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FRI msg generated with new nanopb, includes fixed
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kuka_sunrise_fri_driver/src/fri_client_sdk/FRIMessages.pb.c
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| /* Automatically generated nanopb constant definitions */ | ||
| /* Generated by nanopb-0.2.8 at Mon Jul 29 08:35:17 2019. */ | ||
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| #include "FRIMessages.pb.h" | ||
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| const pb_field_t JointValues_fields[2] = { | ||
| PB_FIELD2( 1, DOUBLE , REPEATED, CALLBACK, FIRST, JointValues, value, value, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t TimeStamp_fields[3] = { | ||
| PB_FIELD2( 1, UINT32 , REQUIRED, STATIC , FIRST, TimeStamp, sec, sec, 0), | ||
| PB_FIELD2( 2, UINT32 , REQUIRED, STATIC , OTHER, TimeStamp, nanosec, sec, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t CartesianVector_fields[2] = { | ||
| PB_FIELD2( 1, DOUBLE , REPEATED, STATIC , FIRST, CartesianVector, element, element, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t Checksum_fields[2] = { | ||
| PB_FIELD2( 1, INT32 , OPTIONAL, STATIC , FIRST, Checksum, crc32, crc32, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t QuaternionTransformation_fields[4] = { | ||
| PB_FIELD2( 1, STRING , REQUIRED, STATIC , FIRST, QuaternionTransformation, name, name, 0), | ||
| PB_FIELD2( 2, DOUBLE , REPEATED, STATIC , OTHER, QuaternionTransformation, element, name, 0), | ||
| PB_FIELD2( 3, MESSAGE , OPTIONAL, STATIC , OTHER, QuaternionTransformation, timestamp, element, &TimeStamp_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t FriIOValue_fields[6] = { | ||
| PB_FIELD2( 1, STRING , REQUIRED, STATIC , FIRST, FriIOValue, name, name, 0), | ||
| PB_FIELD2( 2, ENUM , REQUIRED, STATIC , OTHER, FriIOValue, type, name, 0), | ||
| PB_FIELD2( 3, ENUM , REQUIRED, STATIC , OTHER, FriIOValue, direction, type, 0), | ||
| PB_FIELD2( 4, UINT64 , OPTIONAL, STATIC , OTHER, FriIOValue, digitalValue, direction, 0), | ||
| PB_FIELD2( 5, DOUBLE , OPTIONAL, STATIC , OTHER, FriIOValue, analogValue, digitalValue, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t RedundancyInformation_fields[3] = { | ||
| PB_FIELD2( 1, ENUM , REQUIRED, STATIC , FIRST, RedundancyInformation, strategy, strategy, 0), | ||
| PB_FIELD2( 2, DOUBLE , REQUIRED, STATIC , OTHER, RedundancyInformation, value, strategy, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t MessageHeader_fields[4] = { | ||
| PB_FIELD2( 1, UINT32 , REQUIRED, STATIC , FIRST, MessageHeader, messageIdentifier, messageIdentifier, 0), | ||
| PB_FIELD2( 2, UINT32 , REQUIRED, STATIC , OTHER, MessageHeader, sequenceCounter, messageIdentifier, 0), | ||
| PB_FIELD2( 3, UINT32 , REQUIRED, STATIC , OTHER, MessageHeader, reflectedSequenceCounter, sequenceCounter, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t ConnectionInfo_fields[5] = { | ||
| PB_FIELD2( 1, ENUM , REQUIRED, STATIC , FIRST, ConnectionInfo, sessionState, sessionState, 0), | ||
| PB_FIELD2( 2, ENUM , REQUIRED, STATIC , OTHER, ConnectionInfo, quality, sessionState, 0), | ||
| PB_FIELD2( 3, UINT32 , OPTIONAL, STATIC , OTHER, ConnectionInfo, sendPeriod, quality, 0), | ||
| PB_FIELD2( 4, UINT32 , OPTIONAL, STATIC , OTHER, ConnectionInfo, receiveMultiplier, sendPeriod, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t RobotInfo_fields[6] = { | ||
| PB_FIELD2( 1, INT32 , OPTIONAL, STATIC , FIRST, RobotInfo, numberOfJoints, numberOfJoints, 0), | ||
| PB_FIELD2( 2, ENUM , OPTIONAL, STATIC , OTHER, RobotInfo, safetyState, numberOfJoints, 0), | ||
| PB_FIELD2( 5, ENUM , REPEATED, CALLBACK, OTHER, RobotInfo, driveState, safetyState, 0), | ||
| PB_FIELD2( 6, ENUM , OPTIONAL, STATIC , OTHER, RobotInfo, operationMode, driveState, 0), | ||
| PB_FIELD2( 7, ENUM , OPTIONAL, STATIC , OTHER, RobotInfo, controlMode, operationMode, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t MessageMonitorData_fields[9] = { | ||
| PB_FIELD2( 1, MESSAGE , OPTIONAL, STATIC , FIRST, MessageMonitorData, measuredJointPosition, measuredJointPosition, &JointValues_fields), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, measuredTorque, measuredJointPosition, &JointValues_fields), | ||
