diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
index d8d449d..9133bf3 100644
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
@@ -6,9 +6,11 @@ import com.cmvr.edge.client.service.EdgeHumanoidRobotService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
@Api(tags = "边缘--机械臂")
@@ -24,4 +26,13 @@ public class EdgeHumanoidRobotController {
public AjaxResult expression(@RequestBody EdgeMoveJVO moveJVO) {
return AjaxResult.ok(edgeHumanoidRobotService.moveJ(moveJVO));
}
+
+ @ApiOperation("获取关节状态")
+ @GetMapping("/getJointState")
+ public AjaxResult status(
+ @RequestParam("deviceId") String deviceId,
+ @RequestParam("terminalId") String terminalId
+ ) {
+ return AjaxResult.ok(edgeHumanoidRobotService.getJointState(terminalId, deviceId));
+ }
}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
index 5493d20..622a453 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
@@ -11,4 +11,9 @@ public interface EdgeHumanoidRobotService {
*/
public String moveJ(EdgeMoveJVO vo);
+ /**
+ * 获取关节状态
+ */
+ public String getJointState(String terminalId, String deviceId);
+
}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
index bcbe058..45a514b 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
@@ -1,7 +1,7 @@
package com.cmvr.edge.client.service.impl;
import cmvr.api.Common;
-import cmvr.api.HumanoidRobot;
+import cmvr.api.HumanoidRobotCommand;
import cmvr.api.HumanoidRobotServiceGrpc;
import com.alibaba.fastjson2.JSON;
import com.cmvr.edge.client.manage.GrpcServiceManager;
@@ -27,14 +27,14 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
- HumanoidRobot.MoveJ.Request.Builder builder = HumanoidRobot.MoveJ.Request.newBuilder()
+ HumanoidRobotCommand.MoveJ.Request.Builder builder = HumanoidRobotCommand.MoveJ.Request.newBuilder()
.setHeader(header)
.setVel(vo.getVel())
.setAcc(vo.getAcc());
if (vo.getCmds() != null) {
for (EdgeMoveJVO.JointCmd j : vo.getCmds()) {
- builder.addCmds(HumanoidRobot.JointCmd.newBuilder()
+ builder.addCmds(HumanoidRobotCommand.JointCmd.newBuilder()
.setJointName(j.getJointName())
.setRad(j.getRad())
.setVel(j.getVel())
@@ -42,7 +42,20 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
}
}
- HumanoidRobot.MoveJ.Response response = stub.moveJ(builder.build());
+ HumanoidRobotCommand.MoveJ.Response response = stub.moveJ(builder.build());
return JSON.toJSONString(response.getHeader());
}
+
+ @Override
+ public String getJointState(String terminalId, String deviceId) {
+ HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
+ grpcServiceManager.getGrpcClient(terminalId, HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
+
+ Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
+ HumanoidRobotCommand.JointRequest build = HumanoidRobotCommand.JointRequest.newBuilder()
+ .setHeader(header)
+ .build();
+ HumanoidRobotCommand.JointResponse response = stub.getJointState(build);
+ return JSON.toJSONString(response.getStateList());
+ }
}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobot.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobot.java
deleted file mode 100644
index 04fece7..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobot.java
+++ /dev/null
@@ -1,2977 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// source: cmvr/api/humanoid_robot.proto
-
-package cmvr.api;
-
-public final class HumanoidRobot {
- private HumanoidRobot() {}
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- public interface JointCmdOrBuilder extends
- // @@protoc_insertion_point(interface_extends:cmvr.api.JointCmd)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The jointName.
- */
- java.lang.String getJointName();
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The bytes for jointName.
- */
- com.google.protobuf.ByteString
- getJointNameBytes();
-
- /**
- *
- * 弧度
- *
- *
- * double rad = 2;
- * @return The rad.
- */
- double getRad();
-
- /**
- *
- * 角速度，rad/s
- *
- *
- * double vel = 3;
- * @return The vel.
- */
- double getVel();
- }
- /**
- * Protobuf type {@code cmvr.api.JointCmd}
- */
- public static final class JointCmd extends
- com.google.protobuf.GeneratedMessageV3 implements
- // @@protoc_insertion_point(message_implements:cmvr.api.JointCmd)
- JointCmdOrBuilder {
- private static final long serialVersionUID = 0L;
- // Use JointCmd.newBuilder() to construct.
- private JointCmd(com.google.protobuf.GeneratedMessageV3.Builder builder) {
- super(builder);
- }
- private JointCmd() {
- jointName_ = "";
- }
-
- @java.lang.Override
- @SuppressWarnings({"unused"})
- protected java.lang.Object newInstance(
- UnusedPrivateParameter unused) {
- return new JointCmd();
- }
-
- @java.lang.Override
- public final com.google.protobuf.UnknownFieldSet
- getUnknownFields() {
- return this.unknownFields;
- }
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobot.internal_static_cmvr_api_JointCmd_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return cmvr.api.HumanoidRobot.internal_static_cmvr_api_JointCmd_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- cmvr.api.HumanoidRobot.JointCmd.class, cmvr.api.HumanoidRobot.JointCmd.Builder.class);
- }
-
- public static final int JOINT_NAME_FIELD_NUMBER = 1;
- private volatile java.lang.Object jointName_;
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The jointName.
- */
- @java.lang.Override
- public java.lang.String getJointName() {
- java.lang.Object ref = jointName_;
- if (ref instanceof java.lang.String) {
- return (java.lang.String) ref;
- } else {
- com.google.protobuf.ByteString bs =
- (com.google.protobuf.ByteString) ref;
- java.lang.String s = bs.toStringUtf8();
- jointName_ = s;
- return s;
- }
- }
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The bytes for jointName.
- */
- @java.lang.Override
- public com.google.protobuf.ByteString
- getJointNameBytes() {
- java.lang.Object ref = jointName_;
- if (ref instanceof java.lang.String) {
- com.google.protobuf.ByteString b =
- com.google.protobuf.ByteString.copyFromUtf8(
- (java.lang.String) ref);
- jointName_ = b;
- return b;
- } else {
- return (com.google.protobuf.ByteString) ref;
- }
- }
-
- public static final int RAD_FIELD_NUMBER = 2;
- private double rad_;
- /**
- *
- * 弧度
- *
- *
- * double rad = 2;
- * @return The rad.
- */
- @java.lang.Override
- public double getRad() {
- return rad_;
- }
-
- public static final int VEL_FIELD_NUMBER = 3;
- private double vel_;
- /**
- *
- * 角速度，rad/s
- *
- *
- * double vel = 3;
- * @return The vel.
- */
- @java.lang.Override
- public double getVel() {
- return vel_;
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
- com.google.protobuf.GeneratedMessageV3.writeString(output, 1, jointName_);
- }
- if (java.lang.Double.doubleToRawLongBits(rad_) != 0) {
- output.writeDouble(2, rad_);
- }
- if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
- output.writeDouble(3, vel_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
- size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, jointName_);
- }
- if (java.lang.Double.doubleToRawLongBits(rad_) != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeDoubleSize(2, rad_);
- }
- if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeDoubleSize(3, vel_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof cmvr.api.HumanoidRobot.JointCmd)) {
- return super.equals(obj);
- }
- cmvr.api.HumanoidRobot.JointCmd other = (cmvr.api.HumanoidRobot.JointCmd) obj;
-
- if (!getJointName()
- .equals(other.getJointName())) return false;
- if (java.lang.Double.doubleToLongBits(getRad())
- != java.lang.Double.doubleToLongBits(
- other.getRad())) return false;
- if (java.lang.Double.doubleToLongBits(getVel())
- != java.lang.Double.doubleToLongBits(
- other.getVel())) return false;
- if (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @java.lang.Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
- hash = (53 * hash) + getJointName().hashCode();
- hash = (37 * hash) + RAD_FIELD_NUMBER;
- hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
- java.lang.Double.doubleToLongBits(getRad()));
- hash = (37 * hash) + VEL_FIELD_NUMBER;
- hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
- java.lang.Double.doubleToLongBits(getVel()));
- hash = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- java.nio.ByteBuffer data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- java.nio.ByteBuffer data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- com.google.protobuf.ByteString data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- com.google.protobuf.ByteString data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(byte[] data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- byte[] data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseWithIOException(PARSER, input);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseDelimitedFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseDelimitedWithIOException(PARSER, input);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseDelimitedFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- com.google.protobuf.CodedInputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseWithIOException(PARSER, input);
- }
- public static cmvr.api.HumanoidRobot.JointCmd parseFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessageV3
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @java.lang.Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(cmvr.api.HumanoidRobot.JointCmd prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @java.lang.Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @java.lang.Override
- protected Builder newBuilderForType(
- com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- * Protobuf type {@code cmvr.api.JointCmd}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessageV3.Builder implements
- // @@protoc_insertion_point(builder_implements:cmvr.api.JointCmd)
- cmvr.api.HumanoidRobot.JointCmdOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobot.internal_static_cmvr_api_JointCmd_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return cmvr.api.HumanoidRobot.internal_static_cmvr_api_JointCmd_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- cmvr.api.HumanoidRobot.JointCmd.class, cmvr.api.HumanoidRobot.JointCmd.Builder.class);
- }
-
- // Construct using cmvr.api.HumanoidRobot.JointCmd.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
- super(parent);
-
- }
- @java.lang.Override
- public Builder clear() {
- super.clear();
- jointName_ = "";
-
- rad_ = 0D;
-
- vel_ = 0D;
-
- return this;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return cmvr.api.HumanoidRobot.internal_static_cmvr_api_JointCmd_descriptor;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobot.JointCmd getDefaultInstanceForType() {
- return cmvr.api.HumanoidRobot.JointCmd.getDefaultInstance();
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobot.JointCmd build() {
- cmvr.api.HumanoidRobot.JointCmd result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobot.JointCmd buildPartial() {
- cmvr.api.HumanoidRobot.JointCmd result = new cmvr.api.HumanoidRobot.JointCmd(this);
- result.jointName_ = jointName_;
- result.rad_ = rad_;
- result.vel_ = vel_;
- onBuilt();
- return result;
- }
-
- @java.lang.Override
- public Builder clone() {
- return super.clone();
- }
- @java.lang.Override
- public Builder setField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.setField(field, value);
- }
- @java.lang.Override
- public Builder clearField(
- com.google.protobuf.Descriptors.FieldDescriptor field) {
- return super.clearField(field);
- }
- @java.lang.Override
- public Builder clearOneof(
- com.google.protobuf.Descriptors.OneofDescriptor oneof) {
- return super.clearOneof(oneof);
- }
- @java.lang.Override
- public Builder setRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- int index, java.lang.Object value) {
- return super.setRepeatedField(field, index, value);
- }
- @java.lang.Override
- public Builder addRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.addRepeatedField(field, value);
- }
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof cmvr.api.HumanoidRobot.JointCmd) {
- return mergeFrom((cmvr.api.HumanoidRobot.JointCmd)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(cmvr.api.HumanoidRobot.JointCmd other) {
- if (other == cmvr.api.HumanoidRobot.JointCmd.getDefaultInstance()) return this;
- if (!other.getJointName().isEmpty()) {
- jointName_ = other.jointName_;
- onChanged();
- }
- if (other.getRad() != 0D) {
- setRad(other.getRad());
- }
- if (other.getVel() != 0D) {
- setVel(other.getVel());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 10: {
- jointName_ = input.readStringRequireUtf8();
-
- break;
- } // case 10
- case 17: {
- rad_ = input.readDouble();
-
- break;
- } // case 17
- case 25: {
- vel_ = input.readDouble();
-
- break;
- } // case 25
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
-
- private java.lang.Object jointName_ = "";
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The jointName.
- */
- public java.lang.String getJointName() {
- java.lang.Object ref = jointName_;
- if (!(ref instanceof java.lang.String)) {
- com.google.protobuf.ByteString bs =
- (com.google.protobuf.ByteString) ref;
- java.lang.String s = bs.toStringUtf8();
- jointName_ = s;
- return s;
- } else {
- return (java.lang.String) ref;
- }
- }
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The bytes for jointName.
- */
- public com.google.protobuf.ByteString
- getJointNameBytes() {
- java.lang.Object ref = jointName_;
- if (ref instanceof String) {
- com.google.protobuf.ByteString b =
- com.google.protobuf.ByteString.copyFromUtf8(
- (java.lang.String) ref);
- jointName_ = b;
- return b;
- } else {
- return (com.google.protobuf.ByteString) ref;
- }
- }
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @param value The jointName to set.
- * @return This builder for chaining.
- */
- public Builder setJointName(
- java.lang.String value) {
- if (value == null) {
- throw new NullPointerException();
- }
-
- jointName_ = value;
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return This builder for chaining.
- */
- public Builder clearJointName() {
-
- jointName_ = getDefaultInstance().getJointName();
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @param value The bytes for jointName to set.
- * @return This builder for chaining.
- */
- public Builder setJointNameBytes(
- com.google.protobuf.ByteString value) {
- if (value == null) {
- throw new NullPointerException();
- }
- checkByteStringIsUtf8(value);
-
- jointName_ = value;
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- rad_ = value;
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- return this;
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-
- rad_ = 0D;
- onChanged();
- return this;
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-
- vel_ = value;
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- return this;
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-
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- return this;
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-
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- /**
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- double getVel();
-
- /**
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- double getAcc();
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- /**
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- /**
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-
- public static final int CMDS_FIELD_NUMBER = 2;
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- /**
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- */
- @java.lang.Override
- public java.util.List getCmdsList() {
- return cmds_;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- @java.lang.Override
- public java.util.List
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- return cmds_;
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- * repeated .cmvr.api.JointCmd cmds = 2;
- */
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- public int getCmdsCount() {
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- * repeated .cmvr.api.JointCmd cmds = 2;
- */
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- public cmvr.api.HumanoidRobot.JointCmd getCmds(int index) {
- return cmds_.get(index);
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- @java.lang.Override
- public cmvr.api.HumanoidRobot.JointCmdOrBuilder getCmdsOrBuilder(
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- return cmds_.get(index);
- }
-
- public static final int VEL_FIELD_NUMBER = 3;
- private double vel_;
- /**
- * double vel = 3;
- * @return The vel.
- */
- @java.lang.Override
- public double getVel() {
- return vel_;
- }
-
- public static final int ACC_FIELD_NUMBER = 4;
- private double acc_;
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-
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- return memoizedHashCode;
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- int hash = 41;
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- } else {
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- public Builder mergeFrom(cmvr.api.HumanoidRobot.MoveJ.Request other) {
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- return this;
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-
- @java.lang.Override
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- @java.lang.Override
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- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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- }
- try {
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- break;
- case 10: {
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-
- break;
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- ensureCmdsIsMutable();
- cmds_.add(m);
- } else {
- cmdsBuilder_.addMessage(m);
- }
- break;
- } // case 18
- case 25: {
- vel_ = input.readDouble();
-
- break;
- } // case 25
- case 33: {
- acc_ = input.readDouble();
-
- break;
- } // case 33
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private cmvr.api.Common.CommandHeader.Request header_;
- private com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return Whether the header field is set.
- */
- public boolean hasHeader() {
- return headerBuilder_ != null || header_ != null;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return The header.
- */
- public cmvr.api.Common.CommandHeader.Request getHeader() {
- if (headerBuilder_ == null) {
- return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- } else {
- return headerBuilder_.getMessage();
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- header_ = value;
- onChanged();
- } else {
- headerBuilder_.setMessage(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(
- cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
- if (headerBuilder_ == null) {
- header_ = builderForValue.build();
- onChanged();
- } else {
- headerBuilder_.setMessage(builderForValue.build());
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (header_ != null) {
- header_ =
- cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
- } else {
- header_ = value;
- }
- onChanged();
- } else {
- headerBuilder_.mergeFrom(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder clearHeader() {
- if (headerBuilder_ == null) {
- header_ = null;
- onChanged();
- } else {
- header_ = null;
- headerBuilder_ = null;
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
-
- onChanged();
- return getHeaderFieldBuilder().getBuilder();
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
- if (headerBuilder_ != null) {
- return headerBuilder_.getMessageOrBuilder();
- } else {
- return header_ == null ?
- cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- private com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
- getHeaderFieldBuilder() {
- if (headerBuilder_ == null) {
- headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
- getHeader(),
- getParentForChildren(),
- isClean());
- header_ = null;
- }
- return headerBuilder_;
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-
- private java.util.List cmds_ =
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- private void ensureCmdsIsMutable() {
- if (!((bitField0_ & 0x00000001) != 0)) {
- cmds_ = new java.util.ArrayList(cmds_);
- bitField0_ |= 0x00000001;
- }
- }
-
- private com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobot.JointCmd, cmvr.api.HumanoidRobot.JointCmd.Builder, cmvr.api.HumanoidRobot.JointCmdOrBuilder> cmdsBuilder_;
-
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List getCmdsList() {
- if (cmdsBuilder_ == null) {
- return java.util.Collections.unmodifiableList(cmds_);
- } else {
- return cmdsBuilder_.getMessageList();
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public int getCmdsCount() {
- if (cmdsBuilder_ == null) {
- return cmds_.size();
- } else {
- return cmdsBuilder_.getCount();
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobot.JointCmd getCmds(int index) {
- if (cmdsBuilder_ == null) {
- return cmds_.get(index);
- } else {
- return cmdsBuilder_.getMessage(index);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder setCmds(
- int index, cmvr.api.HumanoidRobot.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.set(index, value);
- onChanged();
- } else {
- cmdsBuilder_.setMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder setCmds(
- int index, cmvr.api.HumanoidRobot.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.set(index, builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.setMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(cmvr.api.HumanoidRobot.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.add(value);
- onChanged();
- } else {
- cmdsBuilder_.addMessage(value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- int index, cmvr.api.HumanoidRobot.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.add(index, value);
- onChanged();
- } else {
- cmdsBuilder_.addMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- cmvr.api.HumanoidRobot.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.add(builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.addMessage(builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- int index, cmvr.api.HumanoidRobot.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.add(index, builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.addMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addAllCmds(
- java.lang.Iterable values) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, cmds_);
- onChanged();
- } else {
- cmdsBuilder_.addAllMessages(values);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder clearCmds() {
- if (cmdsBuilder_ == null) {
- cmds_ = java.util.Collections.emptyList();
- bitField0_ = (bitField0_ & ~0x00000001);
- onChanged();
- } else {
- cmdsBuilder_.clear();
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder removeCmds(int index) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.remove(index);
- onChanged();
- } else {
- cmdsBuilder_.remove(index);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobot.JointCmd.Builder getCmdsBuilder(
- int index) {
- return getCmdsFieldBuilder().getBuilder(index);
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobot.JointCmdOrBuilder getCmdsOrBuilder(
- int index) {
- if (cmdsBuilder_ == null) {
- return cmds_.get(index); } else {
- return cmdsBuilder_.getMessageOrBuilder(index);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List
- getCmdsOrBuilderList() {
- if (cmdsBuilder_ != null) {
- return cmdsBuilder_.getMessageOrBuilderList();
- } else {
- return java.util.Collections.unmodifiableList(cmds_);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobot.JointCmd.Builder addCmdsBuilder() {
- return getCmdsFieldBuilder().addBuilder(
- cmvr.api.HumanoidRobot.JointCmd.getDefaultInstance());
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobot.JointCmd.Builder addCmdsBuilder(
- int index) {
- return getCmdsFieldBuilder().addBuilder(
- index, cmvr.api.HumanoidRobot.JointCmd.getDefaultInstance());
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List
- getCmdsBuilderList() {
- return getCmdsFieldBuilder().getBuilderList();
- }
- private com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobot.JointCmd, cmvr.api.HumanoidRobot.JointCmd.Builder, cmvr.api.HumanoidRobot.JointCmdOrBuilder>
- getCmdsFieldBuilder() {
- if (cmdsBuilder_ == null) {
- cmdsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobot.JointCmd, cmvr.api.HumanoidRobot.JointCmd.Builder, cmvr.api.HumanoidRobot.JointCmdOrBuilder>(
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- private double vel_ ;
- /**
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- @java.lang.Override
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- return vel_;
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- /**
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-
- vel_ = value;
- onChanged();
- return this;
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- /**
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- public Builder clearVel() {
-
- vel_ = 0D;
- onChanged();
- return this;
- }
-
- private double acc_ ;
- /**
- * double acc = 4;
- * @return The acc.
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- @java.lang.Override
- public double getAcc() {
- return acc_;
- }
- /**
- * double acc = 4;
- * @param value The acc to set.
- * @return This builder for chaining.
- */
- public Builder setAcc(double value) {
-
- acc_ = value;
- onChanged();
- return this;
- }
- /**
- * double acc = 4;
- * @return This builder for chaining.
- */
- public Builder clearAcc() {
-
- acc_ = 0D;
- onChanged();
- return this;
- }
- @java.lang.Override
- public final Builder setUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.setUnknownFields(unknownFields);
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-
- @java.lang.Override
- public final Builder mergeUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.mergeUnknownFields(unknownFields);
- }
-
-
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-
- // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Request)
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- static {
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- public Request parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
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- cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
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- /**
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- internal_static_cmvr_api_MoveJ_Request_descriptor =
- internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(0);
- internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveJ_Request_descriptor,
- new java.lang.String[] { "Header", "Cmds", "Vel", "Acc", });
- internal_static_cmvr_api_MoveJ_Response_descriptor =
- internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(1);
- internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveJ_Response_descriptor,
- new java.lang.String[] { "Header", });
- cmvr.api.Common.getDescriptor();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java
new file mode 100644
index 0000000..2846f52
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java
@@ -0,0 +1,13665 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// source: cmvr/api/humanoid_robot_command.proto
+
+package cmvr.api;
+
+public final class HumanoidRobotCommand {
+ private HumanoidRobotCommand() {}
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ /**
+ * Protobuf enum {@code cmvr.api.RobotCartesian}
+ */
+ public enum RobotCartesian
+ implements com.google.protobuf.ProtocolMessageEnum {
+ /**
+ * X = 0;
+ */
+ X(0),
+ /**
+ * Y = 1;
+ */
+ Y(1),
+ /**
+ * Z = 2;
+ */
+ Z(2),
+ /**
+ * RX = 3;
+ */
+ RX(3),
+ /**
+ * RY = 4;
+ */
+ RY(4),
+ /**
+ * RZ = 5;
+ */
+ RZ(5),
+ UNRECOGNIZED(-1),
+ ;
+
+ /**
+ * X = 0;
+ */
+ public static final int X_VALUE = 0;
+ /**
+ * Y = 1;
+ */
+ public static final int Y_VALUE = 1;
+ /**
+ * Z = 2;
+ */
+ public static final int Z_VALUE = 2;
+ /**
+ * RX = 3;
+ */
+ public static final int RX_VALUE = 3;
+ /**
+ * RY = 4;
+ */
+ public static final int RY_VALUE = 4;
+ /**
+ * RZ = 5;
+ */
+ public static final int RZ_VALUE = 5;
+
+
+ public final int getNumber() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalArgumentException(
+ "Can't get the number of an unknown enum value.");
+ }
+ return value;
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ * @deprecated Use {@link #forNumber(int)} instead.
+ */
+ @java.lang.Deprecated
+ public static RobotCartesian valueOf(int value) {
+ return forNumber(value);
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ */
+ public static RobotCartesian forNumber(int value) {
+ switch (value) {
+ case 0: return X;
+ case 1: return Y;
+ case 2: return Z;
+ case 3: return RX;
+ case 4: return RY;
+ case 5: return RZ;
+ default: return null;
+ }
+ }
+
+ public static com.google.protobuf.Internal.EnumLiteMap
+ internalGetValueMap() {
+ return internalValueMap;
+ }
+ private static final com.google.protobuf.Internal.EnumLiteMap<
+ RobotCartesian> internalValueMap =
+ new com.google.protobuf.Internal.EnumLiteMap() {
+ public RobotCartesian findValueByNumber(int number) {
+ return RobotCartesian.forNumber(number);
+ }
+ };
+
+ public final com.google.protobuf.Descriptors.EnumValueDescriptor
+ getValueDescriptor() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalStateException(
+ "Can't get the descriptor of an unrecognized enum value.");
+ }
+ return getDescriptor().getValues().get(ordinal());
+ }
+ public final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptorForType() {
+ return getDescriptor();
+ }
+ public static final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(0);
+ }
+
+ private static final RobotCartesian[] VALUES = values();
+
+ public static RobotCartesian valueOf(
+ com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+ if (desc.getType() != getDescriptor()) {
+ throw new java.lang.IllegalArgumentException(
+ "EnumValueDescriptor is not for this type.");
+ }
+ if (desc.getIndex() == -1) {
+ return UNRECOGNIZED;
+ }
+ return VALUES[desc.getIndex()];
+ }
+
+ private final int value;
+
+ private RobotCartesian(int value) {
+ this.value = value;
+ }
+
+ // @@protoc_insertion_point(enum_scope:cmvr.api.RobotCartesian)
+ }
+
+ /**
+ * Protobuf enum {@code cmvr.api.RobotJointIndexDirection}
+ */
+ public enum RobotJointIndexDirection
+ implements com.google.protobuf.ProtocolMessageEnum {
+ /**
+ * FORWARD = 0;
+ */
+ FORWARD(0),
+ /**
+ * BACKWARD = 1;
+ */
+ BACKWARD(1),
+ /**
+ *
+ * X轴正向
+ *
+ *
+ * X_POSITIVE = 2;
+ */
+ X_POSITIVE(2),
+ /**
+ *
+ * X轴负向
+ *
+ *
+ * X_NEGATIVE = 3;
+ */
+ X_NEGATIVE(3),
+ /**
+ *
+ * Y轴正向
+ *
+ *
+ * Y_POSITIVE = 4;
+ */
+ Y_POSITIVE(4),
+ /**
+ *
+ * Y轴负向
+ *
+ *
+ * Y_NEGATIVE = 5;
+ */
+ Y_NEGATIVE(5),
+ /**
+ *
+ * Z轴正向
+ *
+ *
+ * Z_POSITIVE = 6;
+ */
+ Z_POSITIVE(6),
+ /**
+ *
+ * Z轴负向
+ *
+ *
+ * Z_NEGATIVE = 7;
+ */
+ Z_NEGATIVE(7),
+ /**
+ *
+ * 绕X轴旋转
+ *
+ *
+ * ROTATE_X = 8;
+ */
+ ROTATE_X(8),
+ /**
+ *
+ * 绕Y轴旋转
+ *
+ *
+ * ROTATE_Y = 9;
+ */
+ ROTATE_Y(9),
+ /**
+ *
+ * 绕Z轴旋转
+ *
+ *
+ * ROTATE_Z = 10;
+ */
+ ROTATE_Z(10),
+ UNRECOGNIZED(-1),
+ ;
+
+ /**
+ * FORWARD = 0;
+ */
+ public static final int FORWARD_VALUE = 0;
+ /**
+ * BACKWARD = 1;
+ */
+ public static final int BACKWARD_VALUE = 1;
+ /**
+ *
+ * X轴正向
+ *
+ *
+ * X_POSITIVE = 2;
+ */
+ public static final int X_POSITIVE_VALUE = 2;
+ /**
+ *
+ * X轴负向
+ *
+ *
+ * X_NEGATIVE = 3;
+ */
+ public static final int X_NEGATIVE_VALUE = 3;
+ /**
+ *
+ * Y轴正向
+ *
+ *
+ * Y_POSITIVE = 4;
+ */
+ public static final int Y_POSITIVE_VALUE = 4;
+ /**
+ *
+ * Y轴负向
+ *
+ *
+ * Y_NEGATIVE = 5;
+ */
+ public static final int Y_NEGATIVE_VALUE = 5;
+ /**
+ *
+ * Z轴正向
+ *
+ *
+ * Z_POSITIVE = 6;
+ */
+ public static final int Z_POSITIVE_VALUE = 6;
+ /**
+ *
+ * Z轴负向
+ *
+ *
+ * Z_NEGATIVE = 7;
+ */
+ public static final int Z_NEGATIVE_VALUE = 7;
+ /**
+ *
+ * 绕X轴旋转
+ *
+ *
+ * ROTATE_X = 8;
+ */
+ public static final int ROTATE_X_VALUE = 8;
+ /**
+ *
+ * 绕Y轴旋转
+ *
+ *
+ * ROTATE_Y = 9;
+ */
+ public static final int ROTATE_Y_VALUE = 9;
+ /**
+ *
+ * 绕Z轴旋转
+ *
+ *
+ * ROTATE_Z = 10;
+ */
+ public static final int ROTATE_Z_VALUE = 10;
+
+
+ public final int getNumber() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalArgumentException(
+ "Can't get the number of an unknown enum value.");
+ }
+ return value;
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ * @deprecated Use {@link #forNumber(int)} instead.
+ */
+ @java.lang.Deprecated
+ public static RobotJointIndexDirection valueOf(int value) {
+ return forNumber(value);
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ */
+ public static RobotJointIndexDirection forNumber(int value) {
+ switch (value) {
+ case 0: return FORWARD;
+ case 1: return BACKWARD;
+ case 2: return X_POSITIVE;
+ case 3: return X_NEGATIVE;
+ case 4: return Y_POSITIVE;
+ case 5: return Y_NEGATIVE;
+ case 6: return Z_POSITIVE;
+ case 7: return Z_NEGATIVE;
+ case 8: return ROTATE_X;
+ case 9: return ROTATE_Y;
+ case 10: return ROTATE_Z;
+ default: return null;
+ }
+ }
+
+ public static com.google.protobuf.Internal.EnumLiteMap
+ internalGetValueMap() {
+ return internalValueMap;
+ }
+ private static final com.google.protobuf.Internal.EnumLiteMap<
+ RobotJointIndexDirection> internalValueMap =
+ new com.google.protobuf.Internal.EnumLiteMap() {
+ public RobotJointIndexDirection findValueByNumber(int number) {
+ return RobotJointIndexDirection.forNumber(number);
+ }
+ };
+
+ public final com.google.protobuf.Descriptors.EnumValueDescriptor
+ getValueDescriptor() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalStateException(
+ "Can't get the descriptor of an unrecognized enum value.");
+ }
+ return getDescriptor().getValues().get(ordinal());
+ }
+ public final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptorForType() {
+ return getDescriptor();
+ }
+ public static final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(1);
+ }
+
+ private static final RobotJointIndexDirection[] VALUES = values();
+
+ public static RobotJointIndexDirection valueOf(
+ com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+ if (desc.getType() != getDescriptor()) {
+ throw new java.lang.IllegalArgumentException(
+ "EnumValueDescriptor is not for this type.");
+ }
+ if (desc.getIndex() == -1) {
+ return UNRECOGNIZED;
+ }
+ return VALUES[desc.getIndex()];
+ }
+
+ private final int value;
+
+ private RobotJointIndexDirection(int value) {
+ this.value = value;
+ }
+
+ // @@protoc_insertion_point(enum_scope:cmvr.api.RobotJointIndexDirection)
+ }
+
+ public interface JointCmdOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.JointCmd)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The jointName.
+ */
+ java.lang.String getJointName();
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The bytes for jointName.
+ */
+ com.google.protobuf.ByteString
+ getJointNameBytes();
+
+ /**
+ *
+ * 弧度
+ *
+ *
+ * double rad = 2;
+ * @return The rad.
+ */
+ double getRad();
+
+ /**
+ *
+ * 角速度，rad/s
+ *
+ *
+ * double vel = 3;
+ * @return The vel.
+ */
+ double getVel();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.JointCmd}
+ */
+ public static final class JointCmd extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.JointCmd)
+ JointCmdOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use JointCmd.newBuilder() to construct.
+ private JointCmd(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private JointCmd() {
+ jointName_ = "";
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new JointCmd();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointCmd.class, cmvr.api.HumanoidRobotCommand.JointCmd.Builder.class);
+ }
+
+ public static final int JOINT_NAME_FIELD_NUMBER = 1;
+ private volatile java.lang.Object jointName_;
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The jointName.
+ */
+ @java.lang.Override
+ public java.lang.String getJointName() {
+ java.lang.Object ref = jointName_;
+ if (ref instanceof java.lang.String) {
+ return (java.lang.String) ref;
+ } else {
+ com.google.protobuf.ByteString bs =
+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ jointName_ = s;
+ return s;
+ }
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The bytes for jointName.
+ */
+ @java.lang.Override
+ public com.google.protobuf.ByteString
+ getJointNameBytes() {
+ java.lang.Object ref = jointName_;
+ if (ref instanceof java.lang.String) {
+ com.google.protobuf.ByteString b =
+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ jointName_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+
+ public static final int RAD_FIELD_NUMBER = 2;
+ private double rad_;
+ /**
+ *
+ * 弧度
+ *
+ *
+ * double rad = 2;
+ * @return The rad.
+ */
+ @java.lang.Override
+ public double getRad() {
+ return rad_;
+ }
+
+ public static final int VEL_FIELD_NUMBER = 3;
+ private double vel_;
+ /**
+ *
+ * 角速度，rad/s
+ *
+ *
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
+ com.google.protobuf.GeneratedMessageV3.writeString(output, 1, jointName_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(rad_) != 0) {
+ output.writeDouble(2, rad_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
+ output.writeDouble(3, vel_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
+ size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, jointName_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(rad_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(2, rad_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(3, vel_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.JointCmd)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.JointCmd other = (cmvr.api.HumanoidRobotCommand.JointCmd) obj;
+
+ if (!getJointName()
+ .equals(other.getJointName())) return false;
+ if (java.lang.Double.doubleToLongBits(getRad())
+ != java.lang.Double.doubleToLongBits(
+ other.getRad())) return false;
+ if (java.lang.Double.doubleToLongBits(getVel())
+ != java.lang.Double.doubleToLongBits(
+ other.getVel())) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
+ hash = (53 * hash) + getJointName().hashCode();
+ hash = (37 * hash) + RAD_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getRad()));
+ hash = (37 * hash) + VEL_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVel()));
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.JointCmd prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.JointCmd}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.JointCmd)
+ cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointCmd.class, cmvr.api.HumanoidRobotCommand.JointCmd.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.JointCmd.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ jointName_ = "";
+
+ rad_ = 0D;
+
+ vel_ = 0D;
+
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmd getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmd build() {
+ cmvr.api.HumanoidRobotCommand.JointCmd result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmd buildPartial() {
+ cmvr.api.HumanoidRobotCommand.JointCmd result = new cmvr.api.HumanoidRobotCommand.JointCmd(this);
+ result.jointName_ = jointName_;
+ result.rad_ = rad_;
+ result.vel_ = vel_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.JointCmd) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.JointCmd)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointCmd other) {
+ if (other == cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance()) return this;
+ if (!other.getJointName().isEmpty()) {
+ jointName_ = other.jointName_;
+ onChanged();
+ }
+ if (other.getRad() != 0D) {
+ setRad(other.getRad());
+ }
+ if (other.getVel() != 0D) {
+ setVel(other.getVel());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ jointName_ = input.readStringRequireUtf8();
+
+ break;
+ } // case 10
+ case 17: {
+ rad_ = input.readDouble();
+
+ break;
+ } // case 17
+ case 25: {
+ vel_ = input.readDouble();
+
+ break;
+ } // case 25
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private java.lang.Object jointName_ = "";
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The jointName.
+ */
+ public java.lang.String getJointName() {
+ java.lang.Object ref = jointName_;
+ if (!(ref instanceof java.lang.String)) {
+ com.google.protobuf.ByteString bs =
+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ jointName_ = s;
+ return s;
+ } else {
+ return (java.lang.String) ref;
+ }
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return The bytes for jointName.
