_constructor:config.RobotConfig)
}
void RobotConfig::SharedCtor() {
_cached_size_ = 0;
speed_ = 0;
::memset(_has_bits_, 0, sizeof(_has_bits_));
}
RobotConfig::~RobotConfig() {
// @@protoc_insertion_point(destructor:config.RobotConfig)
SharedDtor();
}
void RobotConfig::SharedDtor() {
if (this != default_instance_) {
}
}
void RobotConfig::SetCachedSize(int size) const {
GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
_cached_size_ = size;
GOOGLE_SAFE_CONCURRENT_WRITES_END();
}
const ::google::protobuf::Descriptor* RobotConfig::descriptor() {
protobuf_AssignDescriptorsOnce();
return RobotConfig_descriptor_;
}
const RobotConfig& RobotConfig::default_instance() {
if (default_instance_ == NULL) protobuf_AddDesc_robotconfig_2eproto();
return *default_instance_;
}
RobotConfig* RobotConfig::default_instance_ = NULL;
RobotConfig* RobotConfig::New(::google::protobuf::Arena* arena) const {
RobotConfig* n = new RobotConfig;
if (arena != NULL) {
arena->Own(n);
}
return n;
}
void RobotConfig::Clear() {
// @@protoc_insertion_point(message_clear_start:config.RobotConfig)
speed_ = 0;
::memset(_has_bits_, 0, sizeof(_has_bits_));
if (_internal_metadata_.have_unknown_fields()) {
mutable_unknown_fields()->Clear();
}
}
bool RobotConfig::MergePartialFromCodedStream(
::google::protobuf::io::CodedInputStream* input) {
#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure
::google::protobuf::uint32 tag;
// @@protoc_insertion_point(parse_start:config.RobotConfig)
for (;;) {
::std::pair< ::google::protobuf::uint32, bool> p = input->ReadTagWithCutoff(127);
tag = p.first;
if (!p.second) goto handle_unusual;
switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
// required double speed = 1;
case 1: {
if (tag == 9) {
DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
input, &speed_)));
set_has_speed();
} else {
goto handle_unusual;
}
if (input->ExpectAtEnd()) goto success;
break;
}
default: {
handle_unusual:
if (tag == 0 ||
::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
goto success;
}
DO_(::google::protobuf::internal::WireFormat::SkipField(
input, tag, mutable_unknown_fields()));
break;
}
}
}
success:
// @@protoc_insertion_point(parse_success:config.RobotConfig)
return true;
failure:
// @@protoc_insertion_point(parse_failure:config.RobotConfig)
return false;
#undef DO_
}
void RobotConfig::SerializeWithCachedSizes(
::google::protobuf::io::CodedOutputStream* output) const {
// @@protoc_insertion_point(serialize_start:config.RobotConfig)
// required double speed = 1;
if (has_speed()) {
::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->speed(), output);
}
if (_internal_metadata_.have_unknown_fields()) {
::google::protobuf::internal::WireFormat::SerializeUnknownFields(
unknown_fields(), output);
}
// @@protoc_insertion_point(serialize_end:config.RobotConfig)
}
::google::protobuf::uint8* RobotConfig::InternalSerializeWithCachedSizesToArray(
bool deterministic, ::google::protobuf::uint8* target) const {
// @@protoc_insertion_point(serialize_to_array_start:config.RobotConfig)
// required double speed = 1;
if (has_speed()) {
target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->speed(), target);
}
if (_internal_metadata_.have_unknown_fields()) {
target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
unknown_fields(), target);
}
// @@protoc_insertion_point(serialize_to_array_end:config.RobotConfig)
return target;
}
int RobotConfig::ByteSize() const {
// @@protoc_insertion_point(message_byte_size_start:config.RobotConfig)
int total_size = 0;
// required double speed = 1;
if (has_speed()) {
total_size += 1 + 8;
}
if (_internal_metadata_.have_unknown_fields()) {
total_size +=
::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
unknown_fields());
}
GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
_cached_size_ = total_size;