| PB_FIELD2( 4, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, commandedTorque, measuredTorque, &JointValues_fields), | ||
| PB_FIELD2( 5, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, externalTorque, commandedTorque, &JointValues_fields), | ||
| PB_FIELD2( 8, MESSAGE , REPEATED, STATIC , OTHER, MessageMonitorData, readIORequest, externalTorque, &FriIOValue_fields), | ||
| PB_FIELD2( 9, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, measuredCartesianPose, readIORequest, &QuaternionTransformation_fields), | ||
| PB_FIELD2( 10, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, measuredRedundancyInformation, measuredCartesianPose, &RedundancyInformation_fields), | ||
| PB_FIELD2( 15, MESSAGE , OPTIONAL, STATIC , OTHER, MessageMonitorData, timestamp, measuredRedundancyInformation, &TimeStamp_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t MessageIpoData_fields[7] = { | ||
| PB_FIELD2( 1, MESSAGE , OPTIONAL, STATIC , FIRST, MessageIpoData, jointPosition, jointPosition, &JointValues_fields), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, MessageIpoData, cartesianPose, jointPosition, &QuaternionTransformation_fields), | ||
| PB_FIELD2( 3, MESSAGE , OPTIONAL, STATIC , OTHER, MessageIpoData, redundancyInformation, cartesianPose, &RedundancyInformation_fields), | ||
| PB_FIELD2( 10, ENUM , OPTIONAL, STATIC , OTHER, MessageIpoData, clientCommandMode, redundancyInformation, 0), | ||
| PB_FIELD2( 11, ENUM , OPTIONAL, STATIC , OTHER, MessageIpoData, overlayType, clientCommandMode, 0), | ||
| PB_FIELD2( 12, DOUBLE , OPTIONAL, STATIC , OTHER, MessageIpoData, trackingPerformance, overlayType, 0), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t MessageCommandData_fields[8] = { | ||
| PB_FIELD2( 1, MESSAGE , OPTIONAL, STATIC , FIRST, MessageCommandData, jointPosition, jointPosition, &JointValues_fields), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, MessageCommandData, cartesianWrenchFeedForward, jointPosition, &CartesianVector_fields), | ||
| PB_FIELD2( 3, MESSAGE , OPTIONAL, STATIC , OTHER, MessageCommandData, jointTorque, cartesianWrenchFeedForward, &JointValues_fields), | ||
| PB_FIELD2( 4, MESSAGE , REPEATED, STATIC , OTHER, MessageCommandData, commandedTransformations, jointTorque, &QuaternionTransformation_fields), | ||
| PB_FIELD2( 5, MESSAGE , REPEATED, STATIC , OTHER, MessageCommandData, writeIORequest, commandedTransformations, &FriIOValue_fields), | ||
| PB_FIELD2( 6, MESSAGE , OPTIONAL, STATIC , OTHER, MessageCommandData, cartesianPose, writeIORequest, &QuaternionTransformation_fields), | ||
| PB_FIELD2( 7, MESSAGE , OPTIONAL, STATIC , OTHER, MessageCommandData, redundancyInformation, cartesianPose, &RedundancyInformation_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t MessageEndOf_fields[3] = { | ||
| PB_FIELD2( 1, INT32 , OPTIONAL, STATIC , FIRST, MessageEndOf, messageLength, messageLength, 0), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, MessageEndOf, messageChecksum, messageLength, &Checksum_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t FRIMonitoringMessage_fields[8] = { | ||
| PB_FIELD2( 1, MESSAGE , REQUIRED, STATIC , FIRST, FRIMonitoringMessage, header, header, &MessageHeader_fields), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, FRIMonitoringMessage, robotInfo, header, &RobotInfo_fields), | ||
| PB_FIELD2( 3, MESSAGE , OPTIONAL, STATIC , OTHER, FRIMonitoringMessage, monitorData, robotInfo, &MessageMonitorData_fields), | ||
| PB_FIELD2( 4, MESSAGE , OPTIONAL, STATIC , OTHER, FRIMonitoringMessage, connectionInfo, monitorData, &ConnectionInfo_fields), | ||
| PB_FIELD2( 5, MESSAGE , OPTIONAL, STATIC , OTHER, FRIMonitoringMessage, ipoData, connectionInfo, &MessageIpoData_fields), | ||
| PB_FIELD2( 6, MESSAGE , REPEATED, STATIC , OTHER, FRIMonitoringMessage, requestedTransformations, ipoData, &QuaternionTransformation_fields), | ||
| PB_FIELD2( 15, MESSAGE , OPTIONAL, STATIC , OTHER, FRIMonitoringMessage, endOfMessageData, requestedTransformations, &MessageEndOf_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| const pb_field_t FRICommandMessage_fields[4] = { | ||
| PB_FIELD2( 1, MESSAGE , REQUIRED, STATIC , FIRST, FRICommandMessage, header, header, &MessageHeader_fields), | ||