+ */
+ public com.google.protobuf.ByteString
+ getJointNameBytes() {
+ java.lang.Object ref = jointName_;
+ if (ref instanceof String) {
+ com.google.protobuf.ByteString b =
+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ jointName_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @param value The jointName to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointName(
+ java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ jointName_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearJointName() {
+
+ jointName_ = getDefaultInstance().getJointName();
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * string joint_name = 1;
+ * @param value The bytes for jointName to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointNameBytes(
+ com.google.protobuf.ByteString value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ checkByteStringIsUtf8(value);
+
+ jointName_ = value;
+ onChanged();
+ return this;
+ }
+
+ private double rad_ ;
+ /**
+ *
+ * 弧度
+ *
+ *
+ * double rad = 2;
+ * @return The rad.
+ */
+ @java.lang.Override
+ public double getRad() {
+ return rad_;
+ }
+ /**
+ *
+ * 弧度
+ *
+ *
+ * double rad = 2;
+ * @param value The rad to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRad(double value) {
+
+ rad_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 弧度
+ *
+ *
+ * double rad = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRad() {
+
+ rad_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double vel_ ;
+ /**
+ *
+ * 角速度，rad/s
+ *
+ *
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+ /**
+ *
+ * 角速度，rad/s
+ *
+ *
+ * double vel = 3;
+ * @param value The vel to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVel(double value) {
+
+ vel_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 角速度，rad/s
+ *
+ *
+ * double vel = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearVel() {
+
+ vel_ = 0D;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.JointCmd)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.JointCmd)
+ private static final cmvr.api.HumanoidRobotCommand.JointCmd DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.JointCmd();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointCmd getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public JointCmd parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmd getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
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+ com.google.protobuf.MessageOrBuilder {
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+ * @return The x.
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+ */
+ double getZ();
+
+ /**
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+ * @return The rx.
+ */
+ double getRx();
+
+ /**
+ * double ry = 5;
+ * @return The ry.
+ */
+ double getRy();
+
+ /**
+ * double rz = 6;
+ * @return The rz.
+ */
+ double getRz();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.Pose3D}
+ */
+ public static final class Pose3D extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.Pose3D)
+ Pose3DOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Pose3D.newBuilder() to construct.
+ private Pose3D(com.google.protobuf.GeneratedMessageV3.Builder builder) {
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+ @SuppressWarnings({"unused"})
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+ UnusedPrivateParameter unused) {
+ return new Pose3D();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_Pose3D_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
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+
+ public static final int Y_FIELD_NUMBER = 2;
+ private double y_;
+ /**
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+ * @return The y.
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+ @java.lang.Override
+ public double getY() {
+ return y_;
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+
+ public static final int Z_FIELD_NUMBER = 3;
+ private double z_;
+ /**
+ * double z = 3;
+ * @return The z.
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+ public double getZ() {
+ return z_;
+ }
+
+ public static final int RX_FIELD_NUMBER = 4;
+ private double rx_;
+ /**
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+ * @return The rx.
+ */
+ @java.lang.Override
+ public double getRx() {
+ return rx_;
+ }
+
+ public static final int RY_FIELD_NUMBER = 5;
+ private double ry_;
+ /**
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+ * @return The ry.
+ */
+ @java.lang.Override
+ public double getRy() {
+ return ry_;
+ }
+
+ public static final int RZ_FIELD_NUMBER = 6;
+ private double rz_;
+ /**
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+ * @return The rz.
+ */
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+ public double getRz() {
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+ }
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+ if (java.lang.Double.doubleToRawLongBits(x_) != 0) {
+ output.writeDouble(1, x_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(y_) != 0) {
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+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
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+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.Pose3D)) {
+ return super.equals(obj);
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+ if (java.lang.Double.doubleToLongBits(getX())
+ != java.lang.Double.doubleToLongBits(
+ other.getX())) return false;
+ if (java.lang.Double.doubleToLongBits(getY())
+ != java.lang.Double.doubleToLongBits(
+ other.getY())) return false;
+ if (java.lang.Double.doubleToLongBits(getZ())
+ != java.lang.Double.doubleToLongBits(
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+ if (java.lang.Double.doubleToLongBits(getRx())
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+ if (java.lang.Double.doubleToLongBits(getRy())
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+ if (java.lang.Double.doubleToLongBits(getRz())
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+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
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+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
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+ hash = (37 * hash) + X_FIELD_NUMBER;
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+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.Pose3D parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
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+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
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+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.Pose3D prototype) {
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+ protected Builder newBuilderForType(
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+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
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+ cmvr.api.HumanoidRobotCommand.Pose3DOrBuilder {
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+
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+
+ private Builder(
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+ cmvr.api.HumanoidRobotCommand.Pose3D result = new cmvr.api.HumanoidRobotCommand.Pose3D(this);
+ result.x_ = x_;
+ result.y_ = y_;
+ result.z_ = z_;
+ result.rx_ = rx_;
+ result.ry_ = ry_;
+ result.rz_ = rz_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.Pose3D) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.Pose3D)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.Pose3D other) {
+ if (other == cmvr.api.HumanoidRobotCommand.Pose3D.getDefaultInstance()) return this;
+ if (other.getX() != 0D) {
+ setX(other.getX());
+ }
+ if (other.getY() != 0D) {
+ setY(other.getY());
+ }
+ if (other.getZ() != 0D) {
+ setZ(other.getZ());
+ }
+ if (other.getRx() != 0D) {
+ setRx(other.getRx());
+ }
+ if (other.getRy() != 0D) {
+ setRy(other.getRy());
+ }
+ if (other.getRz() != 0D) {
+ setRz(other.getRz());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 9: {
+ x_ = input.readDouble();
+
+ break;
+ } // case 9
+ case 17: {
+ y_ = input.readDouble();
+
+ break;
+ } // case 17
+ case 25: {
+ z_ = input.readDouble();
+
+ break;
+ } // case 25
+ case 33: {
+ rx_ = input.readDouble();
+
+ break;
+ } // case 33
+ case 41: {
+ ry_ = input.readDouble();
+
+ break;
+ } // case 41
+ case 49: {
+ rz_ = input.readDouble();
+
+ break;
+ } // case 49
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private double x_ ;
+ /**
+ * double x = 1;
+ * @return The x.
+ */
+ @java.lang.Override
+ public double getX() {
+ return x_;
+ }
+ /**
+ * double x = 1;
+ * @param value The x to set.
+ * @return This builder for chaining.
+ */
+ public Builder setX(double value) {
+
+ x_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double x = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearX() {
+
+ x_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double y_ ;
+ /**
+ * double y = 2;
+ * @return The y.
+ */
+ @java.lang.Override
+ public double getY() {
+ return y_;
+ }
+ /**
+ * double y = 2;
+ * @param value The y to set.
+ * @return This builder for chaining.
+ */
+ public Builder setY(double value) {
+
+ y_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double y = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearY() {
+
+ y_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double z_ ;
+ /**
+ * double z = 3;
+ * @return The z.
+ */
+ @java.lang.Override
+ public double getZ() {
+ return z_;
+ }
+ /**
+ * double z = 3;
+ * @param value The z to set.
+ * @return This builder for chaining.
+ */
+ public Builder setZ(double value) {
+
+ z_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double z = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearZ() {
+
+ z_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double rx_ ;
+ /**
+ * double rx = 4;
+ * @return The rx.
+ */
+ @java.lang.Override
+ public double getRx() {
+ return rx_;
+ }
+ /**
+ * double rx = 4;
+ * @param value The rx to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRx(double value) {
+
+ rx_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double rx = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRx() {
+
+ rx_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double ry_ ;
+ /**
+ * double ry = 5;
+ * @return The ry.
+ */
+ @java.lang.Override
+ public double getRy() {
+ return ry_;
+ }
+ /**
+ * double ry = 5;
+ * @param value The ry to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRy(double value) {
+
+ ry_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double ry = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearRy() {
+
+ ry_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double rz_ ;
+ /**
+ * double rz = 6;
+ * @return The rz.
+ */
+ @java.lang.Override
+ public double getRz() {
+ return rz_;
+ }
+ /**
+ * double rz = 6;
+ * @param value The rz to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRz(double value) {
+
+ rz_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double rz = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearRz() {
+
+ rz_ = 0D;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.Pose3D)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.Pose3D)
+ private static final cmvr.api.HumanoidRobotCommand.Pose3D DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.Pose3D();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.Pose3D getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Pose3D parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.Pose3D getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface MoveJOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.MoveJ)
+ com.google.protobuf.MessageOrBuilder {
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveJ}
+ */
+ public static final class MoveJ extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.MoveJ)
+ MoveJOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use MoveJ.newBuilder() to construct.
+ private MoveJ(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private MoveJ() {
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new MoveJ();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveJ.class, cmvr.api.HumanoidRobotCommand.MoveJ.Builder.class);
+ }
+
+ public interface RequestOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.MoveJ.Request)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Request getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ java.util.List
+ getCmdsList();
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ cmvr.api.HumanoidRobotCommand.JointCmd getCmds(int index);
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ int getCmdsCount();
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ java.util.List
+ getCmdsOrBuilderList();
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder getCmdsOrBuilder(
+ int index);
+
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ double getVel();
+
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ double getAcc();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveJ.Request}
+ */
+ public static final class Request extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.MoveJ.Request)
+ RequestOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Request.newBuilder() to construct.
+ private Request(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private Request() {
+ cmds_ = java.util.Collections.emptyList();
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new Request();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request.class, cmvr.api.HumanoidRobotCommand.MoveJ.Request.Builder.class);
+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Request header_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+ return getHeader();
+ }
+
+ public static final int CMDS_FIELD_NUMBER = 2;
+ private java.util.List cmds_;
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ @java.lang.Override
+ public java.util.List getCmdsList() {
+ return cmds_;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ @java.lang.Override
+ public java.util.List
+ getCmdsOrBuilderList() {
+ return cmds_;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ @java.lang.Override
+ public int getCmdsCount() {
+ return cmds_.size();
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmd getCmds(int index) {
+ return cmds_.get(index);
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder getCmdsOrBuilder(
+ int index) {
+ return cmds_.get(index);
+ }
+
+ public static final int VEL_FIELD_NUMBER = 3;
+ private double vel_;
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+
+ public static final int ACC_FIELD_NUMBER = 4;
+ private double acc_;
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (header_ != null) {
+ output.writeMessage(1, getHeader());
+ }
+ for (int i = 0; i < cmds_.size(); i++) {
+ output.writeMessage(2, cmds_.get(i));
+ }
+ if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
+ output.writeDouble(3, vel_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(acc_) != 0) {
+ output.writeDouble(4, acc_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (header_ != null) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(1, getHeader());
+ }
+ for (int i = 0; i < cmds_.size(); i++) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(2, cmds_.get(i));
+ }
+ if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(3, vel_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(acc_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(4, acc_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.MoveJ.Request)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request other = (cmvr.api.HumanoidRobotCommand.MoveJ.Request) obj;
+
+ if (hasHeader() != other.hasHeader()) return false;
+ if (hasHeader()) {
+ if (!getHeader()
+ .equals(other.getHeader())) return false;
+ }
+ if (!getCmdsList()
+ .equals(other.getCmdsList())) return false;
+ if (java.lang.Double.doubleToLongBits(getVel())
+ != java.lang.Double.doubleToLongBits(
+ other.getVel())) return false;
+ if (java.lang.Double.doubleToLongBits(getAcc())
+ != java.lang.Double.doubleToLongBits(
+ other.getAcc())) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (hasHeader()) {
+ hash = (37 * hash) + HEADER_FIELD_NUMBER;
+ hash = (53 * hash) + getHeader().hashCode();
+ }
+ if (getCmdsCount() > 0) {
+ hash = (37 * hash) + CMDS_FIELD_NUMBER;
+ hash = (53 * hash) + getCmdsList().hashCode();
+ }
+ hash = (37 * hash) + VEL_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVel()));
+ hash = (37 * hash) + ACC_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getAcc()));
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.MoveJ.Request prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveJ.Request}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.MoveJ.Request)
+ cmvr.api.HumanoidRobotCommand.MoveJ.RequestOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request.class, cmvr.api.HumanoidRobotCommand.MoveJ.Request.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.MoveJ.Request.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ if (cmdsBuilder_ == null) {
+ cmds_ = java.util.Collections.emptyList();
+ } else {
+ cmds_ = null;
+ cmdsBuilder_.clear();
+ }
+ bitField0_ = (bitField0_ & ~0x00000001);
+ vel_ = 0D;
+
+ acc_ = 0D;
+
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveJ.Request build() {
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveJ.Request buildPartial() {
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request result = new cmvr.api.HumanoidRobotCommand.MoveJ.Request(this);
+ int from_bitField0_ = bitField0_;
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ if (cmdsBuilder_ == null) {
+ if (((bitField0_ & 0x00000001) != 0)) {
+ cmds_ = java.util.Collections.unmodifiableList(cmds_);
+ bitField0_ = (bitField0_ & ~0x00000001);
+ }
+ result.cmds_ = cmds_;
+ } else {
+ result.cmds_ = cmdsBuilder_.build();
+ }
+ result.vel_ = vel_;
+ result.acc_ = acc_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.MoveJ.Request) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.MoveJ.Request)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.MoveJ.Request other) {
+ if (other == cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ if (cmdsBuilder_ == null) {
+ if (!other.cmds_.isEmpty()) {
+ if (cmds_.isEmpty()) {
+ cmds_ = other.cmds_;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ } else {
+ ensureCmdsIsMutable();
+ cmds_.addAll(other.cmds_);
+ }
+ onChanged();
+ }
+ } else {
+ if (!other.cmds_.isEmpty()) {
+ if (cmdsBuilder_.isEmpty()) {
+ cmdsBuilder_.dispose();
+ cmdsBuilder_ = null;
+ cmds_ = other.cmds_;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ cmdsBuilder_ =
+ com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
+ getCmdsFieldBuilder() : null;
+ } else {
+ cmdsBuilder_.addAllMessages(other.cmds_);
+ }
+ }
+ }
+ if (other.getVel() != 0D) {
+ setVel(other.getVel());
+ }
+ if (other.getAcc() != 0D) {
+ setAcc(other.getAcc());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ case 18: {
+ cmvr.api.HumanoidRobotCommand.JointCmd m =
+ input.readMessage(
+ cmvr.api.HumanoidRobotCommand.JointCmd.parser(),
+ extensionRegistry);
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ cmds_.add(m);
+ } else {
+ cmdsBuilder_.addMessage(m);
+ }
+ break;
+ } // case 18
+ case 25: {
+ vel_ = input.readDouble();
+
+ break;
+ } // case 25
+ case 33: {
+ acc_ = input.readDouble();
+
+ break;
+ } // case 33
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private cmvr.api.Common.CommandHeader.Request header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+
+ private java.util.List cmds_ =
+ java.util.Collections.emptyList();
+ private void ensureCmdsIsMutable() {
+ if (!((bitField0_ & 0x00000001) != 0)) {
+ cmds_ = new java.util.ArrayList(cmds_);
+ bitField0_ |= 0x00000001;
+ }
+ }
+
+ private com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder> cmdsBuilder_;
+
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public java.util.List getCmdsList() {
+ if (cmdsBuilder_ == null) {
+ return java.util.Collections.unmodifiableList(cmds_);
+ } else {
+ return cmdsBuilder_.getMessageList();
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public int getCmdsCount() {
+ if (cmdsBuilder_ == null) {
+ return cmds_.size();
+ } else {
+ return cmdsBuilder_.getCount();
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointCmd getCmds(int index) {
+ if (cmdsBuilder_ == null) {
+ return cmds_.get(index);
+ } else {
+ return cmdsBuilder_.getMessage(index);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder setCmds(
+ int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
+ if (cmdsBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureCmdsIsMutable();
+ cmds_.set(index, value);
+ onChanged();
+ } else {
+ cmdsBuilder_.setMessage(index, value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder setCmds(
+ int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ cmds_.set(index, builderForValue.build());
+ onChanged();
+ } else {
+ cmdsBuilder_.setMessage(index, builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder addCmds(cmvr.api.HumanoidRobotCommand.JointCmd value) {
+ if (cmdsBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureCmdsIsMutable();
+ cmds_.add(value);
+ onChanged();
+ } else {
+ cmdsBuilder_.addMessage(value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder addCmds(
+ int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
+ if (cmdsBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureCmdsIsMutable();
+ cmds_.add(index, value);
+ onChanged();
+ } else {
+ cmdsBuilder_.addMessage(index, value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder addCmds(
+ cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ cmds_.add(builderForValue.build());
+ onChanged();
+ } else {
+ cmdsBuilder_.addMessage(builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder addCmds(
+ int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ cmds_.add(index, builderForValue.build());
+ onChanged();
+ } else {
+ cmdsBuilder_.addMessage(index, builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder addAllCmds(
+ java.lang.Iterable values) {
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, cmds_);
+ onChanged();
+ } else {
+ cmdsBuilder_.addAllMessages(values);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder clearCmds() {
+ if (cmdsBuilder_ == null) {
+ cmds_ = java.util.Collections.emptyList();
+ bitField0_ = (bitField0_ & ~0x00000001);
+ onChanged();
+ } else {
+ cmdsBuilder_.clear();
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public Builder removeCmds(int index) {
+ if (cmdsBuilder_ == null) {
+ ensureCmdsIsMutable();
+ cmds_.remove(index);
+ onChanged();
+ } else {
+ cmdsBuilder_.remove(index);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointCmd.Builder getCmdsBuilder(
+ int index) {
+ return getCmdsFieldBuilder().getBuilder(index);
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder getCmdsOrBuilder(
+ int index) {
+ if (cmdsBuilder_ == null) {
+ return cmds_.get(index); } else {
+ return cmdsBuilder_.getMessageOrBuilder(index);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public java.util.List
+ getCmdsOrBuilderList() {
+ if (cmdsBuilder_ != null) {
+ return cmdsBuilder_.getMessageOrBuilderList();
+ } else {
+ return java.util.Collections.unmodifiableList(cmds_);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder() {
+ return getCmdsFieldBuilder().addBuilder(
+ cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder(
+ int index) {
+ return getCmdsFieldBuilder().addBuilder(
+ index, cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
+ }
+ /**
+ * repeated .cmvr.api.JointCmd cmds = 2;
+ */
+ public java.util.List
+ getCmdsBuilderList() {
+ return getCmdsFieldBuilder().getBuilderList();
+ }
+ private com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder>
+ getCmdsFieldBuilder() {
+ if (cmdsBuilder_ == null) {
+ cmdsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder>(
+ cmds_,
+ ((bitField0_ & 0x00000001) != 0),
+ getParentForChildren(),
+ isClean());
+ cmds_ = null;
+ }
+ return cmdsBuilder_;
+ }
+
+ private double vel_ ;
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+ /**
+ * double vel = 3;
+ * @param value The vel to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVel(double value) {
+
+ vel_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double vel = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearVel() {
+
+ vel_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double acc_ ;
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+ /**
+ * double acc = 4;
+ * @param value The acc to set.