GOOGLE_SAFE_CONCURRENT_WRITES_END();
return total_size;
}
void RobotConfig::MergeFrom(const ::google::protobuf::Message& from) {
// @@protoc_insertion_point(generalized_merge_from_start:config.RobotConfig)
if (GOOGLE_PREDICT_FALSE(&from == this)) {
::google::protobuf::internal::MergeFromFail(__FILE__, __LINE__);
}
const RobotConfig* source =
::google::protobuf::internal::DynamicCastToGenerated<const RobotConfig>(
&from);
if (source == NULL) {
// @@protoc_insertion_point(generalized_merge_from_cast_fail:config.RobotConfig)
::google::protobuf::internal::ReflectionOps::Merge(from, this);
} else {
// @@protoc_insertion_point(generalized_merge_from_cast_success:config.RobotConfig)
MergeFrom(*source);
}
}
void RobotConfig::MergeFrom(const RobotConfig& from) {
// @@protoc_insertion_point(class_specific_merge_from_start:config.RobotConfig)
if (GOOGLE_PREDICT_FALSE(&from == this)) {
::google::protobuf::internal::MergeFromFail(__FILE__, __LINE__);
}
if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
if (from.has_speed()) {
set_speed(from.speed());
}
}
if (from._internal_metadata_.have_unknown_fields()) {
mutable_unknown_fields()->MergeFrom(from.unknown_fields());
}
}
void RobotConfig::CopyFrom(const ::google::protobuf::Message& from) {
// @@protoc_insertion_point(generalized_copy_from_start:config.RobotConfig)
if (&from == this) return;
Clear();
MergeFrom(from);
}
void RobotConfig::CopyFrom(const RobotConfig& from) {
// @@protoc_insertion_point(class_specific_copy_from_start:config.RobotConfig)
if (&from == this) return;
Clear();
MergeFrom(from);
}
bool RobotConfig::IsInitialized() const {
if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
return true;
}
void RobotConfig::Swap(RobotConfig* other) {
if (other == this) return;
InternalSwap(other);
}
void RobotConfig::InternalSwap(RobotConfig* other) {
std::swap(speed_, other->speed_);
std::swap(_has_bits_[0], other->_has_bits_[0]);
_internal_metadata_.Swap(&other->_internal_metadata_);
std::swap(_cached_size_, other->_cached_size_);
}
::google::protobuf::Metadata RobotConfig::GetMetadata() const {
protobuf_AssignDescriptorsOnce();
::google::protobuf::Metadata metadata;
metadata.descriptor = RobotConfig_descriptor_;
metadata.reflection = RobotConfig_reflection_;
return metadata;
}
#if PROTOBUF_INLINE_NOT_IN_HEADERS
// RobotConfig
// required double speed = 1;
bool RobotConfig::has_speed() const {
return (_has_bits_[0] & 0x00000001u) != 0;
}
void RobotConfig::set_has_speed() {
_has_bits_[0] |= 0x00000001u;
}
void RobotConfig::clear_has_speed() {
_has_bits_[0] &= ~0x00000001u;
}
void RobotConfig::clear_speed() {
speed_ = 0;
clear_has_speed();
}
double RobotConfig::speed() const {
// @@protoc_insertion_point(field_get:config.RobotConfig.speed)
return speed_;
}
void RobotConfig::set_speed(double value) {
set_has_speed();
speed_ = value;
// @@protoc_insertion_point(field_set:config.RobotConfig.speed)
}
#endif // PROTOBUF_INLINE_NOT_IN_HEADERS
// @@protoc_insertion_point(namespace_scope)
} // namespace config
// @@protoc_insertion_point(global_scope)
src/robotconfig.pb.h 0 → 100644
+ 174
− 0
View file @ 8d258e75
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: robotconfig.proto
#ifndef PROTOBUF_robotconfig_2eproto__INCLUDED
#define PROTOBUF_robotconfig_2eproto__INCLUDED
#include <string>
#include <google/protobuf/stubs/common.h>
#if GOOGLE_PROTOBUF_VERSION < 3000000
#error This file was generated by a newer version of protoc which is
#error incompatible with your Protocol Buffer headers. Please update
#error your headers.
#endif
#if 3000000 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
#error This file was generated by an older version of protoc which is
#error incompatible with your Protocol Buffer headers. Please
#error regenerate this file with a newer version of protoc.