| PB_FIELD2( 2, MESSAGE , OPTIONAL, STATIC , OTHER, FRICommandMessage, commandData, header, &MessageCommandData_fields), | ||
| PB_FIELD2( 15, MESSAGE , OPTIONAL, STATIC , OTHER, FRICommandMessage, endOfMessageData, commandData, &MessageEndOf_fields), | ||
| PB_LAST_FIELD | ||
| }; | ||
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| /* Check that field information fits in pb_field_t */ | ||
| #if !defined(PB_FIELD_32BIT) | ||
| /* If you get an error here, it means that you need to define PB_FIELD_32BIT | ||
| * compile-time option. You can do that in pb.h or on compiler command line. | ||
| * | ||
| * The reason you need to do this is that some of your messages contain tag | ||
| * numbers or field sizes that are larger than what can fit in 8 or 16 bit | ||
| * field descriptors. | ||
| */ | ||
| STATIC_ASSERT((pb_membersize(QuaternionTransformation, timestamp) < 65536 && pb_membersize(MessageMonitorData, measuredJointPosition) < 65536 && pb_membersize(MessageMonitorData, measuredTorque) < 65536 && pb_membersize(MessageMonitorData, commandedTorque) < 65536 && pb_membersize(MessageMonitorData, externalTorque) < 65536 && pb_membersize(MessageMonitorData, readIORequest[0]) < 65536 && pb_membersize(MessageMonitorData, measuredCartesianPose) < 65536 && pb_membersize(MessageMonitorData, measuredRedundancyInformation) < 65536 && pb_membersize(MessageMonitorData, timestamp) < 65536 && pb_membersize(MessageIpoData, jointPosition) < 65536 && pb_membersize(MessageIpoData, cartesianPose) < 65536 && pb_membersize(MessageIpoData, redundancyInformation) < 65536 && pb_membersize(MessageCommandData, jointPosition) < 65536 && pb_membersize(MessageCommandData, cartesianWrenchFeedForward) < 65536 && pb_membersize(MessageCommandData, jointTorque) < 65536 && pb_membersize(MessageCommandData, commandedTransformations[0]) < 65536 && pb_membersize(MessageCommandData, writeIORequest[0]) < 65536 && pb_membersize(MessageCommandData, cartesianPose) < 65536 && pb_membersize(MessageCommandData, redundancyInformation) < 65536 && pb_membersize(MessageEndOf, messageChecksum) < 65536 && pb_membersize(FRIMonitoringMessage, header) < 65536 && pb_membersize(FRIMonitoringMessage, connectionInfo) < 65536 && pb_membersize(FRIMonitoringMessage, robotInfo) < 65536 && pb_membersize(FRIMonitoringMessage, monitorData) < 65536 && pb_membersize(FRIMonitoringMessage, ipoData) < 65536 && pb_membersize(FRIMonitoringMessage, requestedTransformations[0]) < 65536 && pb_membersize(FRIMonitoringMessage, endOfMessageData) < 65536 && pb_membersize(FRICommandMessage, header) < 65536 && pb_membersize(FRICommandMessage, commandData) < 65536 && pb_membersize(FRICommandMessage, endOfMessageData) < 65536), YOU_MUST_DEFINE_PB_FIELD_32BIT_FOR_MESSAGES_JointValues_TimeStamp_CartesianVector_Checksum_QuaternionTransformation_FriIOValue_RedundancyInformation_MessageHeader_ConnectionInfo_RobotInfo_MessageMonitorData_MessageIpoData_MessageCommandData_MessageEndOf_FRIMonitoringMessage_FRICommandMessage) | ||
| #endif | ||
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| #if !defined(PB_FIELD_16BIT) && !defined(PB_FIELD_32BIT) | ||
| /* If you get an error here, it means that you need to define PB_FIELD_16BIT | ||
| * compile-time option. You can do that in pb.h or on compiler command line. | ||
| * | ||
| * The reason you need to do this is that some of your messages contain tag | ||
| * numbers or field sizes that are larger than what can fit in the default | ||
| * 8 bit descriptors. | ||
| */ | ||
| STATIC_ASSERT((pb_membersize(QuaternionTransformation, timestamp) < 256 && pb_membersize(MessageMonitorData, measuredJointPosition) < 256 && pb_membersize(MessageMonitorData, measuredTorque) < 256 && pb_membersize(MessageMonitorData, commandedTorque) < 256 && pb_membersize(MessageMonitorData, externalTorque) < 256 && pb_membersize(MessageMonitorData, readIORequest[0]) < 256 && pb_membersize(MessageMonitorData, measuredCartesianPose) < 256 && pb_membersize(MessageMonitorData, measuredRedundancyInformation) < 256 && pb_membersize(MessageMonitorData, timestamp) < 256 && pb_membersize(MessageIpoData, jointPosition) < 256 && pb_membersize(MessageIpoData, cartesianPose) < 256 && pb_membersize(MessageIpoData, redundancyInformation) < 256 && pb_membersize(MessageCommandData, jointPosition) < 256 && pb_membersize(MessageCommandData, cartesianWrenchFeedForward) < 256 && pb_membersize(MessageCommandData, jointTorque) < 256 && pb_membersize(MessageCommandData, commandedTransformations[0]) < 256 && pb_membersize(MessageCommandData, writeIORequest[0]) < 256 && pb_membersize(MessageCommandData, cartesianPose) < 256 && pb_membersize(MessageCommandData, redundancyInformation) < 256 && pb_membersize(MessageEndOf, messageChecksum) < 256 && pb_membersize(FRIMonitoringMessage, header) < 256 && pb_membersize(FRIMonitoringMessage, connectionInfo) < 256 && pb_membersize(FRIMonitoringMessage, robotInfo) < 256 && pb_membersize(FRIMonitoringMessage, monitorData) < 256 && pb_membersize(FRIMonitoringMessage, ipoData) < 256 && pb_membersize(FRIMonitoringMessage, requestedTransformations[0]) < 256 && pb_membersize(FRIMonitoringMessage, endOfMessageData) < 256 && pb_membersize(FRICommandMessage, header) < 256 && pb_membersize(FRICommandMessage, commandData) < 256 && pb_membersize(FRICommandMessage, endOfMessageData) < 256), YOU_MUST_DEFINE_PB_FIELD_16BIT_FOR_MESSAGES_JointValues_TimeStamp_CartesianVector_Checksum_QuaternionTransformation_FriIOValue_RedundancyInformation_MessageHeader_ConnectionInfo_RobotInfo_MessageMonitorData_MessageIpoData_MessageCommandData_MessageEndOf_FRIMonitoringMessage_FRICommandMessage) | ||
| #endif | ||
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| /* On some platforms (such as AVR), double is really float. | ||
| * These are not directly supported by nanopb, but see example_avr_double. | ||
| * To get rid of this error, remove any double fields from your .proto. | ||
| */ | ||
| STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) | ||
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| /* Automatically generated nanopb constant definitions */ | ||
| /* Generated by nanopb-0.4.8 */ | ||
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| #include "FRIMessages.pb.h" | ||
| #if PB_PROTO_HEADER_VERSION != 40 | ||
| #error Regenerate this file with the current version of nanopb generator. | ||
| #endif | ||
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| PB_BIND(JointValues, JointValues, AUTO) | ||
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| PB_BIND(TimeStamp, TimeStamp, AUTO) | ||
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| PB_BIND(CartesianVector, CartesianVector, AUTO) | ||
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| PB_BIND(Checksum, Checksum, AUTO) | ||
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| PB_BIND(QuaternionTransformation, QuaternionTransformation, AUTO) | ||
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| PB_BIND(FriIOValue, FriIOValue, AUTO) | ||
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| PB_BIND(RedundancyInformation, RedundancyInformation, AUTO) | ||
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| PB_BIND(MessageHeader, MessageHeader, AUTO) | ||
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| PB_BIND(ConnectionInfo, ConnectionInfo, AUTO) | ||
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| PB_BIND(RobotInfo, RobotInfo, AUTO) | ||
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| PB_BIND(MessageMonitorData, MessageMonitorData, 2) | ||
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| PB_BIND(MessageIpoData, MessageIpoData, AUTO) | ||
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| PB_BIND(MessageCommandData, MessageCommandData, 2) | ||
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| PB_BIND(MessageEndOf, MessageEndOf, AUTO) | ||
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| PB_BIND(FRIMonitoringMessage, FRIMonitoringMessage, 2) | ||
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| PB_BIND(FRICommandMessage, FRICommandMessage, 2) | ||
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| #ifndef PB_CONVERT_DOUBLE_FLOAT | ||
| /* On some platforms (such as AVR), double is really float. | ||
| * To be able to encode/decode double on these platforms, you need. | ||
| * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. | ||
| */ | ||
| PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) | ||
| #endif | ||
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