+ * @return This builder for chaining.
+ */
+ public Builder setAcc(double value) {
+
+ acc_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double acc = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearAcc() {
+
+ acc_ = 0D;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.MoveJ.Request)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Request)
+ private static final cmvr.api.HumanoidRobotCommand.MoveJ.Request DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.MoveJ.Request();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Request parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface ResponseOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.MoveJ.Response)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Feedback getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveJ.Response}
+ */
+ public static final class Response extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.MoveJ.Response)
+ ResponseOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Response.newBuilder() to construct.
+ private Response(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private Response() {
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new Response();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Response_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveJ.Response.class, cmvr.api.HumanoidRobotCommand.MoveJ.Response.Builder.class);
+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ return getHeader();
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+ * .cmvr.api.Pose3D targetPose = 3;
+ * @return The targetPose.
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+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
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+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ case 18: {
+ eeLink_ = input.readStringRequireUtf8();
+
+ break;
+ } // case 18
+ case 26: {
+ input.readMessage(
+ getTargetPoseFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 26
+ case 33: {
+ vel_ = input.readDouble();
+
+ break;
+ } // case 33
+ case 41: {
+ acc_ = input.readDouble();
+
+ break;
+ } // case 41
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private cmvr.api.Common.CommandHeader.Request header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+
+ private java.lang.Object eeLink_ = "";
+ /**
+ *
+ *连杆名称
+ *
+ *
+ * string ee_link = 2;
+ * @return The eeLink.
+ */
+ public java.lang.String getEeLink() {
+ java.lang.Object ref = eeLink_;
+ if (!(ref instanceof java.lang.String)) {
+ com.google.protobuf.ByteString bs =
+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ eeLink_ = s;
+ return s;
+ } else {
+ return (java.lang.String) ref;
+ }
+ }
+ /**
+ *
+ *连杆名称
+ *
+ *
+ * string ee_link = 2;
+ * @return The bytes for eeLink.
+ */
+ public com.google.protobuf.ByteString
+ getEeLinkBytes() {
+ java.lang.Object ref = eeLink_;
+ if (ref instanceof String) {
+ com.google.protobuf.ByteString b =
+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ eeLink_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+ /**
+ *
+ *连杆名称
+ *
+ *
+ * string ee_link = 2;
+ * @param value The eeLink to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEeLink(
+ java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ eeLink_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ *连杆名称
+ *
+ *
+ * string ee_link = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearEeLink() {
+
+ eeLink_ = getDefaultInstance().getEeLink();
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ *连杆名称
+ *
+ *
+ * string ee_link = 2;
+ * @param value The bytes for eeLink to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEeLinkBytes(
+ com.google.protobuf.ByteString value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ checkByteStringIsUtf8(value);
+
+ eeLink_ = value;
+ onChanged();
+ return this;
+ }
+
+ private cmvr.api.HumanoidRobotCommand.Pose3D targetPose_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.Pose3D, cmvr.api.HumanoidRobotCommand.Pose3D.Builder, cmvr.api.HumanoidRobotCommand.Pose3DOrBuilder> targetPoseBuilder_;
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ * @return Whether the targetPose field is set.
+ */
+ public boolean hasTargetPose() {
+ return targetPoseBuilder_ != null || targetPose_ != null;
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ * @return The targetPose.
+ */
+ public cmvr.api.HumanoidRobotCommand.Pose3D getTargetPose() {
+ if (targetPoseBuilder_ == null) {
+ return targetPose_ == null ? cmvr.api.HumanoidRobotCommand.Pose3D.getDefaultInstance() : targetPose_;
+ } else {
+ return targetPoseBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public Builder setTargetPose(cmvr.api.HumanoidRobotCommand.Pose3D value) {
+ if (targetPoseBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ targetPose_ = value;
+ onChanged();
+ } else {
+ targetPoseBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public Builder setTargetPose(
+ cmvr.api.HumanoidRobotCommand.Pose3D.Builder builderForValue) {
+ if (targetPoseBuilder_ == null) {
+ targetPose_ = builderForValue.build();
+ onChanged();
+ } else {
+ targetPoseBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public Builder mergeTargetPose(cmvr.api.HumanoidRobotCommand.Pose3D value) {
+ if (targetPoseBuilder_ == null) {
+ if (targetPose_ != null) {
+ targetPose_ =
+ cmvr.api.HumanoidRobotCommand.Pose3D.newBuilder(targetPose_).mergeFrom(value).buildPartial();
+ } else {
+ targetPose_ = value;
+ }
+ onChanged();
+ } else {
+ targetPoseBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public Builder clearTargetPose() {
+ if (targetPoseBuilder_ == null) {
+ targetPose_ = null;
+ onChanged();
+ } else {
+ targetPose_ = null;
+ targetPoseBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public cmvr.api.HumanoidRobotCommand.Pose3D.Builder getTargetPoseBuilder() {
+
+ onChanged();
+ return getTargetPoseFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ public cmvr.api.HumanoidRobotCommand.Pose3DOrBuilder getTargetPoseOrBuilder() {
+ if (targetPoseBuilder_ != null) {
+ return targetPoseBuilder_.getMessageOrBuilder();
+ } else {
+ return targetPose_ == null ?
+ cmvr.api.HumanoidRobotCommand.Pose3D.getDefaultInstance() : targetPose_;
+ }
+ }
+ /**
+ * .cmvr.api.Pose3D targetPose = 3;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.Pose3D, cmvr.api.HumanoidRobotCommand.Pose3D.Builder, cmvr.api.HumanoidRobotCommand.Pose3DOrBuilder>
+ getTargetPoseFieldBuilder() {
+ if (targetPoseBuilder_ == null) {
+ targetPoseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.Pose3D, cmvr.api.HumanoidRobotCommand.Pose3D.Builder, cmvr.api.HumanoidRobotCommand.Pose3DOrBuilder>(
+ getTargetPose(),
+ getParentForChildren(),
+ isClean());
+ targetPose_ = null;
+ }
+ return targetPoseBuilder_;
+ }
+
+ private double vel_ ;
+ /**
+ * double vel = 4;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+ /**
+ * double vel = 4;
+ * @param value The vel to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVel(double value) {
+
+ vel_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double vel = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearVel() {
+
+ vel_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double acc_ ;
+ /**
+ * double acc = 5;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+ /**
+ * double acc = 5;
+ * @param value The acc to set.
+ * @return This builder for chaining.
+ */
+ public Builder setAcc(double value) {
+
+ acc_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double acc = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearAcc() {
+
+ acc_ = 0D;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.MoveL.Request)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.MoveL.Request)
+ private static final cmvr.api.HumanoidRobotCommand.MoveL.Request DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.MoveL.Request();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Request getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Request parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL.Request getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface ResponseOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.MoveL.Response)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Feedback getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveL.Response}
+ */
+ public static final class Response extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.MoveL.Response)
+ ResponseOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Response.newBuilder() to construct.
+ private Response(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private Response() {
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new Response();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_Response_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_Response_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveL.Response.class, cmvr.api.HumanoidRobotCommand.MoveL.Response.Builder.class);
+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ return getHeader();
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (header_ != null) {
+ output.writeMessage(1, getHeader());
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (header_ != null) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(1, getHeader());
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.MoveL.Response)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.MoveL.Response other = (cmvr.api.HumanoidRobotCommand.MoveL.Response) obj;
+
+ if (hasHeader() != other.hasHeader()) return false;
+ if (hasHeader()) {
+ if (!getHeader()
+ .equals(other.getHeader())) return false;
+ }
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (hasHeader()) {
+ hash = (37 * hash) + HEADER_FIELD_NUMBER;
+ hash = (53 * hash) + getHeader().hashCode();
+ }
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.MoveL.Response prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.MoveL.Response}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.MoveL.Response)
+ cmvr.api.HumanoidRobotCommand.MoveL.ResponseOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_Response_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_Response_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.MoveL.Response.class, cmvr.api.HumanoidRobotCommand.MoveL.Response.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.MoveL.Response.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_Response_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL.Response getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL.Response build() {
+ cmvr.api.HumanoidRobotCommand.MoveL.Response result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL.Response buildPartial() {
+ cmvr.api.HumanoidRobotCommand.MoveL.Response result = new cmvr.api.HumanoidRobotCommand.MoveL.Response(this);
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.MoveL.Response) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.MoveL.Response)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.MoveL.Response other) {
+ if (other == cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.MoveL.Response)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.MoveL.Response)
+ private static final cmvr.api.HumanoidRobotCommand.MoveL.Response DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.MoveL.Response();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveL.Response getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Response parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL.Response getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
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+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
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+ }
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+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.MoveL)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.MoveL other = (cmvr.api.HumanoidRobotCommand.MoveL) obj;
+
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
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+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
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+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
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+ public static cmvr.api.HumanoidRobotCommand.MoveL parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
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+ public static cmvr.api.HumanoidRobotCommand.MoveL parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.MoveL parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.MoveL prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
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+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.MoveL)
+ cmvr.api.HumanoidRobotCommand.MoveLOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
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+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
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+ // Construct using cmvr.api.HumanoidRobotCommand.MoveL.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveL_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.MoveL.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL build() {
+ cmvr.api.HumanoidRobotCommand.MoveL result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL buildPartial() {
+ cmvr.api.HumanoidRobotCommand.MoveL result = new cmvr.api.HumanoidRobotCommand.MoveL(this);
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.MoveL) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.MoveL)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.MoveL other) {
+ if (other == cmvr.api.HumanoidRobotCommand.MoveL.getDefaultInstance()) return this;
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.MoveL)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.MoveL)
+ private static final cmvr.api.HumanoidRobotCommand.MoveL DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.MoveL();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.MoveL getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public MoveL parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.MoveL getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface SpeedJOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedJ)
+ com.google.protobuf.MessageOrBuilder {
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedJ}
+ */
+ public static final class SpeedJ extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.SpeedJ)
+ SpeedJOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use SpeedJ.newBuilder() to construct.
+ private SpeedJ(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private SpeedJ() {
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new SpeedJ();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.class, cmvr.api.HumanoidRobotCommand.SpeedJ.Builder.class);
+ }
+
+ public interface RequestOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedJ.Request)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Request getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+
+ /**
+ * string joint_name = 2;
+ * @return The jointName.
+ */
+ java.lang.String getJointName();
+ /**
+ * string joint_name = 2;
+ * @return The bytes for jointName.
+ */
+ com.google.protobuf.ByteString
+ getJointNameBytes();
+
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ double getVel();
+
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ double getAcc();
+
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The enum numeric value on the wire for dir.
+ */
+ int getDirValue();
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The dir.
+ */
+ cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection getDir();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedJ.Request}
+ */
+ public static final class Request extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.SpeedJ.Request)
+ RequestOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Request.newBuilder() to construct.
+ private Request(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private Request() {
+ jointName_ = "";
+ dir_ = 0;
+ }
+
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+ public final com.google.protobuf.UnknownFieldSet
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+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
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+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
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+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Request header_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
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+ }
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+ /**
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+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ jointName_ = s;
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+ * @return The bytes for jointName.
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+ public com.google.protobuf.ByteString
+ getJointNameBytes() {
+ java.lang.Object ref = jointName_;
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+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ jointName_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+
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+ private double vel_;
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+
+ public static final int ACC_FIELD_NUMBER = 4;
+ private double acc_;
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+
+ public static final int DIR_FIELD_NUMBER = 5;
+ private int dir_;
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The enum numeric value on the wire for dir.
+ */
+ @java.lang.Override public int getDirValue() {
+ return dir_;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The dir.
+ */
+ @java.lang.Override public cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection getDir() {
+ @SuppressWarnings("deprecation")
+ cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection result = cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.valueOf(dir_);
+ return result == null ? cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.UNRECOGNIZED : result;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
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+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
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+ output.writeMessage(1, getHeader());
+ }
+ if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
+ com.google.protobuf.GeneratedMessageV3.writeString(output, 2, jointName_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(vel_) != 0) {
+ output.writeDouble(3, vel_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(acc_) != 0) {
+ output.writeDouble(4, acc_);
+ }
+ if (dir_ != cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.FORWARD.getNumber()) {
+ output.writeEnum(5, dir_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (header_ != null) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(1, getHeader());
+ }
+ if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
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+ }
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+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(3, vel_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(acc_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(4, acc_);
+ }
+ if (dir_ != cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.FORWARD.getNumber()) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeEnumSize(5, dir_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Request)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request other = (cmvr.api.HumanoidRobotCommand.SpeedJ.Request) obj;
+
+ if (hasHeader() != other.hasHeader()) return false;
+ if (hasHeader()) {
+ if (!getHeader()
+ .equals(other.getHeader())) return false;
+ }
+ if (!getJointName()
+ .equals(other.getJointName())) return false;
+ if (java.lang.Double.doubleToLongBits(getVel())
+ != java.lang.Double.doubleToLongBits(
+ other.getVel())) return false;
+ if (java.lang.Double.doubleToLongBits(getAcc())
+ != java.lang.Double.doubleToLongBits(
+ other.getAcc())) return false;
+ if (dir_ != other.dir_) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (hasHeader()) {
+ hash = (37 * hash) + HEADER_FIELD_NUMBER;
+ hash = (53 * hash) + getHeader().hashCode();
+ }
+ hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
+ hash = (53 * hash) + getJointName().hashCode();
+ hash = (37 * hash) + VEL_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVel()));
+ hash = (37 * hash) + ACC_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getAcc()));
+ hash = (37 * hash) + DIR_FIELD_NUMBER;
+ hash = (53 * hash) + dir_;
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.SpeedJ.Request prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedJ.Request}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedJ.Request)
+ cmvr.api.HumanoidRobotCommand.SpeedJ.RequestOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class, cmvr.api.HumanoidRobotCommand.SpeedJ.Request.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.SpeedJ.Request.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ jointName_ = "";
+
+ vel_ = 0D;
+
+ acc_ = 0D;
+
+ dir_ = 0;
+
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Request getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Request build() {
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Request buildPartial() {
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request result = new cmvr.api.HumanoidRobotCommand.SpeedJ.Request(this);
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ result.jointName_ = jointName_;
+ result.vel_ = vel_;
+ result.acc_ = acc_;
+ result.dir_ = dir_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Request) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.SpeedJ.Request)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedJ.Request other) {
+ if (other == cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ if (!other.getJointName().isEmpty()) {
+ jointName_ = other.jointName_;
+ onChanged();
+ }
+ if (other.getVel() != 0D) {
+ setVel(other.getVel());
+ }
+ if (other.getAcc() != 0D) {
+ setAcc(other.getAcc());
+ }
+ if (other.dir_ != 0) {
+ setDirValue(other.getDirValue());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ case 18: {
+ jointName_ = input.readStringRequireUtf8();
+
+ break;
+ } // case 18
+ case 25: {
+ vel_ = input.readDouble();
+
+ break;
+ } // case 25
+ case 33: {
+ acc_ = input.readDouble();
+
+ break;
+ } // case 33
+ case 40: {
+ dir_ = input.readEnum();
+
+ break;
+ } // case 40
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private cmvr.api.Common.CommandHeader.Request header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+
+ private java.lang.Object jointName_ = "";
+ /**
+ * string joint_name = 2;
+ * @return The jointName.
+ */
+ public java.lang.String getJointName() {
+ java.lang.Object ref = jointName_;
+ if (!(ref instanceof java.lang.String)) {
+ com.google.protobuf.ByteString bs =
+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ jointName_ = s;
+ return s;
+ } else {
+ return (java.lang.String) ref;
+ }
+ }
+ /**
+ * string joint_name = 2;
+ * @return The bytes for jointName.
+ */
+ public com.google.protobuf.ByteString
+ getJointNameBytes() {
+ java.lang.Object ref = jointName_;
+ if (ref instanceof String) {
+ com.google.protobuf.ByteString b =
+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ jointName_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+ /**
+ * string joint_name = 2;
+ * @param value The jointName to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointName(
+ java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ jointName_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * string joint_name = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearJointName() {
+
+ jointName_ = getDefaultInstance().getJointName();
+ onChanged();
+ return this;
+ }
+ /**
+ * string joint_name = 2;
+ * @param value The bytes for jointName to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointNameBytes(
+ com.google.protobuf.ByteString value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ checkByteStringIsUtf8(value);
+
+ jointName_ = value;
+ onChanged();
+ return this;
+ }
+
+ private double vel_ ;
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+ /**
+ * double vel = 3;
+ * @param value The vel to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVel(double value) {
+
+ vel_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double vel = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearVel() {
+
+ vel_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double acc_ ;
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+ /**
+ * double acc = 4;
+ * @param value The acc to set.
+ * @return This builder for chaining.
+ */
+ public Builder setAcc(double value) {
+
+ acc_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double acc = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearAcc() {
+
+ acc_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private int dir_ = 0;
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The enum numeric value on the wire for dir.
+ */
+ @java.lang.Override public int getDirValue() {
+ return dir_;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @param value The enum numeric value on the wire for dir to set.
+ * @return This builder for chaining.
+ */
+ public Builder setDirValue(int value) {
+
+ dir_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The dir.
+ */
+ @java.lang.Override
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+ @SuppressWarnings("deprecation")
+ cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection result = cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.valueOf(dir_);
+ return result == null ? cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.UNRECOGNIZED : result;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @param value The dir to set.
+ * @return This builder for chaining.
+ */
+ public Builder setDir(cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ dir_ = value.getNumber();
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearDir() {
+
+ dir_ = 0;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
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+ public Request parsePartialFrom(
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
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+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
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+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
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+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Request getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
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+ }
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+ public interface ResponseOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedJ.Response)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
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+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
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+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
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+ cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+ }
+ /**
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+ */
+ public static final class Response extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.SpeedJ.Response)
+ ResponseOrBuilder {
+ private static final long serialVersionUID = 0L;
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+ private Response(com.google.protobuf.GeneratedMessageV3.Builder builder) {
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+ protected java.lang.Object newInstance(
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+ public final com.google.protobuf.UnknownFieldSet
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+ public static final com.google.protobuf.Descriptors.Descriptor
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+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+ * @return Whether the header field is set.
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+ @java.lang.Override
+ public boolean hasHeader() {
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+ * @return The header.
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+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
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+ /**
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+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
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+ }
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+ byte isInitialized = memoizedIsInitialized;
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+ throws java.io.IOException {
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+ output.writeMessage(1, getHeader());
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+ size = 0;
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+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Response)) {
+ return super.equals(obj);
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+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response other = (cmvr.api.HumanoidRobotCommand.SpeedJ.Response) obj;
+
+ if (hasHeader() != other.hasHeader()) return false;
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+ return true;
+ }
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+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (hasHeader()) {
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+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.SpeedJ.Response prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedJ.Response}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedJ.Response)
+ cmvr.api.HumanoidRobotCommand.SpeedJ.ResponseOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Response_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class, cmvr.api.HumanoidRobotCommand.SpeedJ.Response.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.SpeedJ.Response.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ return this;
+ }
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+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Response_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Response getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Response build() {
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Response buildPartial() {
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response result = new cmvr.api.HumanoidRobotCommand.SpeedJ.Response(this);
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ onBuilt();
+ return result;
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+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Response) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.SpeedJ.Response)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedJ.Response other) {
+ if (other == cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
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+ break;
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+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
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+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
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+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
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+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.SpeedJ.Response)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ.Response)
+ private static final cmvr.api.HumanoidRobotCommand.SpeedJ.Response DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.SpeedJ.Response();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.SpeedJ.Response getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Response parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Response getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
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+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.SpeedJ)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.SpeedJ other = (cmvr.api.HumanoidRobotCommand.SpeedJ) obj;
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+ * .cmvr.api.RobotJointIndexDirection dir = 5;
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.SpeedL.Request prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedL.Request}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedL.Request)
+ cmvr.api.HumanoidRobotCommand.SpeedL.RequestOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedL_Request_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request.class, cmvr.api.HumanoidRobotCommand.SpeedL.Request.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.SpeedL.Request.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ eeLink_ = "";
+
+ vel_ = 0D;
+
+ acc_ = 0D;
+
+ dir_ = 0;
+
+ cart_ = 0;
+
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedL_Request_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedL.Request getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedL.Request build() {
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedL.Request buildPartial() {
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request result = new cmvr.api.HumanoidRobotCommand.SpeedL.Request(this);
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ result.eeLink_ = eeLink_;
+ result.vel_ = vel_;
+ result.acc_ = acc_;
+ result.dir_ = dir_;
+ result.cart_ = cart_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedL.Request) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.SpeedL.Request)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedL.Request other) {
+ if (other == cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ if (!other.getEeLink().isEmpty()) {
+ eeLink_ = other.eeLink_;
+ onChanged();
+ }
+ if (other.getVel() != 0D) {
+ setVel(other.getVel());
+ }
+ if (other.getAcc() != 0D) {
+ setAcc(other.getAcc());
+ }
+ if (other.dir_ != 0) {
+ setDirValue(other.getDirValue());
+ }
+ if (other.cart_ != 0) {
+ setCartValue(other.getCartValue());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ case 18: {
+ eeLink_ = input.readStringRequireUtf8();
+
+ break;
+ } // case 18
+ case 25: {
+ vel_ = input.readDouble();
+
+ break;
+ } // case 25
+ case 33: {
+ acc_ = input.readDouble();
+
+ break;
+ } // case 33
+ case 40: {
+ dir_ = input.readEnum();
+
+ break;
+ } // case 40
+ case 48: {
+ cart_ = input.readEnum();
+
+ break;
+ } // case 48
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+
+ private cmvr.api.Common.CommandHeader.Request header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Request getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+
+ private java.lang.Object eeLink_ = "";
+ /**
+ * string ee_link = 2;
+ * @return The eeLink.
+ */
+ public java.lang.String getEeLink() {
+ java.lang.Object ref = eeLink_;
+ if (!(ref instanceof java.lang.String)) {
+ com.google.protobuf.ByteString bs =
+ (com.google.protobuf.ByteString) ref;
+ java.lang.String s = bs.toStringUtf8();
+ eeLink_ = s;
+ return s;
+ } else {
+ return (java.lang.String) ref;
+ }
+ }
+ /**
+ * string ee_link = 2;
+ * @return The bytes for eeLink.
+ */
+ public com.google.protobuf.ByteString
+ getEeLinkBytes() {
+ java.lang.Object ref = eeLink_;
+ if (ref instanceof String) {
+ com.google.protobuf.ByteString b =
+ com.google.protobuf.ByteString.copyFromUtf8(
+ (java.lang.String) ref);
+ eeLink_ = b;
+ return b;
+ } else {
+ return (com.google.protobuf.ByteString) ref;
+ }
+ }
+ /**
+ * string ee_link = 2;
+ * @param value The eeLink to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEeLink(
+ java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ eeLink_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * string ee_link = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearEeLink() {
+
+ eeLink_ = getDefaultInstance().getEeLink();
+ onChanged();
+ return this;
+ }
+ /**
+ * string ee_link = 2;
+ * @param value The bytes for eeLink to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEeLinkBytes(
+ com.google.protobuf.ByteString value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ checkByteStringIsUtf8(value);
+
+ eeLink_ = value;
+ onChanged();
+ return this;
+ }
+
+ private double vel_ ;
+ /**
+ * double vel = 3;
+ * @return The vel.
+ */
+ @java.lang.Override
+ public double getVel() {
+ return vel_;
+ }
+ /**
+ * double vel = 3;
+ * @param value The vel to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVel(double value) {
+
+ vel_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double vel = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearVel() {
+
+ vel_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double acc_ ;
+ /**
+ * double acc = 4;
+ * @return The acc.
+ */
+ @java.lang.Override
+ public double getAcc() {
+ return acc_;
+ }
+ /**
+ * double acc = 4;
+ * @param value The acc to set.
+ * @return This builder for chaining.
+ */
+ public Builder setAcc(double value) {
+
+ acc_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * double acc = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearAcc() {
+
+ acc_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private int dir_ = 0;
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The enum numeric value on the wire for dir.
+ */
+ @java.lang.Override public int getDirValue() {
+ return dir_;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @param value The enum numeric value on the wire for dir to set.
+ * @return This builder for chaining.
+ */
+ public Builder setDirValue(int value) {
+
+ dir_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return The dir.
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection getDir() {
+ @SuppressWarnings("deprecation")
+ cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection result = cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.valueOf(dir_);
+ return result == null ? cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.UNRECOGNIZED : result;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @param value The dir to set.
+ * @return This builder for chaining.
+ */
+ public Builder setDir(cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ dir_ = value.getNumber();
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotJointIndexDirection dir = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearDir() {
+
+ dir_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int cart_ = 0;
+ /**
+ * .cmvr.api.RobotCartesian cart = 6;
+ * @return The enum numeric value on the wire for cart.
+ */
+ @java.lang.Override public int getCartValue() {
+ return cart_;
+ }
+ /**
+ * .cmvr.api.RobotCartesian cart = 6;
+ * @param value The enum numeric value on the wire for cart to set.
+ * @return This builder for chaining.
+ */
+ public Builder setCartValue(int value) {
+
+ cart_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotCartesian cart = 6;
+ * @return The cart.
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.RobotCartesian getCart() {
+ @SuppressWarnings("deprecation")
+ cmvr.api.HumanoidRobotCommand.RobotCartesian result = cmvr.api.HumanoidRobotCommand.RobotCartesian.valueOf(cart_);
+ return result == null ? cmvr.api.HumanoidRobotCommand.RobotCartesian.UNRECOGNIZED : result;
+ }
+ /**
+ * .cmvr.api.RobotCartesian cart = 6;
+ * @param value The cart to set.
+ * @return This builder for chaining.
+ */
+ public Builder setCart(cmvr.api.HumanoidRobotCommand.RobotCartesian value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+
+ cart_ = value.getNumber();
+ onChanged();
+ return this;
+ }
+ /**
+ * .cmvr.api.RobotCartesian cart = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearCart() {
+
+ cart_ = 0;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.SpeedL.Request)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.SpeedL.Request)
+ private static final cmvr.api.HumanoidRobotCommand.SpeedL.Request DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.SpeedL.Request();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.SpeedL.Request getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public Request parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedL.Request getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface ResponseOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedL.Response)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Feedback getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+ }
+ /**
+ * Protobuf type {@code cmvr.api.SpeedL.Response}
+ */
+ public static final class Response extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.SpeedL.Response)
+ ResponseOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use Response.newBuilder() to construct.
+ private Response(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private Response() {
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new Response();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedL_Response_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.SpeedL.Response.class, cmvr.api.HumanoidRobotCommand.SpeedL.Response.Builder.class);
+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ return getHeader();
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
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+ if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedL) {
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+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedL other) {
+ if (other == cmvr.api.HumanoidRobotCommand.SpeedL.getDefaultInstance()) return this;
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.SpeedL)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.SpeedL)
+ private static final cmvr.api.HumanoidRobotCommand.SpeedL DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.SpeedL();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.SpeedL getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public SpeedL parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.SpeedL getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface JointStateOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.JointState)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return A list containing the name.
+ */
+ java.util.List
+ getNameList();
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return The count of name.
+ */
+ int getNameCount();
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the element to return.
+ * @return The name at the given index.
+ */
+ java.lang.String getName(int index);
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the value to return.
+ * @return The bytes of the name at the given index.
+ */
+ com.google.protobuf.ByteString
+ getNameBytes(int index);
+
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return A list containing the position.
+ */
+ java.util.List getPositionList();
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return The count of position.
+ */
+ int getPositionCount();
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param index The index of the element to return.
+ * @return The position at the given index.
+ */
+ double getPosition(int index);
+
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return A list containing the velocity.
+ */
+ java.util.List getVelocityList();
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return The count of velocity.
+ */
+ int getVelocityCount();
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param index The index of the element to return.
+ * @return The velocity at the given index.
+ */
+ double getVelocity(int index);
+
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return A list containing the effort.
+ */
+ java.util.List getEffortList();
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return The count of effort.
+ */
+ int getEffortCount();
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param index The index of the element to return.
+ * @return The effort at the given index.
+ */
+ double getEffort(int index);
+
+ /**
+ *
+ * 可选：时间戳
+ *
+ *
+ * double timestamp = 5;
+ * @return The timestamp.
+ */
+ double getTimestamp();
+ }
+ /**
+ *
+ * 关节状态消息
+ *
+ *
+ * Protobuf type {@code cmvr.api.JointState}
+ */
+ public static final class JointState extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.JointState)
+ JointStateOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use JointState.newBuilder() to construct.
+ private JointState(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private JointState() {
+ name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+ position_ = emptyDoubleList();
+ velocity_ = emptyDoubleList();
+ effort_ = emptyDoubleList();
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new JointState();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointState_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointState_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointState.class, cmvr.api.HumanoidRobotCommand.JointState.Builder.class);
+ }
+
+ public static final int NAME_FIELD_NUMBER = 1;
+ private com.google.protobuf.LazyStringList name_;
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return A list containing the name.
+ */
+ public com.google.protobuf.ProtocolStringList
+ getNameList() {
+ return name_;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return The count of name.
+ */
+ public int getNameCount() {
+ return name_.size();
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the element to return.
+ * @return The name at the given index.
+ */
+ public java.lang.String getName(int index) {
+ return name_.get(index);
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the value to return.
+ * @return The bytes of the name at the given index.
+ */
+ public com.google.protobuf.ByteString
+ getNameBytes(int index) {
+ return name_.getByteString(index);
+ }
+
+ public static final int POSITION_FIELD_NUMBER = 2;
+ private com.google.protobuf.Internal.DoubleList position_;
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return A list containing the position.
+ */
+ @java.lang.Override
+ public java.util.List
+ getPositionList() {
+ return position_;
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return The count of position.
+ */
+ public int getPositionCount() {
+ return position_.size();
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param index The index of the element to return.
+ * @return The position at the given index.
+ */
+ public double getPosition(int index) {
+ return position_.getDouble(index);
+ }
+ private int positionMemoizedSerializedSize = -1;
+
+ public static final int VELOCITY_FIELD_NUMBER = 3;
+ private com.google.protobuf.Internal.DoubleList velocity_;
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return A list containing the velocity.
+ */
+ @java.lang.Override
+ public java.util.List
+ getVelocityList() {
+ return velocity_;
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return The count of velocity.
+ */
+ public int getVelocityCount() {
+ return velocity_.size();
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param index The index of the element to return.
+ * @return The velocity at the given index.
+ */
+ public double getVelocity(int index) {
+ return velocity_.getDouble(index);
+ }
+ private int velocityMemoizedSerializedSize = -1;
+
+ public static final int EFFORT_FIELD_NUMBER = 4;
+ private com.google.protobuf.Internal.DoubleList effort_;
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return A list containing the effort.
+ */
+ @java.lang.Override
+ public java.util.List
+ getEffortList() {
+ return effort_;
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return The count of effort.
+ */
+ public int getEffortCount() {
+ return effort_.size();
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param index The index of the element to return.
+ * @return The effort at the given index.
+ */
+ public double getEffort(int index) {
+ return effort_.getDouble(index);
+ }
+ private int effortMemoizedSerializedSize = -1;
+
+ public static final int TIMESTAMP_FIELD_NUMBER = 5;
+ private double timestamp_;
+ /**
+ *
+ * 可选：时间戳
+ *
+ *
+ * double timestamp = 5;
+ * @return The timestamp.
+ */
+ @java.lang.Override
+ public double getTimestamp() {
+ return timestamp_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
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+ @java.lang.Override
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+ throws java.io.IOException {
+ getSerializedSize();
+ for (int i = 0; i < name_.size(); i++) {
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+ }
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+ output.writeUInt32NoTag(18);
+ output.writeUInt32NoTag(positionMemoizedSerializedSize);
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+ }
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+ @java.lang.Override
+ public int getSerializedSize() {
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+ if (size != -1) return size;
+
+ size = 0;
+ {
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+ for (int i = 0; i < name_.size(); i++) {
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+ positionMemoizedSerializedSize = dataSize;
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+ {
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+ if (!getVelocityList().isEmpty()) {
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+ size += com.google.protobuf.CodedOutputStream
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+ velocityMemoizedSerializedSize = dataSize;
+ }
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+ dataSize = 8 * getEffortList().size();
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+ if (!getEffortList().isEmpty()) {
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+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32SizeNoTag(dataSize);
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+ effortMemoizedSerializedSize = dataSize;
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+ .computeDoubleSize(5, timestamp_);
+ }
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+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.JointState)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.JointState other = (cmvr.api.HumanoidRobotCommand.JointState) obj;
+
+ if (!getNameList()
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+ if (!getPositionList()
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+ if (!getVelocityList()
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+ if (!getEffortList()
+ .equals(other.getEffortList())) return false;
+ if (java.lang.Double.doubleToLongBits(getTimestamp())
+ != java.lang.Double.doubleToLongBits(
+ other.getTimestamp())) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (getNameCount() > 0) {
+ hash = (37 * hash) + NAME_FIELD_NUMBER;
+ hash = (53 * hash) + getNameList().hashCode();
+ }
+ if (getPositionCount() > 0) {
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+ }
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+ }
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+ hash = (37 * hash) + TIMESTAMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getTimestamp()));
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointState parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.JointState prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ *
+ * 关节状态消息
+ *
+ *
+ * Protobuf type {@code cmvr.api.JointState}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.JointState)
+ cmvr.api.HumanoidRobotCommand.JointStateOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointState_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
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+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointState.class, cmvr.api.HumanoidRobotCommand.JointState.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.JointState.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ position_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000002);
+ velocity_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000004);
+ effort_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000008);
+ timestamp_ = 0D;
+
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+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointState_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointState getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointState build() {
+ cmvr.api.HumanoidRobotCommand.JointState result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointState buildPartial() {
+ cmvr.api.HumanoidRobotCommand.JointState result = new cmvr.api.HumanoidRobotCommand.JointState(this);
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+ bitField0_ = (bitField0_ & ~0x00000002);
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+ bitField0_ = (bitField0_ & ~0x00000004);
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+ if (((bitField0_ & 0x00000008) != 0)) {
+ effort_.makeImmutable();
+ bitField0_ = (bitField0_ & ~0x00000008);
+ }
+ result.effort_ = effort_;
+ result.timestamp_ = timestamp_;
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.JointState) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.JointState)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointState other) {
+ if (other == cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance()) return this;
+ if (!other.name_.isEmpty()) {
+ if (name_.isEmpty()) {
+ name_ = other.name_;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ } else {
+ ensureNameIsMutable();
+ name_.addAll(other.name_);
+ }
+ onChanged();
+ }
+ if (!other.position_.isEmpty()) {
+ if (position_.isEmpty()) {
+ position_ = other.position_;
+ bitField0_ = (bitField0_ & ~0x00000002);
+ } else {
+ ensurePositionIsMutable();
+ position_.addAll(other.position_);
+ }
+ onChanged();
+ }
+ if (!other.velocity_.isEmpty()) {
+ if (velocity_.isEmpty()) {
+ velocity_ = other.velocity_;
+ bitField0_ = (bitField0_ & ~0x00000004);
+ } else {
+ ensureVelocityIsMutable();
+ velocity_.addAll(other.velocity_);
+ }
+ onChanged();
+ }
+ if (!other.effort_.isEmpty()) {
+ if (effort_.isEmpty()) {
+ effort_ = other.effort_;
+ bitField0_ = (bitField0_ & ~0x00000008);
+ } else {
+ ensureEffortIsMutable();
+ effort_.addAll(other.effort_);
+ }
+ onChanged();
+ }
+ if (other.getTimestamp() != 0D) {
+ setTimestamp(other.getTimestamp());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ java.lang.String s = input.readStringRequireUtf8();
+ ensureNameIsMutable();
+ name_.add(s);
+ break;
+ } // case 10
+ case 17: {
+ double v = input.readDouble();
+ ensurePositionIsMutable();
+ position_.addDouble(v);
+ break;
+ } // case 17
+ case 18: {
+ int length = input.readRawVarint32();
+ int limit = input.pushLimit(length);
+ ensurePositionIsMutable();
+ while (input.getBytesUntilLimit() > 0) {
+ position_.addDouble(input.readDouble());
+ }
+ input.popLimit(limit);
+ break;
+ } // case 18
+ case 25: {
+ double v = input.readDouble();
+ ensureVelocityIsMutable();
+ velocity_.addDouble(v);
+ break;
+ } // case 25
+ case 26: {
+ int length = input.readRawVarint32();
+ int limit = input.pushLimit(length);
+ ensureVelocityIsMutable();
+ while (input.getBytesUntilLimit() > 0) {
+ velocity_.addDouble(input.readDouble());
+ }
+ input.popLimit(limit);
+ break;
+ } // case 26
+ case 33: {
+ double v = input.readDouble();
+ ensureEffortIsMutable();
+ effort_.addDouble(v);
+ break;
+ } // case 33
+ case 34: {
+ int length = input.readRawVarint32();
+ int limit = input.pushLimit(length);
+ ensureEffortIsMutable();
+ while (input.getBytesUntilLimit() > 0) {
+ effort_.addDouble(input.readDouble());
+ }
+ input.popLimit(limit);
+ break;
+ } // case 34
+ case 41: {
+ timestamp_ = input.readDouble();
+
+ break;
+ } // case 41
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private com.google.protobuf.LazyStringList name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+ private void ensureNameIsMutable() {
+ if (!((bitField0_ & 0x00000001) != 0)) {
+ name_ = new com.google.protobuf.LazyStringArrayList(name_);
+ bitField0_ |= 0x00000001;
+ }
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return A list containing the name.
+ */
+ public com.google.protobuf.ProtocolStringList
+ getNameList() {
+ return name_.getUnmodifiableView();
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return The count of name.
+ */
+ public int getNameCount() {
+ return name_.size();
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the element to return.
+ * @return The name at the given index.
+ */
+ public java.lang.String getName(int index) {
+ return name_.get(index);
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index of the value to return.
+ * @return The bytes of the name at the given index.
+ */
+ public com.google.protobuf.ByteString
+ getNameBytes(int index) {
+ return name_.getByteString(index);
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param index The index to set the value at.
+ * @param value The name to set.
+ * @return This builder for chaining.
+ */
+ public Builder setName(
+ int index, java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureNameIsMutable();
+ name_.set(index, value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param value The name to add.
+ * @return This builder for chaining.
+ */
+ public Builder addName(
+ java.lang.String value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureNameIsMutable();
+ name_.add(value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param values The name to add.
+ * @return This builder for chaining.
+ */
+ public Builder addAllName(
+ java.lang.Iterable values) {
+ ensureNameIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, name_);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearName() {
+ name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节名称
+ *
+ *
+ * repeated string name = 1;
+ * @param value The bytes of the name to add.
+ * @return This builder for chaining.
+ */
+ public Builder addNameBytes(
+ com.google.protobuf.ByteString value) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ checkByteStringIsUtf8(value);
+ ensureNameIsMutable();
+ name_.add(value);
+ onChanged();
+ return this;
+ }
+
+ private com.google.protobuf.Internal.DoubleList position_ = emptyDoubleList();
+ private void ensurePositionIsMutable() {
+ if (!((bitField0_ & 0x00000002) != 0)) {
+ position_ = mutableCopy(position_);
+ bitField0_ |= 0x00000002;
+ }
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return A list containing the position.
+ */
+ public java.util.List
+ getPositionList() {
+ return ((bitField0_ & 0x00000002) != 0) ?
+ java.util.Collections.unmodifiableList(position_) : position_;
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return The count of position.
+ */
+ public int getPositionCount() {
+ return position_.size();
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param index The index of the element to return.
+ * @return The position at the given index.
+ */
+ public double getPosition(int index) {
+ return position_.getDouble(index);
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param index The index to set the value at.
+ * @param value The position to set.
+ * @return This builder for chaining.
+ */
+ public Builder setPosition(
+ int index, double value) {
+ ensurePositionIsMutable();
+ position_.setDouble(index, value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param value The position to add.
+ * @return This builder for chaining.
+ */
+ public Builder addPosition(double value) {
+ ensurePositionIsMutable();
+ position_.addDouble(value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @param values The position to add.
+ * @return This builder for chaining.
+ */
+ public Builder addAllPosition(
+ java.lang.Iterable values) {
+ ensurePositionIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, position_);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 关节位置
+ *
+ *
+ * repeated double position = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearPosition() {
+ position_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000002);
+ onChanged();
+ return this;
+ }
+
+ private com.google.protobuf.Internal.DoubleList velocity_ = emptyDoubleList();
+ private void ensureVelocityIsMutable() {
+ if (!((bitField0_ & 0x00000004) != 0)) {
+ velocity_ = mutableCopy(velocity_);
+ bitField0_ |= 0x00000004;
+ }
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return A list containing the velocity.
+ */
+ public java.util.List
+ getVelocityList() {
+ return ((bitField0_ & 0x00000004) != 0) ?
+ java.util.Collections.unmodifiableList(velocity_) : velocity_;
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return The count of velocity.
+ */
+ public int getVelocityCount() {
+ return velocity_.size();
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param index The index of the element to return.
+ * @return The velocity at the given index.
+ */
+ public double getVelocity(int index) {
+ return velocity_.getDouble(index);
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param index The index to set the value at.
+ * @param value The velocity to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVelocity(
+ int index, double value) {
+ ensureVelocityIsMutable();
+ velocity_.setDouble(index, value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param value The velocity to add.
+ * @return This builder for chaining.
+ */
+ public Builder addVelocity(double value) {
+ ensureVelocityIsMutable();
+ velocity_.addDouble(value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @param values The velocity to add.
+ * @return This builder for chaining.
+ */
+ public Builder addAllVelocity(
+ java.lang.Iterable values) {
+ ensureVelocityIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, velocity_);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节速度
+ *
+ *
+ * repeated double velocity = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearVelocity() {
+ velocity_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000004);
+ onChanged();
+ return this;
+ }
+
+ private com.google.protobuf.Internal.DoubleList effort_ = emptyDoubleList();
+ private void ensureEffortIsMutable() {
+ if (!((bitField0_ & 0x00000008) != 0)) {
+ effort_ = mutableCopy(effort_);
+ bitField0_ |= 0x00000008;
+ }
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return A list containing the effort.
+ */
+ public java.util.List
+ getEffortList() {
+ return ((bitField0_ & 0x00000008) != 0) ?
+ java.util.Collections.unmodifiableList(effort_) : effort_;
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return The count of effort.
+ */
+ public int getEffortCount() {
+ return effort_.size();
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param index The index of the element to return.
+ * @return The effort at the given index.
+ */
+ public double getEffort(int index) {
+ return effort_.getDouble(index);
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param index The index to set the value at.
+ * @param value The effort to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEffort(
+ int index, double value) {
+ ensureEffortIsMutable();
+ effort_.setDouble(index, value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param value The effort to add.
+ * @return This builder for chaining.
+ */
+ public Builder addEffort(double value) {
+ ensureEffortIsMutable();
+ effort_.addDouble(value);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @param values The effort to add.
+ * @return This builder for chaining.
+ */
+ public Builder addAllEffort(
+ java.lang.Iterable values) {
+ ensureEffortIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, effort_);
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：关节力矩
+ *
+ *
+ * repeated double effort = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearEffort() {
+ effort_ = emptyDoubleList();
+ bitField0_ = (bitField0_ & ~0x00000008);
+ onChanged();
+ return this;
+ }
+
+ private double timestamp_ ;
+ /**
+ *
+ * 可选：时间戳
+ *
+ *
+ * double timestamp = 5;
+ * @return The timestamp.
+ */
+ @java.lang.Override
+ public double getTimestamp() {
+ return timestamp_;
+ }
+ /**
+ *
+ * 可选：时间戳
+ *
+ *
+ * double timestamp = 5;
+ * @param value The timestamp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setTimestamp(double value) {
+
+ timestamp_ = value;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 可选：时间戳
+ *
+ *
+ * double timestamp = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearTimestamp() {
+
+ timestamp_ = 0D;
+ onChanged();
+ return this;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.JointState)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.JointState)
+ private static final cmvr.api.HumanoidRobotCommand.JointState DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.JointState();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointState getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public JointState parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointState getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ public interface JointResponseOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:cmvr.api.JointResponse)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ boolean hasHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ cmvr.api.Common.CommandHeader.Feedback getHeader();
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ java.util.List
+ getStateList();
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ cmvr.api.HumanoidRobotCommand.JointState getState(int index);
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ int getStateCount();
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ java.util.List
+ getStateOrBuilderList();
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
+ int index);
+ }
+ /**
+ *
+ * 返回消息
+ *
+ *
+ * Protobuf type {@code cmvr.api.JointResponse}
+ */
+ public static final class JointResponse extends
+ com.google.protobuf.GeneratedMessageV3 implements
+ // @@protoc_insertion_point(message_implements:cmvr.api.JointResponse)
+ JointResponseOrBuilder {
+ private static final long serialVersionUID = 0L;
+ // Use JointResponse.newBuilder() to construct.
+ private JointResponse(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+ super(builder);
+ }
+ private JointResponse() {
+ state_ = java.util.Collections.emptyList();
+ }
+
+ @java.lang.Override
+ @SuppressWarnings({"unused"})
+ protected java.lang.Object newInstance(
+ UnusedPrivateParameter unused) {
+ return new JointResponse();
+ }
+
+ @java.lang.Override
+ public final com.google.protobuf.UnknownFieldSet
+ getUnknownFields() {
+ return this.unknownFields;
+ }
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointResponse.class, cmvr.api.HumanoidRobotCommand.JointResponse.Builder.class);
+ }
+
+ public static final int HEADER_FIELD_NUMBER = 1;
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ @java.lang.Override
+ public boolean hasHeader() {
+ return header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ @java.lang.Override
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ return getHeader();
+ }
+
+ public static final int STATE_FIELD_NUMBER = 2;
+ private java.util.List state_;
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ @java.lang.Override
+ public java.util.List getStateList() {
+ return state_;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ @java.lang.Override
+ public java.util.List
+ getStateOrBuilderList() {
+ return state_;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ @java.lang.Override
+ public int getStateCount() {
+ return state_.size();
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
+ return state_.get(index);
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
+ int index) {
+ return state_.get(index);
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (header_ != null) {
+ output.writeMessage(1, getHeader());
+ }
+ for (int i = 0; i < state_.size(); i++) {
+ output.writeMessage(2, state_.get(i));
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (header_ != null) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(1, getHeader());
+ }
+ for (int i = 0; i < state_.size(); i++) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeMessageSize(2, state_.get(i));
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof cmvr.api.HumanoidRobotCommand.JointResponse)) {
+ return super.equals(obj);
+ }
+ cmvr.api.HumanoidRobotCommand.JointResponse other = (cmvr.api.HumanoidRobotCommand.JointResponse) obj;
+
+ if (hasHeader() != other.hasHeader()) return false;
+ if (hasHeader()) {
+ if (!getHeader()
+ .equals(other.getHeader())) return false;
+ }
+ if (!getStateList()
+ .equals(other.getStateList())) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ if (hasHeader()) {
+ hash = (37 * hash) + HEADER_FIELD_NUMBER;
+ hash = (53 * hash) + getHeader().hashCode();
+ }
+ if (getStateCount() > 0) {
+ hash = (37 * hash) + STATE_FIELD_NUMBER;
+ hash = (53 * hash) + getStateList().hashCode();
+ }
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.JointResponse prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ *
+ * 返回消息
+ *
+ *
+ * Protobuf type {@code cmvr.api.JointResponse}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessageV3.Builder implements
+ // @@protoc_insertion_point(builder_implements:cmvr.api.JointResponse)
+ cmvr.api.HumanoidRobotCommand.JointResponseOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ cmvr.api.HumanoidRobotCommand.JointResponse.class, cmvr.api.HumanoidRobotCommand.JointResponse.Builder.class);
+ }
+
+ // Construct using cmvr.api.HumanoidRobotCommand.JointResponse.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ if (headerBuilder_ == null) {
+ header_ = null;
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+ if (stateBuilder_ == null) {
+ state_ = java.util.Collections.emptyList();
+ } else {
+ state_ = null;
+ stateBuilder_.clear();
+ }
+ bitField0_ = (bitField0_ & ~0x00000001);
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointResponse getDefaultInstanceForType() {
+ return cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointResponse build() {
+ cmvr.api.HumanoidRobotCommand.JointResponse result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public cmvr.api.HumanoidRobotCommand.JointResponse buildPartial() {
+ cmvr.api.HumanoidRobotCommand.JointResponse result = new cmvr.api.HumanoidRobotCommand.JointResponse(this);
+ int from_bitField0_ = bitField0_;
+ if (headerBuilder_ == null) {
+ result.header_ = header_;
+ } else {
+ result.header_ = headerBuilder_.build();
+ }
+ if (stateBuilder_ == null) {
+ if (((bitField0_ & 0x00000001) != 0)) {
+ state_ = java.util.Collections.unmodifiableList(state_);
+ bitField0_ = (bitField0_ & ~0x00000001);
+ }
+ result.state_ = state_;
+ } else {
+ result.state_ = stateBuilder_.build();
+ }
+ onBuilt();
+ return result;
+ }
+
+ @java.lang.Override
+ public Builder clone() {
+ return super.clone();
+ }
+ @java.lang.Override
+ public Builder setField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.setField(field, value);
+ }
+ @java.lang.Override
+ public Builder clearField(
+ com.google.protobuf.Descriptors.FieldDescriptor field) {
+ return super.clearField(field);
+ }
+ @java.lang.Override
+ public Builder clearOneof(
+ com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+ return super.clearOneof(oneof);
+ }
+ @java.lang.Override
+ public Builder setRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ int index, java.lang.Object value) {
+ return super.setRepeatedField(field, index, value);
+ }
+ @java.lang.Override
+ public Builder addRepeatedField(
+ com.google.protobuf.Descriptors.FieldDescriptor field,
+ java.lang.Object value) {
+ return super.addRepeatedField(field, value);
+ }
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof cmvr.api.HumanoidRobotCommand.JointResponse) {
+ return mergeFrom((cmvr.api.HumanoidRobotCommand.JointResponse)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointResponse other) {
+ if (other == cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()) return this;
+ if (other.hasHeader()) {
+ mergeHeader(other.getHeader());
+ }
+ if (stateBuilder_ == null) {
+ if (!other.state_.isEmpty()) {
+ if (state_.isEmpty()) {
+ state_ = other.state_;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ } else {
+ ensureStateIsMutable();
+ state_.addAll(other.state_);
+ }
+ onChanged();
+ }
+ } else {
+ if (!other.state_.isEmpty()) {
+ if (stateBuilder_.isEmpty()) {
+ stateBuilder_.dispose();
+ stateBuilder_ = null;
+ state_ = other.state_;
+ bitField0_ = (bitField0_ & ~0x00000001);
+ stateBuilder_ =
+ com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
+ getStateFieldBuilder() : null;
+ } else {
+ stateBuilder_.addAllMessages(other.state_);
+ }
+ }
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 10: {
+ input.readMessage(
+ getHeaderFieldBuilder().getBuilder(),
+ extensionRegistry);
+
+ break;
+ } // case 10
+ case 18: {
+ cmvr.api.HumanoidRobotCommand.JointState m =
+ input.readMessage(
+ cmvr.api.HumanoidRobotCommand.JointState.parser(),
+ extensionRegistry);
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ state_.add(m);
+ } else {
+ stateBuilder_.addMessage(m);
+ }
+ break;
+ } // case 18
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private cmvr.api.Common.CommandHeader.Feedback header_;
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ * @return The header.
+ */
+ public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+ if (headerBuilder_ == null) {
+ if (header_ != null) {
+ header_ =
+ cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+ } else {
+ header_ = value;
+ }
+ onChanged();
+ } else {
+ headerBuilder_.mergeFrom(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+ if (headerBuilder_ != null) {
+ return headerBuilder_.getMessageOrBuilder();
+ } else {
+ return header_ == null ?
+ cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+ }
+ }
+ /**
+ * .cmvr.api.CommandHeader.Feedback header = 1;
+ */
+ private com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>
+ getHeaderFieldBuilder() {
+ if (headerBuilder_ == null) {
+ headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+ cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+ getHeader(),
+ getParentForChildren(),
+ isClean());
+ header_ = null;
+ }
+ return headerBuilder_;
+ }
+
+ private java.util.List state_ =
+ java.util.Collections.emptyList();
+ private void ensureStateIsMutable() {
+ if (!((bitField0_ & 0x00000001) != 0)) {
+ state_ = new java.util.ArrayList(state_);
+ bitField0_ |= 0x00000001;
+ }
+ }
+
+ private com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointState, cmvr.api.HumanoidRobotCommand.JointState.Builder, cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> stateBuilder_;
+
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public java.util.List getStateList() {
+ if (stateBuilder_ == null) {
+ return java.util.Collections.unmodifiableList(state_);
+ } else {
+ return stateBuilder_.getMessageList();
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public int getStateCount() {
+ if (stateBuilder_ == null) {
+ return state_.size();
+ } else {
+ return stateBuilder_.getCount();
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
+ if (stateBuilder_ == null) {
+ return state_.get(index);
+ } else {
+ return stateBuilder_.getMessage(index);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder setState(
+ int index, cmvr.api.HumanoidRobotCommand.JointState value) {
+ if (stateBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureStateIsMutable();
+ state_.set(index, value);
+ onChanged();
+ } else {
+ stateBuilder_.setMessage(index, value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder setState(
+ int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ state_.set(index, builderForValue.build());
+ onChanged();
+ } else {
+ stateBuilder_.setMessage(index, builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder addState(cmvr.api.HumanoidRobotCommand.JointState value) {
+ if (stateBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureStateIsMutable();
+ state_.add(value);
+ onChanged();
+ } else {
+ stateBuilder_.addMessage(value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder addState(
+ int index, cmvr.api.HumanoidRobotCommand.JointState value) {
+ if (stateBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ ensureStateIsMutable();
+ state_.add(index, value);
+ onChanged();
+ } else {
+ stateBuilder_.addMessage(index, value);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder addState(
+ cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ state_.add(builderForValue.build());
+ onChanged();
+ } else {
+ stateBuilder_.addMessage(builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder addState(
+ int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ state_.add(index, builderForValue.build());
+ onChanged();
+ } else {
+ stateBuilder_.addMessage(index, builderForValue.build());
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder addAllState(
+ java.lang.Iterable values) {
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ com.google.protobuf.AbstractMessageLite.Builder.addAll(
+ values, state_);
+ onChanged();
+ } else {
+ stateBuilder_.addAllMessages(values);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder clearState() {
+ if (stateBuilder_ == null) {
+ state_ = java.util.Collections.emptyList();
+ bitField0_ = (bitField0_ & ~0x00000001);
+ onChanged();
+ } else {
+ stateBuilder_.clear();
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public Builder removeState(int index) {
+ if (stateBuilder_ == null) {
+ ensureStateIsMutable();
+ state_.remove(index);
+ onChanged();
+ } else {
+ stateBuilder_.remove(index);
+ }
+ return this;
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointState.Builder getStateBuilder(
+ int index) {
+ return getStateFieldBuilder().getBuilder(index);
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
+ int index) {
+ if (stateBuilder_ == null) {
+ return state_.get(index); } else {
+ return stateBuilder_.getMessageOrBuilder(index);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public java.util.List
+ getStateOrBuilderList() {
+ if (stateBuilder_ != null) {
+ return stateBuilder_.getMessageOrBuilderList();
+ } else {
+ return java.util.Collections.unmodifiableList(state_);
+ }
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder() {
+ return getStateFieldBuilder().addBuilder(
+ cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder(
+ int index) {
+ return getStateFieldBuilder().addBuilder(
+ index, cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
+ }
+ /**
+ * repeated .cmvr.api.JointState state = 2;
+ */
+ public java.util.List
+ getStateBuilderList() {
+ return getStateFieldBuilder().getBuilderList();
+ }
+ private com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointState, cmvr.api.HumanoidRobotCommand.JointState.Builder, cmvr.api.HumanoidRobotCommand.JointStateOrBuilder>
+ getStateFieldBuilder() {
+ if (stateBuilder_ == null) {
+ stateBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
+ cmvr.api.HumanoidRobotCommand.JointState, cmvr.api.HumanoidRobotCommand.JointState.Builder, cmvr.api.HumanoidRobotCommand.JointStateOrBuilder>(
+ state_,
+ ((bitField0_ & 0x00000001) != 0),
+ getParentForChildren(),
+ isClean());
+ state_ = null;
+ }
+ return stateBuilder_;
+ }
+ @java.lang.Override
+ public final Builder setUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.setUnknownFields(unknownFields);
+ }
+
+ @java.lang.Override
+ public final Builder mergeUnknownFields(
+ final com.google.protobuf.UnknownFieldSet unknownFields) {
+ return super.mergeUnknownFields(unknownFields);
+ }
+
+
+ // @@protoc_insertion_point(builder_scope:cmvr.api.JointResponse)
+ }
+
+ // @@protoc_insertion_point(class_scope:cmvr.api.JointResponse)
+ private static final cmvr.api.HumanoidRobotCommand.JointResponse DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.JointResponse();
+ }
+
+ public static cmvr.api.HumanoidRobotCommand.JointResponse getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public JointResponse parsePartialFrom(
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+ return PARSER.parseFrom(data);
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+ public static cmvr.api.HumanoidRobotCommand.JointRequest parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
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+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static cmvr.api.HumanoidRobotCommand.JointRequest parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
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+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
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+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input, extensionRegistry);
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+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
+ .parseDelimitedWithIOException(PARSER, input);
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
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+ return com.google.protobuf.GeneratedMessageV3
+ .parseWithIOException(PARSER, input);
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+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessageV3
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+ // @@protoc_insertion_point(builder_implements:cmvr.api.JointRequest)
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+ /**
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+ * @return Whether the header field is set.
+ */
+ public boolean hasHeader() {
+ return headerBuilder_ != null || header_ != null;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ * @return The header.
+ */
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+ if (headerBuilder_ == null) {
+ return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+ } else {
+ return headerBuilder_.getMessage();
+ }
+ }
+ /**
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+ */
+ public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
+ if (value == null) {
+ throw new NullPointerException();
+ }
+ header_ = value;
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(value);
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder setHeader(
+ cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+ if (headerBuilder_ == null) {
+ header_ = builderForValue.build();
+ onChanged();
+ } else {
+ headerBuilder_.setMessage(builderForValue.build());
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
+ public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+ if (headerBuilder_ == null) {
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+ } else {
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+ }
+
+ return this;
+ }
+ /**
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+ */
+ public Builder clearHeader() {
+ if (headerBuilder_ == null) {
+ header_ = null;
+ onChanged();
+ } else {
+ header_ = null;
+ headerBuilder_ = null;
+ }
+
+ return this;
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
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+
+ onChanged();
+ return getHeaderFieldBuilder().getBuilder();
+ }
+ /**
+ * .cmvr.api.CommandHeader.Request header = 1;
+ */
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+ } else {
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+ /**
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+ getHeaderFieldBuilder() {
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+ Builder builder = newBuilder();
+ try {
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+ "\n%cmvr/api/humanoid_robot_command.proto\022" +
+ "\010cmvr.api\032\025cmvr/api/common.proto\"8\n\010Join" +
+ "tCmd\022\022\n\njoint_name\030\001 \001(\t\022\013\n\003rad\030\002 \001(\001\022\013\n" +
+ "\003vel\030\003 \001(\001\"M\n\006Pose3D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001" +
+ "(\001\022\t\n\001z\030\003 \001(\001\022\n\n\002rx\030\004 \001(\001\022\n\n\002ry\030\005 \001(\001\022\n\n" +
+ "\002rz\030\006 \001(\001\"\275\001\n\005MoveJ\032v\n\007Request\022/\n\006header" +
+ "\030\001 \001(\0132\037.cmvr.api.CommandHeader.Request\022" +
+ " \n\004cmds\030\002 \003(\0132\022.cmvr.api.JointCmd\022\013\n\003vel" +
+ "\030\003 \001(\001\022\013\n\003acc\030\004 \001(\001\032<\n\010Response\0220\n\006heade" +
+ "r\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedbac" +
+ "k\"\323\001\n\005MoveL\032\213\001\n\007Request\022/\n\006header\030\001 \001(\0132" +
+ "\037.cmvr.api.CommandHeader.Request\022\017\n\007ee_l" +
+ "ink\030\002 \001(\t\022$\n\ntargetPose\030\003 \001(\0132\020.cmvr.api" +
+ ".Pose3D\022\013\n\003vel\030\004 \001(\001\022\013\n\003acc\030\005 \001(\001\032<\n\010Res" +
+ "ponse\0220\n\006header\030\001 \001(\0132 .cmvr.api.Command" +
+ "Header.Feedback\"\342\001\n\006SpeedJ\032\231\001\n\007Request\022/" +
+ "\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
+ "Request\022\022\n\njoint_name\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001" +
+ "\022\013\n\003acc\030\004 \001(\001\022/\n\003dir\030\005 \001(\0162\".cmvr.api.Ro" +
+ "botJointIndexDirection\032<\n\010Response\0220\n\006he" +
+ "ader\030\001 \001(\0132 .cmvr.api.CommandHeader.Feed" +
+ "back\"\207\002\n\006SpeedL\032\276\001\n\007Request\022/\n\006header\030\001 " +
+ "\001(\0132\037.cmvr.api.CommandHeader.Request\022\017\n\007" +
+ "ee_link\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001\022\013\n\003acc\030\004 \001(\001\022" +
+ "/\n\003dir\030\005 \001(\0162\".cmvr.api.RobotJointIndexD" +
+ "irection\022&\n\004cart\030\006 \001(\0162\030.cmvr.api.RobotC" +
+ "artesian\032<\n\010Response\0220\n\006header\030\001 \001(\0132 .c" +
+ "mvr.api.CommandHeader.Feedback\"a\n\nJointS" +
+ "tate\022\014\n\004name\030\001 \003(\t\022\020\n\010position\030\002 \003(\001\022\020\n\010" +
+ "velocity\030\003 \003(\001\022\016\n\006effort\030\004 \003(\001\022\021\n\ttimest" +
+ "amp\030\005 \001(\001\"f\n\rJointResponse\0220\n\006header\030\001 \001" +
+ "(\0132 .cmvr.api.CommandHeader.Feedback\022#\n\005" +
+ "state\030\002 \003(\0132\024.cmvr.api.JointState\"?\n\014Joi" +
+ "ntRequest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Com" +
+ "mandHeader.Request*=\n\016RobotCartesian\022\005\n\001" +
+ "X\020\000\022\005\n\001Y\020\001\022\005\n\001Z\020\002\022\006\n\002RX\020\003\022\006\n\002RY\020\004\022\006\n\002RZ\020" +
+ "\005*\277\001\n\030RobotJointIndexDirection\022\013\n\007FORWAR" +
+ "D\020\000\022\014\n\010BACKWARD\020\001\022\016\n\nX_POSITIVE\020\002\022\016\n\nX_N" +
+ "EGATIVE\020\003\022\016\n\nY_POSITIVE\020\004\022\016\n\nY_NEGATIVE\020" +
+ "\005\022\016\n\nZ_POSITIVE\020\006\022\016\n\nZ_NEGATIVE\020\007\022\014\n\010ROT" +
+ "ATE_X\020\010\022\014\n\010ROTATE_Y\020\t\022\014\n\010ROTATE_Z\020\nb\006pro" +
+ "to3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ cmvr.api.Common.getDescriptor(),
+ });
+ internal_static_cmvr_api_JointCmd_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_cmvr_api_JointCmd_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_JointCmd_descriptor,
+ new java.lang.String[] { "JointName", "Rad", "Vel", });
+ internal_static_cmvr_api_Pose3D_descriptor =
+ getDescriptor().getMessageTypes().get(1);
+ internal_static_cmvr_api_Pose3D_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_Pose3D_descriptor,
+ new java.lang.String[] { "X", "Y", "Z", "Rx", "Ry", "Rz", });
+ internal_static_cmvr_api_MoveJ_descriptor =
+ getDescriptor().getMessageTypes().get(2);
+ internal_static_cmvr_api_MoveJ_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveJ_descriptor,
+ new java.lang.String[] { });
+ internal_static_cmvr_api_MoveJ_Request_descriptor =
+ internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(0);
+ internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveJ_Request_descriptor,
+ new java.lang.String[] { "Header", "Cmds", "Vel", "Acc", });
+ internal_static_cmvr_api_MoveJ_Response_descriptor =
+ internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(1);
+ internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveJ_Response_descriptor,
+ new java.lang.String[] { "Header", });
+ internal_static_cmvr_api_MoveL_descriptor =
+ getDescriptor().getMessageTypes().get(3);
+ internal_static_cmvr_api_MoveL_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveL_descriptor,
+ new java.lang.String[] { });
+ internal_static_cmvr_api_MoveL_Request_descriptor =
+ internal_static_cmvr_api_MoveL_descriptor.getNestedTypes().get(0);
+ internal_static_cmvr_api_MoveL_Request_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveL_Request_descriptor,
+ new java.lang.String[] { "Header", "EeLink", "TargetPose", "Vel", "Acc", });
+ internal_static_cmvr_api_MoveL_Response_descriptor =
+ internal_static_cmvr_api_MoveL_descriptor.getNestedTypes().get(1);
+ internal_static_cmvr_api_MoveL_Response_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_MoveL_Response_descriptor,
+ new java.lang.String[] { "Header", });
+ internal_static_cmvr_api_SpeedJ_descriptor =
+ getDescriptor().getMessageTypes().get(4);
+ internal_static_cmvr_api_SpeedJ_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedJ_descriptor,
+ new java.lang.String[] { });
+ internal_static_cmvr_api_SpeedJ_Request_descriptor =
+ internal_static_cmvr_api_SpeedJ_descriptor.getNestedTypes().get(0);
+ internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedJ_Request_descriptor,
+ new java.lang.String[] { "Header", "JointName", "Vel", "Acc", "Dir", });
+ internal_static_cmvr_api_SpeedJ_Response_descriptor =
+ internal_static_cmvr_api_SpeedJ_descriptor.getNestedTypes().get(1);
+ internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedJ_Response_descriptor,
+ new java.lang.String[] { "Header", });
+ internal_static_cmvr_api_SpeedL_descriptor =
+ getDescriptor().getMessageTypes().get(5);
+ internal_static_cmvr_api_SpeedL_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedL_descriptor,
+ new java.lang.String[] { });
+ internal_static_cmvr_api_SpeedL_Request_descriptor =
+ internal_static_cmvr_api_SpeedL_descriptor.getNestedTypes().get(0);
+ internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedL_Request_descriptor,
+ new java.lang.String[] { "Header", "EeLink", "Vel", "Acc", "Dir", "Cart", });
+ internal_static_cmvr_api_SpeedL_Response_descriptor =
+ internal_static_cmvr_api_SpeedL_descriptor.getNestedTypes().get(1);
+ internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_SpeedL_Response_descriptor,
+ new java.lang.String[] { "Header", });
+ internal_static_cmvr_api_JointState_descriptor =
+ getDescriptor().getMessageTypes().get(6);
+ internal_static_cmvr_api_JointState_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_JointState_descriptor,
+ new java.lang.String[] { "Name", "Position", "Velocity", "Effort", "Timestamp", });
+ internal_static_cmvr_api_JointResponse_descriptor =
+ getDescriptor().getMessageTypes().get(7);
+ internal_static_cmvr_api_JointResponse_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_JointResponse_descriptor,
+ new java.lang.String[] { "Header", "State", });
+ internal_static_cmvr_api_JointRequest_descriptor =
+ getDescriptor().getMessageTypes().get(8);
+ internal_static_cmvr_api_JointRequest_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+ internal_static_cmvr_api_JointRequest_descriptor,
+ new java.lang.String[] { "Header", });
+ cmvr.api.Common.getDescriptor();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java
index 3d82121..bb8fa80 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java
@@ -6,7 +6,7 @@ import static io.grpc.MethodDescriptor.generateFullMethodName;
*/
@javax.annotation.Generated(
value = "by gRPC proto compiler (version 1.52.0)",
- comments = "Source: cmvr/api/humanoid_robot.proto")
+ comments = "Source: cmvr/api/humanoid_robot_service.proto")
@io.grpc.stub.annotations.GrpcGenerated
public final class HumanoidRobotServiceGrpc {
@@ -77,29 +77,29 @@ public final class HumanoidRobotServiceGrpc {
return getTorqueOnMethod;
}
- private static volatile io.grpc.MethodDescriptor getMoveJMethod;
+ private static volatile io.grpc.MethodDescriptor getMoveJMethod;
@io.grpc.stub.annotations.RpcMethod(
fullMethodName = SERVICE_NAME + '/' + "moveJ",
- requestType = cmvr.api.HumanoidRobot.MoveJ.Request.class,
- responseType = cmvr.api.HumanoidRobot.MoveJ.Response.class,
+ requestType = cmvr.api.HumanoidRobotCommand.MoveJ.Request.class,
+ responseType = cmvr.api.HumanoidRobotCommand.MoveJ.Response.class,
methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getMoveJMethod() {
- io.grpc.MethodDescriptor getMoveJMethod;
+ public static io.grpc.MethodDescriptor getMoveJMethod() {
+ io.grpc.MethodDescriptor getMoveJMethod;
if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
synchronized (HumanoidRobotServiceGrpc.class) {
if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
- io.grpc.MethodDescriptor.newBuilder()
+ io.grpc.MethodDescriptor.newBuilder()
.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
.setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
.setSampledToLocalTracing(true)
.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobot.MoveJ.Request.getDefaultInstance()))
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()))
.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobot.MoveJ.Response.getDefaultInstance()))
+ cmvr.api.HumanoidRobotCommand.MoveJ.Response.getDefaultInstance()))
.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
.build();
}
@@ -108,6 +108,130 @@ public final class HumanoidRobotServiceGrpc {
return getMoveJMethod;
}
+ private static volatile io.grpc.MethodDescriptor getMoveLMethod;
+
+ @io.grpc.stub.annotations.RpcMethod(
+ fullMethodName = SERVICE_NAME + '/' + "moveL",
+ requestType = cmvr.api.HumanoidRobotCommand.MoveL.Request.class,
+ responseType = cmvr.api.HumanoidRobotCommand.MoveL.Response.class,
+ methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+ public static io.grpc.MethodDescriptor getMoveLMethod() {
+ io.grpc.MethodDescriptor getMoveLMethod;
+ if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
+ synchronized (HumanoidRobotServiceGrpc.class) {
+ if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
+ HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
+ io.grpc.MethodDescriptor.newBuilder()
+ .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+ .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveL"))
+ .setSampledToLocalTracing(true)
+ .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.MoveL.Request.getDefaultInstance()))
+ .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()))
+ .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveL"))
+ .build();
+ }
+ }
+ }
+ return getMoveLMethod;
+ }
+
+ private static volatile io.grpc.MethodDescriptor getSpeedJMethod;
+
+ @io.grpc.stub.annotations.RpcMethod(
+ fullMethodName = SERVICE_NAME + '/' + "speedJ",
+ requestType = cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class,
+ responseType = cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class,
+ methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+ public static io.grpc.MethodDescriptor getSpeedJMethod() {
+ io.grpc.MethodDescriptor getSpeedJMethod;
+ if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
+ synchronized (HumanoidRobotServiceGrpc.class) {
+ if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
+ HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
+ io.grpc.MethodDescriptor.newBuilder()
+ .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+ .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedJ"))
+ .setSampledToLocalTracing(true)
+ .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()))
+ .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()))
+ .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedJ"))
+ .build();
+ }
+ }
+ }
+ return getSpeedJMethod;
+ }
+
+ private static volatile io.grpc.MethodDescriptor getSpeedLMethod;
+
+ @io.grpc.stub.annotations.RpcMethod(
+ fullMethodName = SERVICE_NAME + '/' + "speedL",
+ requestType = cmvr.api.HumanoidRobotCommand.SpeedL.Request.class,
+ responseType = cmvr.api.HumanoidRobotCommand.SpeedL.Response.class,
+ methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+ public static io.grpc.MethodDescriptor getSpeedLMethod() {
+ io.grpc.MethodDescriptor getSpeedLMethod;
+ if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
+ synchronized (HumanoidRobotServiceGrpc.class) {
+ if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
+ HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
+ io.grpc.MethodDescriptor.newBuilder()
+ .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+ .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedL"))
+ .setSampledToLocalTracing(true)
+ .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()))
+ .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.SpeedL.Response.getDefaultInstance()))
+ .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedL"))
+ .build();
+ }
+ }
+ }
+ return getSpeedLMethod;
+ }
+
+ private static volatile io.grpc.MethodDescriptor getGetJointStateMethod;
+
+ @io.grpc.stub.annotations.RpcMethod(
+ fullMethodName = SERVICE_NAME + '/' + "getJointState",
+ requestType = cmvr.api.HumanoidRobotCommand.JointRequest.class,
+ responseType = cmvr.api.HumanoidRobotCommand.JointResponse.class,
+ methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+ public static io.grpc.MethodDescriptor getGetJointStateMethod() {
+ io.grpc.MethodDescriptor getGetJointStateMethod;
+ if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
+ synchronized (HumanoidRobotServiceGrpc.class) {
+ if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
+ HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
+ io.grpc.MethodDescriptor.newBuilder()
+ .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+ .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getJointState"))
+ .setSampledToLocalTracing(true)
+ .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.JointRequest.getDefaultInstance()))
+ .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+ cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()))
+ .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("getJointState"))
+ .build();
+ }
+ }
+ }
+ return getGetJointStateMethod;
+ }
+
/**
* Creates a new async stub that supports all call types for the service
*/
@@ -172,11 +296,39 @@ public final class HumanoidRobotServiceGrpc {
/**
*/
- public void moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
+ public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
}
+ /**
+ */
+ public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver);
+ }
+
+ /**
+ */
+ public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver);
+ }
+
+ /**
+ */
+ public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver);
+ }
+
+ /**
+ */
+ public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetJointStateMethod(), responseObserver);
+ }
+
@java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
.addMethod(
@@ -197,9 +349,37 @@ public final class HumanoidRobotServiceGrpc {
getMoveJMethod(),
io.grpc.stub.ServerCalls.asyncUnaryCall(
new MethodHandlers<
- cmvr.api.HumanoidRobot.MoveJ.Request,
- cmvr.api.HumanoidRobot.MoveJ.Response>(
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request,
+ cmvr.api.HumanoidRobotCommand.MoveJ.Response>(
this, METHODID_MOVE_J)))
+ .addMethod(
+ getMoveLMethod(),
+ io.grpc.stub.ServerCalls.asyncUnaryCall(
+ new MethodHandlers<
+ cmvr.api.HumanoidRobotCommand.MoveL.Request,
+ cmvr.api.HumanoidRobotCommand.MoveL.Response>(
+ this, METHODID_MOVE_L)))
+ .addMethod(
+ getSpeedJMethod(),
+ io.grpc.stub.ServerCalls.asyncUnaryCall(
+ new MethodHandlers<
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Response>(
+ this, METHODID_SPEED_J)))
+ .addMethod(
+ getSpeedLMethod(),
+ io.grpc.stub.ServerCalls.asyncUnaryCall(
+ new MethodHandlers<
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request,
+ cmvr.api.HumanoidRobotCommand.SpeedL.Response>(
+ this, METHODID_SPEED_L)))
+ .addMethod(
+ getGetJointStateMethod(),
+ io.grpc.stub.ServerCalls.asyncUnaryCall(
+ new MethodHandlers<
+ cmvr.api.HumanoidRobotCommand.JointRequest,
+ cmvr.api.HumanoidRobotCommand.JointResponse>(
+ this, METHODID_GET_JOINT_STATE)))
.build();
}
}
@@ -236,11 +416,43 @@ public final class HumanoidRobotServiceGrpc {
/**
*/
- public void moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
+ public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
io.grpc.stub.ClientCalls.asyncUnaryCall(
getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver);
}
+
+ /**
+ */
+ public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ClientCalls.asyncUnaryCall(
+ getChannel().newCall(getMoveLMethod(), getCallOptions()), request, responseObserver);
+ }
+
+ /**
+ */
+ public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ClientCalls.asyncUnaryCall(
+ getChannel().newCall(getSpeedJMethod(), getCallOptions()), request, responseObserver);
+ }
+
+ /**
+ */
+ public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ClientCalls.asyncUnaryCall(
+ getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver);
+ }
+
+ /**
+ */
+ public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
+ io.grpc.stub.StreamObserver responseObserver) {
+ io.grpc.stub.ClientCalls.asyncUnaryCall(
+ getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver);
+ }
}
/**
@@ -273,10 +485,38 @@ public final class HumanoidRobotServiceGrpc {
/**
*/
- public cmvr.api.HumanoidRobot.MoveJ.Response moveJ(cmvr.api.HumanoidRobot.MoveJ.Request request) {
+ public cmvr.api.HumanoidRobotCommand.MoveJ.Response moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
return io.grpc.stub.ClientCalls.blockingUnaryCall(
getChannel(), getMoveJMethod(), getCallOptions(), request);
}
+
+ /**
+ */
+ public cmvr.api.HumanoidRobotCommand.MoveL.Response moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
+ return io.grpc.stub.ClientCalls.blockingUnaryCall(
+ getChannel(), getMoveLMethod(), getCallOptions(), request);
+ }
+
+ /**
+ */
+ public cmvr.api.HumanoidRobotCommand.SpeedJ.Response speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
+ return io.grpc.stub.ClientCalls.blockingUnaryCall(
+ getChannel(), getSpeedJMethod(), getCallOptions(), request);
+ }
+
+ /**
+ */
+ public cmvr.api.HumanoidRobotCommand.SpeedL.Response speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
+ return io.grpc.stub.ClientCalls.blockingUnaryCall(
+ getChannel(), getSpeedLMethod(), getCallOptions(), request);
+ }
+
+ /**
+ */
+ public cmvr.api.HumanoidRobotCommand.JointResponse getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request) {
+ return io.grpc.stub.ClientCalls.blockingUnaryCall(
+ getChannel(), getGetJointStateMethod(), getCallOptions(), request);
+ }
}
/**
@@ -311,16 +551,52 @@ public final class HumanoidRobotServiceGrpc {
/**
*/
- public com.google.common.util.concurrent.ListenableFuture moveJ(
- cmvr.api.HumanoidRobot.MoveJ.Request request) {
+ public com.google.common.util.concurrent.ListenableFuture moveJ(
+ cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
return io.grpc.stub.ClientCalls.futureUnaryCall(
getChannel().newCall(getMoveJMethod(), getCallOptions()), request);
}
+
+ /**
+ */
+ public com.google.common.util.concurrent.ListenableFuture moveL(
+ cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
+ return io.grpc.stub.ClientCalls.futureUnaryCall(
+ getChannel().newCall(getMoveLMethod(), getCallOptions()), request);
+ }
+
+ /**
+ */
+ public com.google.common.util.concurrent.ListenableFuture speedJ(
+ cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
+ return io.grpc.stub.ClientCalls.futureUnaryCall(
+ getChannel().newCall(getSpeedJMethod(), getCallOptions()), request);
+ }
+
+ /**
+ */
+ public com.google.common.util.concurrent.ListenableFuture speedL(
+ cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
+ return io.grpc.stub.ClientCalls.futureUnaryCall(
+ getChannel().newCall(getSpeedLMethod(), getCallOptions()), request);
+ }
+
+ /**
+ */
+ public com.google.common.util.concurrent.ListenableFuture getJointState(
+ cmvr.api.HumanoidRobotCommand.JointRequest request) {
+ return io.grpc.stub.ClientCalls.futureUnaryCall(
+ getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request);
+ }
}
private static final int METHODID_TORQUE_OFF = 0;
private static final int METHODID_TORQUE_ON = 1;
private static final int METHODID_MOVE_J = 2;
+ private static final int METHODID_MOVE_L = 3;
+ private static final int METHODID_SPEED_J = 4;
+ private static final int METHODID_SPEED_L = 5;
+ private static final int METHODID_GET_JOINT_STATE = 6;
private static final class MethodHandlers implements
io.grpc.stub.ServerCalls.UnaryMethod,
@@ -348,8 +624,24 @@ public final class HumanoidRobotServiceGrpc {
(io.grpc.stub.StreamObserver) responseObserver);
break;
case METHODID_MOVE_J:
- serviceImpl.moveJ((cmvr.api.HumanoidRobot.MoveJ.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
+ serviceImpl.moveJ((cmvr.api.HumanoidRobotCommand.MoveJ.Request) request,
+ (io.grpc.stub.StreamObserver) responseObserver);
+ break;
+ case METHODID_MOVE_L:
+ serviceImpl.moveL((cmvr.api.HumanoidRobotCommand.MoveL.Request) request,
+ (io.grpc.stub.StreamObserver) responseObserver);
+ break;
+ case METHODID_SPEED_J:
+ serviceImpl.speedJ((cmvr.api.HumanoidRobotCommand.SpeedJ.Request) request,
+ (io.grpc.stub.StreamObserver) responseObserver);
+ break;
+ case METHODID_SPEED_L:
+ serviceImpl.speedL((cmvr.api.HumanoidRobotCommand.SpeedL.Request) request,
+ (io.grpc.stub.StreamObserver) responseObserver);
+ break;
+ case METHODID_GET_JOINT_STATE:
+ serviceImpl.getJointState((cmvr.api.HumanoidRobotCommand.JointRequest) request,
+ (io.grpc.stub.StreamObserver) responseObserver);
break;
default:
throw new AssertionError();
@@ -373,7 +665,7 @@ public final class HumanoidRobotServiceGrpc {
@java.lang.Override
public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
- return cmvr.api.HumanoidRobot.getDescriptor();
+ return cmvr.api.HumanoidRobotServiceOuterClass.getDescriptor();
}
@java.lang.Override
@@ -415,6 +707,10 @@ public final class HumanoidRobotServiceGrpc {
.addMethod(getTorqueOffMethod())
.addMethod(getTorqueOnMethod())
.addMethod(getMoveJMethod())
+ .addMethod(getMoveLMethod())
+ .addMethod(getSpeedJMethod())
+ .addMethod(getSpeedLMethod())
+ .addMethod(getGetJointStateMethod())
.build();
}
}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java
new file mode 100644
index 0000000..6624a21
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java
@@ -0,0 +1,54 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// source: cmvr/api/humanoid_robot_service.proto
+
+package cmvr.api;
+
+public final class HumanoidRobotServiceOuterClass {
+ private HumanoidRobotServiceOuterClass() {}
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n%cmvr/api/humanoid_robot_service.proto\022" +
+ "\010cmvr.api\032\025cmvr/api/common.proto\032%cmvr/a" +
+ "pi/humanoid_robot_command.proto2\355\003\n\024Huma" +
+ "noidRobotService\022N\n\ttorqueOff\022\037.cmvr.api" +
+ ".CommandHeader.Request\032 .cmvr.api.Comman" +
+ "dHeader.Feedback\022M\n\010torqueOn\022\037.cmvr.api." +
+ "CommandHeader.Request\032 .cmvr.api.Command" +
+ "Header.Feedback\022:\n\005moveJ\022\027.cmvr.api.Move" +
+ "J.Request\032\030.cmvr.api.MoveJ.Response\022:\n\005m" +
+ "oveL\022\027.cmvr.api.MoveL.Request\032\030.cmvr.api" +
+ ".MoveL.Response\022=\n\006speedJ\022\030.cmvr.api.Spe" +
+ "edJ.Request\032\031.cmvr.api.SpeedJ.Response\022=" +
+ "\n\006speedL\022\030.cmvr.api.SpeedL.Request\032\031.cmv" +
+ "r.api.SpeedL.Response\022@\n\rgetJointState\022\026" +
+ ".cmvr.api.JointRequest\032\027.cmvr.api.JointR" +
+ "esponseb\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ cmvr.api.Common.getDescriptor(),
+ cmvr.api.HumanoidRobotCommand.getDescriptor(),
+ });
+ cmvr.api.Common.getDescriptor();
+ cmvr.api.HumanoidRobotCommand.getDescriptor();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot.proto
deleted file mode 100644
index e922115..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot.proto
+++ /dev/null
@@ -1,32 +0,0 @@
-
-
-syntax = "proto3";
-package cmvr.api;
-import "cmvr/api/common.proto";
-
-message JointCmd {
- string joint_name = 1; // 关节名称
- double rad = 2; // 弧度
- double vel = 3; // 角速度，rad/s
-}
-
-
-message MoveJ{
- message Request{
- CommandHeader.Request header = 1;
- repeated JointCmd cmds = 2;
- double vel = 3;
- double acc = 4;
- }
-
- message Response{
- CommandHeader.Feedback header= 1;
- }
-
-}
-
-service HumanoidRobotService{
- rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
- rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
- rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
-}
\ No newline at end of file
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto
new file mode 100644
index 0000000..a9c909a
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto
@@ -0,0 +1,122 @@
+
+
+syntax = "proto3";
+package cmvr.api;
+import "cmvr/api/common.proto";
+
+message JointCmd {
+ string joint_name = 1; // 关节名称
+ double rad = 2; // 弧度
+ double vel = 3; // 角速度，rad/s
+}
+
+message Pose3D{
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double rx = 4;
+ double ry = 5;
+ double rz = 6;
+}
+
+enum RobotCartesian{
+ X = 0;
+ Y = 1;
+ Z = 2;
+ RX = 3;
+ RY = 4;
+ RZ = 5;
+} ;
+enum RobotJointIndexDirection{
+ FORWARD = 0;
+ BACKWARD = 1;
+ X_POSITIVE = 2; // X轴正向
+ X_NEGATIVE = 3; // X轴负向
+ Y_POSITIVE = 4; // Y轴正向
+ Y_NEGATIVE = 5; // Y轴负向
+ Z_POSITIVE = 6; // Z轴正向
+ Z_NEGATIVE = 7; // Z轴负向
+ ROTATE_X = 8; // 绕X轴旋转
+ ROTATE_Y = 9; // 绕Y轴旋转
+ ROTATE_Z = 10; // 绕Z轴旋转
+}
+message MoveJ{
+ message Request{
+ CommandHeader.Request header = 1;
+ repeated JointCmd cmds = 2;
+ double vel = 3;
+ double acc = 4;
+ }
+
+ message Response{
+ CommandHeader.Feedback header= 1;
+ }
+
+}
+
+message MoveL{
+
+ message Request{
+ CommandHeader.Request header = 1;
+ string ee_link = 2; //连杆名称
+ Pose3D targetPose = 3;
+ double vel = 4;
+ double acc = 5;
+ }
+
+ message Response{
+ CommandHeader.Feedback header= 1;
+ }
+
+}
+
+message SpeedJ{
+
+ message Request{
+ CommandHeader.Request header = 1;
+ string joint_name = 2;
+ double vel = 3;
+ double acc = 4;
+ RobotJointIndexDirection dir = 5;
+ }
+
+ message Response{
+ CommandHeader.Feedback header= 1;
+ }
+}
+
+message SpeedL{
+ message Request{
+ CommandHeader.Request header = 1;
+ string ee_link = 2;
+ double vel = 3;
+ double acc = 4;
+ RobotJointIndexDirection dir = 5;
+ RobotCartesian cart = 6;
+ }
+
+ message Response{
+ CommandHeader.Feedback header= 1;
+ }
+}
+
+// 关节状态消息
+message JointState {
+ repeated string name = 1; // 关节名称
+ repeated double position = 2; // 关节位置
+ repeated double velocity = 3; // 可选：关节速度
+ repeated double effort = 4; // 可选：关节力矩
+ double timestamp = 5; // 可选：时间戳
+}
+
+// 返回消息
+message JointResponse {
+ CommandHeader.Feedback header= 1;
+ repeated JointState state = 2;
+}
+
+// 请求消息（可选）
+message JointRequest {
+ CommandHeader.Request header = 1;
+}
+
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto
new file mode 100644
index 0000000..fafb672
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto
@@ -0,0 +1,16 @@
+
+
+syntax = "proto3";
+package cmvr.api;
+import "cmvr/api/common.proto";
+import "cmvr/api/humanoid_robot_command.proto";
+
+service HumanoidRobotService{
+ rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
+ rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+ rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
+ rpc moveL(MoveL.Request) returns (MoveL.Response);
+ rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
+ rpc speedL(SpeedL.Request) returns (SpeedL.Response);
+ rpc getJointState(JointRequest) returns (JointResponse);
+}