#endif
#include <google/protobuf/arena.h>
#include <google/protobuf/arenastring.h>
#include <google/protobuf/generated_message_util.h>
#include <google/protobuf/metadata.h>
#include <google/protobuf/message.h>
#include <google/protobuf/repeated_field.h>
#include <google/protobuf/extension_set.h>
#include <google/protobuf/unknown_field_set.h>
// @@protoc_insertion_point(includes)
namespace config {
// Internal implementation detail -- do not call these.
void protobuf_AddDesc_robotconfig_2eproto();
void protobuf_AssignDesc_robotconfig_2eproto();
void protobuf_ShutdownFile_robotconfig_2eproto();
class RobotConfig;
// ===================================================================
class RobotConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:config.RobotConfig) */ {
public:
RobotConfig();
virtual ~RobotConfig();
RobotConfig(const RobotConfig& from);
inline RobotConfig& operator=(const RobotConfig& from) {
CopyFrom(from);
return *this;
}
inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
return _internal_metadata_.unknown_fields();
}
inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
return _internal_metadata_.mutable_unknown_fields();
}
static const ::google::protobuf::Descriptor* descriptor();
static const RobotConfig& default_instance();
void Swap(RobotConfig* other);
// implements Message ----------------------------------------------
inline RobotConfig* New() const { return New(NULL); }
RobotConfig* New(::google::protobuf::Arena* arena) const;
void CopyFrom(const ::google::protobuf::Message& from);
void MergeFrom(const ::google::protobuf::Message& from);
void CopyFrom(const RobotConfig& from);
void MergeFrom(const RobotConfig& from);
void Clear();
bool IsInitialized() const;
int ByteSize() const;
bool MergePartialFromCodedStream(
::google::protobuf::io::CodedInputStream* input);
void SerializeWithCachedSizes(
::google::protobuf::io::CodedOutputStream* output) const;
::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
bool deterministic, ::google::protobuf::uint8* output) const;
::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const {
return InternalSerializeWithCachedSizesToArray(false, output);
}
int GetCachedSize() const { return _cached_size_; }
private:
void SharedCtor();
void SharedDtor();
void SetCachedSize(int size) const;
void InternalSwap(RobotConfig* other);
private:
inline ::google::protobuf::Arena* GetArenaNoVirtual() const {
return _internal_metadata_.arena();
}
inline void* MaybeArenaPtr() const {
return _internal_metadata_.raw_arena_ptr();
}
public:
::google::protobuf::Metadata GetMetadata() const;
// nested types ----------------------------------------------------
// accessors -------------------------------------------------------
// required double speed = 1;
bool has_speed() const;
void clear_speed();
static const int kSpeedFieldNumber = 1;
double speed() const;
void set_speed(double value);
// @@protoc_insertion_point(class_scope:config.RobotConfig)
private:
inline void set_has_speed();
inline void clear_has_speed();
::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
::google::protobuf::uint32 _has_bits_[1];
mutable int _cached_size_;
double speed_;
friend void protobuf_AddDesc_robotconfig_2eproto();
friend void protobuf_AssignDesc_robotconfig_2eproto();
friend void protobuf_ShutdownFile_robotconfig_2eproto();
void InitAsDefaultInstance();
static RobotConfig* default_instance_;
};
// ===================================================================
// ===================================================================
#if !PROTOBUF_INLINE_NOT_IN_HEADERS
// RobotConfig
// required double speed = 1;
inline bool RobotConfig::has_speed() const {
return (_has_bits_[0] & 0x00000001u) != 0;
}
inline void RobotConfig::set_has_speed() {
_has_bits_[0] |= 0x00000001u;
}
inline void RobotConfig::clear_has_speed() {
_has_bits_[0] &= ~0x00000001u;
}
inline void RobotConfig::clear_speed() {
speed_ = 0;
clear_has_speed();
}
inline double RobotConfig::speed() const {
// @@protoc_insertion_point(field_get:config.RobotConfig.speed)
return speed_;
}
inline void RobotConfig::set_speed(double value) {
set_has_speed();
speed_ = value;
// @@protoc_insertion_point(field_set:config.RobotConfig.speed)
}
#endif // !PROTOBUF_INLINE_NOT_IN_HEADERS
// @@protoc_insertion_point(namespace_scope)
} // namespace config
// @@protoc_insertion_point(global_scope)
#endif // PROTOBUF_robotconfig_2eproto__INCLUDED
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment