diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java new file mode 100644 index 0000000..9058d4b --- /dev/null +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java @@ -0,0 +1,222 @@ +package com.cmvr.web.controller.api; + +import cmvr.api.ArmCommand; +import cmvr.api.Common; +import com.cmvr.common.core.domain.AjaxResult; +import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.model.arm.*; +import com.cmvr.edge.client.service.EdgeArmService; +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.RestController; + +/** + * 边缘系统机械臂控制器 + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Api(tags = "边缘--机械臂") +@RestController +@RequestMapping("/api/arm") +@RequiredArgsConstructor +public class EdgeArmController { + + private final EdgeArmService edgeArmService; + + @ApiOperation("关闭力矩") + @GetMapping("/torqueOff") + public AjaxResult torqueOff(EdgeCommonVO vo) { + Common.CommandHeader.Feedback result = edgeArmService.torqueOff(vo); + return AjaxResult.ok(); + } + + @ApiOperation("开启力矩") + @GetMapping("/torqueOn") + public AjaxResult torqueOn(EdgeCommonVO vo) { + Common.CommandHeader.Feedback result = edgeArmService.torqueOn(vo); + return AjaxResult.ok(); + } + + @ApiOperation("关节空间运动") + @PostMapping("/moveJ") + public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) { + edgeArmService.moveJ( + moveJVO, + moveJVO.getTarget(), + moveJVO.getVelocity(), + moveJVO.getAcceleration(), + moveJVO.getBlendRadius(), + moveJVO.getJointVelocityLimits(), + moveJVO.getAsynchronous() + ); + return AjaxResult.ok(); + } + + @ApiOperation("笛卡尔空间直线运动") + @PostMapping("/moveL") + public AjaxResult moveL(@RequestBody EdgeArmMoveLVO moveLVO) { + edgeArmService.moveL( + moveLVO, + moveLVO.getX(), + moveLVO.getY(), + moveLVO.getZ(), + moveLVO.getRx(), + moveLVO.getRy(), + moveLVO.getRz(), + moveLVO.getFrame(), + moveLVO.getVelocity(), + moveLVO.getAcceleration(), + moveLVO.getBlendRadius() + ); + return AjaxResult.ok(); + } + + @ApiOperation("关节速度控制") + @PostMapping("/speedJ") + public AjaxResult speedJ(@RequestBody EdgeArmSpeedJVO speedJVO) { + edgeArmService.speedJ( + speedJVO, + speedJVO.getVelocities(), + speedJVO.getAcceleration(), + speedJVO.getDuration() + ); + return AjaxResult.ok(); + } + + @ApiOperation("笛卡尔速度控制") + @PostMapping("/speedL") + public AjaxResult speedL(@RequestBody EdgeArmSpeedLVO speedLVO) { + edgeArmService.speedL( + speedLVO, + speedLVO.getVx(), + speedLVO.getVy(), + speedLVO.getVz(), + speedLVO.getWx(), + speedLVO.getWy(), + speedLVO.getWz(), + speedLVO.getFrame(), + speedLVO.getAcceleration(), + speedLVO.getDuration() + ); + return AjaxResult.ok(); + } + + @ApiOperation("伺服关节控制") + @PostMapping("/servoJ") + public AjaxResult servoJ(@RequestBody EdgeArmServoJVO servoJVO) { + edgeArmService.servoJ(servoJVO, servoJVO.getTarget()); + return AjaxResult.ok(); + } + + @ApiOperation("停止运动") + @GetMapping("/stopMotion") + public AjaxResult stopMotion(EdgeCommonVO vo) { + edgeArmService.stopMotion(vo); + return AjaxResult.ok(); + } + + @ApiOperation("获取关节状态") + @GetMapping("/getJointState") + public AjaxResult getJointState(EdgeCommonVO vo) { + ArmCommand.JointResponse result = edgeArmService.getJointState(vo); + ArmCommand.JointState state = result.getState(); + + // 转换为VO + EdgeArmJointStateVO jointStateVO = new EdgeArmJointStateVO(); + jointStateVO.setName(state.getNameList()); + jointStateVO.setPosition(state.getPositionList()); + jointStateVO.setVelocity(state.getVelocityList()); + jointStateVO.setEffort(state.getEffortList()); + jointStateVO.setTimestamp(state.getTimestamp()); + + return AjaxResult.ok(jointStateVO); + } + + @ApiOperation("获取末端位姿") + @GetMapping("/getPose") + public AjaxResult getPose(EdgeCommonVO vo, String baseLink, String eeLink) { + ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, baseLink, eeLink); + ArmCommand.CartesianPose pose = result.getPose(); + + // 转换为VO + EdgeArmCartesianPoseVO poseVO = new EdgeArmCartesianPoseVO(); + poseVO.setX(pose.getX()); + poseVO.setY(pose.getY()); + poseVO.setZ(pose.getZ()); + poseVO.setRx(pose.getRx()); + poseVO.setRy(pose.getRy()); + poseVO.setRz(pose.getRz()); + + return AjaxResult.ok(poseVO); + } + + @ApiOperation("标定零点") + @GetMapping("/calibrateZeroQ") + public AjaxResult calibrateZeroQ(EdgeCommonVO vo, String jointName) { + edgeArmService.calibrateZeroQ(vo, jointName); + return AjaxResult.ok(); + } + + @ApiOperation("获取位姿矩阵") + @GetMapping("/getPoseMatrix") + public AjaxResult getPoseMatrix(EdgeCommonVO vo, String baseLink, String eeLink) { + ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, baseLink, eeLink); + // 将TransformMatrix4x4转换为Map + ArmCommand.TransformMatrix4x4 matrix = result.getMatrix(); + java.util.Map matrixMap = new java.util.HashMap<>(); + matrixMap.put("m00", matrix.getM00()); + matrixMap.put("m01", matrix.getM01()); + matrixMap.put("m02", matrix.getM02()); + matrixMap.put("m03", matrix.getM03()); + matrixMap.put("m10", matrix.getM10()); + matrixMap.put("m11", matrix.getM11()); + matrixMap.put("m12", matrix.getM12()); + matrixMap.put("m13", matrix.getM13()); + matrixMap.put("m20", matrix.getM20()); + matrixMap.put("m21", matrix.getM21()); + matrixMap.put("m22", matrix.getM22()); + matrixMap.put("m23", matrix.getM23()); + matrixMap.put("m30", matrix.getM30()); + matrixMap.put("m31", matrix.getM31()); + matrixMap.put("m32", matrix.getM32()); + matrixMap.put("m33", matrix.getM33()); + return AjaxResult.ok(matrixMap); + } + + @ApiOperation("计算正向运动学") + @PostMapping("/computeForwardKinematics") + public AjaxResult computeForwardKinematics(@RequestBody EdgeArmForwardKinematicsVO fkVO) { + ArmCommand.ComputeForwardKinematics.Response result = edgeArmService.computeForwardKinematics( + fkVO, + fkVO.getJoints(), + fkVO.getBaseLink(), + fkVO.getEeLink() + ); + // 将TransformMatrix4x4转换为Map + ArmCommand.TransformMatrix4x4 matrix = result.getMatrix(); + java.util.Map matrixMap = new java.util.HashMap<>(); + matrixMap.put("m00", matrix.getM00()); + matrixMap.put("m01", matrix.getM01()); + matrixMap.put("m02", matrix.getM02()); + matrixMap.put("m03", matrix.getM03()); + matrixMap.put("m10", matrix.getM10()); + matrixMap.put("m11", matrix.getM11()); + matrixMap.put("m12", matrix.getM12()); + matrixMap.put("m13", matrix.getM13()); + matrixMap.put("m20", matrix.getM20()); + matrixMap.put("m21", matrix.getM21()); + matrixMap.put("m22", matrix.getM22()); + matrixMap.put("m23", matrix.getM23()); + matrixMap.put("m30", matrix.getM30()); + matrixMap.put("m31", matrix.getM31()); + matrixMap.put("m32", matrix.getM32()); + matrixMap.put("m33", matrix.getM33()); + return AjaxResult.ok(matrixMap); + } +} 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 deleted file mode 100644 index 0353c06..0000000 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java +++ /dev/null @@ -1,55 +0,0 @@ -package com.cmvr.web.controller.api; - -import com.cmvr.common.core.domain.AjaxResult; -import com.cmvr.edge.client.model.EdgeCommonVO; -import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO; -import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO; -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.RestController; - -@Api(tags = "边缘--机械臂") -@RestController -@RequestMapping("/api/humanoid") -@RequiredArgsConstructor -public class EdgeHumanoidRobotController { - - private final EdgeHumanoidRobotService edgeHumanoidRobotService; - - @ApiOperation("moveJ") - @PostMapping("/moveJ") - public AjaxResult moveJ(@RequestBody EdgeMoveJVO moveJVO) { - return AjaxResult.ok(edgeHumanoidRobotService.moveJ(moveJVO)); - } - - @ApiOperation("speedJ") - @PostMapping("/speedJ") - public AjaxResult speedJ(@RequestBody EdgeSpeedJVO speedJVO) { - return AjaxResult.ok(edgeHumanoidRobotService.speedJ(speedJVO)); - } - - @ApiOperation("获取关节状态") - @GetMapping("/getJointState") - public AjaxResult status(EdgeCommonVO vo) { - return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo)); - } - - @ApiOperation("使能开") - @GetMapping("/torqueOn") - public AjaxResult torqueOn(EdgeCommonVO vo) { - return AjaxResult.ok(edgeHumanoidRobotService.torqueOn(vo)); - } - - @ApiOperation("使能关") - @GetMapping("/torqueOff") - public AjaxResult torqueOff(EdgeCommonVO vo) { - return AjaxResult.ok(edgeHumanoidRobotService.torqueOff(vo)); - } - -} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java index 6e28e0b..1111749 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java @@ -55,7 +55,7 @@ public class GrpcServiceManager { clientFactories.put(DexHandServiceGrpc.DexHandServiceBlockingStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newBlockingStub)); clientFactories.put(DexHandServiceGrpc.DexHandServiceStub.class, new GrpcClientFactory<>(DexHandServiceGrpc::newStub)); // 注册机械臂服务的stub - clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub)); + clientFactories.put(ArmServiceGrpc.ArmServiceBlockingStub.class, new GrpcClientFactory<>(ArmServiceGrpc::newBlockingStub)); clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub)); // 注册agv服务的stub clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub)); diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmCartesianPoseVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmCartesianPoseVO.java new file mode 100644 index 0000000..134adb2 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmCartesianPoseVO.java @@ -0,0 +1,34 @@ +package com.cmvr.edge.client.model.arm; + +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; + +/** + * 机械臂笛卡尔位姿VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@ApiModel("机械臂笛卡尔位姿") +public class EdgeArmCartesianPoseVO { + + @ApiModelProperty("X轴坐标（单位：米）") + private double x; + + @ApiModelProperty("Y轴坐标（单位：米）") + private double y; + + @ApiModelProperty("Z轴坐标（单位：米）") + private double z; + + @ApiModelProperty("RX旋转角度（单位：弧度）") + private double rx; + + @ApiModelProperty("RY旋转角度（单位：弧度）") + private double ry; + + @ApiModelProperty("RZ旋转角度（单位：弧度）") + private double rz; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmForwardKinematicsVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmForwardKinematicsVO.java new file mode 100644 index 0000000..59585a8 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmForwardKinematicsVO.java @@ -0,0 +1,28 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂正向运动学计算VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂正向运动学计算参数") +public class EdgeArmForwardKinematicsVO extends EdgeCommonVO { + + @ApiModelProperty(value = "关节位置数组（6个关节角度，单位：弧度）", required = true) + private double[] joints; + + @ApiModelProperty("基座连杆名称") + private String baseLink; + + @ApiModelProperty("末端执行器连杆名称") + private String eeLink; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmJointStateVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmJointStateVO.java new file mode 100644 index 0000000..966ae97 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmJointStateVO.java @@ -0,0 +1,33 @@ +package com.cmvr.edge.client.model.arm; + +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; + +import java.util.List; + +/** + * 机械臂关节状态VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@ApiModel("机械臂关节状态") +public class EdgeArmJointStateVO { + + @ApiModelProperty("关节名称列表") + private List name; + + @ApiModelProperty("关节位置列表（单位：弧度）") + private List position; + + @ApiModelProperty("关节速度列表（单位：rad/s）") + private List velocity; + + @ApiModelProperty("关节力矩列表") + private List effort; + + @ApiModelProperty("时间戳") + private double timestamp; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveJVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveJVO.java new file mode 100644 index 0000000..9997ec5 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveJVO.java @@ -0,0 +1,37 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂关节空间运动VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂关节空间运动参数") +public class EdgeArmMoveJVO extends EdgeCommonVO { + + @ApiModelProperty(value = "目标关节位置数组（6个关节角度，单位：弧度）", required = true) + private double[] target; + + @ApiModelProperty("运动速度（单位：m/s）") + private Double velocity; + + @ApiModelProperty("加速度（单位：m/s²）") + private Double acceleration; + + @ApiModelProperty("融合半径（单位：m）") + private Double blendRadius; + + @ApiModelProperty("关节速度限制数组") + private double[] jointVelocityLimits; + + @ApiModelProperty("是否异步执行") + private Boolean asynchronous; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveLVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveLVO.java new file mode 100644 index 0000000..943277c --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveLVO.java @@ -0,0 +1,49 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂笛卡尔空间直线运动VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂笛卡尔空间直线运动参数") +public class EdgeArmMoveLVO extends EdgeCommonVO { + + @ApiModelProperty(value = "X轴坐标（单位：米）", required = true) + private double x; + + @ApiModelProperty(value = "Y轴坐标（单位：米）", required = true) + private double y; + + @ApiModelProperty(value = "Z轴坐标（单位：米）", required = true) + private double z; + + @ApiModelProperty(value = "RX旋转角度（单位：弧度）", required = true) + private double rx; + + @ApiModelProperty(value = "RY旋转角度（单位：弧度）", required = true) + private double ry; + + @ApiModelProperty(value = "RZ旋转角度（单位：弧度）", required = true) + private double rz; + + @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）") + private String frame; + + @ApiModelProperty("运动速度（单位：m/s）") + private Double velocity; + + @ApiModelProperty("加速度（单位：m/s²）") + private Double acceleration; + + @ApiModelProperty("融合半径（单位：m）") + private Double blendRadius; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveToPointVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveToPointVO.java new file mode 100644 index 0000000..eae0ed8 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmMoveToPointVO.java @@ -0,0 +1,49 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂末端运动到指定点VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂末端运动到指定点参数") +public class EdgeArmMoveToPointVO extends EdgeCommonVO { + + @ApiModelProperty(value = "X轴坐标（单位：米）", required = true) + private double x; + + @ApiModelProperty(value = "Y轴坐标（单位：米）", required = true) + private double y; + + @ApiModelProperty(value = "Z轴坐标（单位：米）", required = true) + private double z; + + @ApiModelProperty(value = "RX旋转角度（单位：弧度）", required = true) + private double rx; + + @ApiModelProperty(value = "RY旋转角度（单位：弧度）", required = true) + private double ry; + + @ApiModelProperty(value = "RZ旋转角度（单位：弧度）", required = true) + private double rz; + + @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）") + private String frame; + + @ApiModelProperty("运动速度（单位：m/s）") + private Double velocity; + + @ApiModelProperty("加速度（单位：m/s²）") + private Double acceleration; + + @ApiModelProperty("融合半径（单位：m）") + private Double blendRadius; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmServoJVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmServoJVO.java new file mode 100644 index 0000000..2a7ee98 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmServoJVO.java @@ -0,0 +1,22 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂伺服关节控制VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂伺服关节控制参数") +public class EdgeArmServoJVO extends EdgeCommonVO { + + @ApiModelProperty(value = "目标关节位置数组（6个关节角度，单位：弧度）", required = true) + private double[] target; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedJVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedJVO.java new file mode 100644 index 0000000..41926eb --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedJVO.java @@ -0,0 +1,28 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂关节速度控制VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂关节速度控制参数") +public class EdgeArmSpeedJVO extends EdgeCommonVO { + + @ApiModelProperty(value = "关节速度数组（6个关节速度，单位：rad/s）", required = true) + private double[] velocities; + + @ApiModelProperty("加速度（单位：rad/s²）") + private Double acceleration; + + @ApiModelProperty("持续时间（单位：秒）") + private Double duration; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedLVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedLVO.java new file mode 100644 index 0000000..d05c7cb --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/arm/EdgeArmSpeedLVO.java @@ -0,0 +1,46 @@ +package com.cmvr.edge.client.model.arm; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +/** + * 机械臂笛卡尔速度控制VO + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机械臂笛卡尔速度控制参数") +public class EdgeArmSpeedLVO extends EdgeCommonVO { + + @ApiModelProperty(value = "X轴速度（单位：m/s）", required = true) + private double vx; + + @ApiModelProperty(value = "Y轴速度（单位：m/s）", required = true) + private double vy; + + @ApiModelProperty(value = "Z轴速度（单位：m/s）", required = true) + private double vz; + + @ApiModelProperty(value = "RX角速度（单位：rad/s）", required = true) + private double wx; + + @ApiModelProperty(value = "RY角速度（单位：rad/s）", required = true) + private double wy; + + @ApiModelProperty(value = "RZ角速度（单位：rad/s）", required = true) + private double wz; + + @ApiModelProperty("坐标系类型（BASE/TOOL/WORLD/USER）") + private String frame; + + @ApiModelProperty("加速度（单位：m/s²）") + private Double acceleration; + + @ApiModelProperty("持续时间（单位：秒）") + private Double duration; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java deleted file mode 100644 index c8d47e1..0000000 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/humanoid/EdgeSpeedJVO.java +++ /dev/null @@ -1,22 +0,0 @@ -package com.cmvr.edge.client.model.humanoid; - -import cmvr.api.HumanoidRobotCommand; -import com.cmvr.edge.client.model.EdgeCommonVO; -import lombok.Data; - -@Data -public class EdgeSpeedJVO extends EdgeCommonVO { - /** 关节角速度 (rad/s) */ - private double vel; - - /** 加速度 (rad/s^2) */ - private double acc; - - /** 关节名称 */ - private String jointName; - - /** - * 角度 - */ - private HumanoidRobotCommand.RobotJointIndexDirection dir; -} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java new file mode 100644 index 0000000..68409ff --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java @@ -0,0 +1,178 @@ +package com.cmvr.edge.client.service; + +import cmvr.api.ArmCommand; +import cmvr.api.Common; +import com.cmvr.edge.client.model.EdgeCommonVO; + +/** + * 边缘系统机械臂服务 + * + * @author cmvr-iot + * @since 2026-07-01 + */ +public interface EdgeArmService { + + /** + * 关闭力矩（命令码：torqueOff） + * 关闭机械臂的力矩控制，使机械臂进入自由拖动模式 + * + * @param edgeCommonVO 边缘通用参数 + * @return 操作结果 + */ + Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO); + + /** + * 开启力矩（命令码：torqueOn） + * 开启机械臂的力矩控制，使机械臂进入受控状态 + * + * @param edgeCommonVO 边缘通用参数 + * @return 操作结果 + */ + Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO); + + /** + * 关节空间运动（命令码：moveJ） + * 控制机械臂通过关节空间插值运动到目标关节位置 + * + * @param edgeCommonVO 边缘通用参数 + * @param target 目标关节位置数组（6个关节角度，单位：弧度） + * @param velocity 运动速度（单位：m/s，可选） + * @param acceleration 加速度（单位：m/s²，可选） + * @param blendRadius 融合半径（单位：m，可选） + * @param jointVelocityLimits 关节速度限制数组（可选） + * @param asynchronous 是否异步执行（可选） + * @return 运动结果 + */ + ArmCommand.MoveJ.Response moveJ(EdgeCommonVO edgeCommonVO, double[] target, Double velocity, + Double acceleration, Double blendRadius, + double[] jointVelocityLimits, Boolean asynchronous); + + /** + * 笛卡尔空间直线运动（命令码：moveL） + * 控制机械臂在笛卡尔空间中沿直线运动到目标位姿 + * + * @param edgeCommonVO 边缘通用参数 + * @param x X轴坐标（单位：米） + * @param y Y轴坐标（单位：米） + * @param z Z轴坐标（单位：米） + * @param rx RX旋转角度（单位：弧度） + * @param ry RY旋转角度（单位：弧度） + * @param rz RZ旋转角度（单位：弧度） + * @param frame 坐标系类型（BASE/TOOL/WORLD/USER） + * @param velocity 运动速度（单位：m/s，可选） + * @param acceleration 加速度（单位：m/s²，可选） + * @param blendRadius 融合半径（单位：m，可选） + * @return 运动结果 + */ + ArmCommand.MoveL.Response moveL(EdgeCommonVO edgeCommonVO, double x, double y, double z, + double rx, double ry, double rz, String frame, + Double velocity, Double acceleration, Double blendRadius); + + /** + * 关节速度控制（命令码：speedJ） + * 控制机械臂各关节以指定速度运动 + * + * @param edgeCommonVO 边缘通用参数 + * @param velocities 关节速度数组（6个关节速度，单位：rad/s） + * @param acceleration 加速度（单位：rad/s²，可选） + * @param duration 持续时间（单位：秒，可选） + * @return 控制结果 + */ + ArmCommand.SpeedJ.Response speedJ(EdgeCommonVO edgeCommonVO, double[] velocities, + Double acceleration, Double duration); + + /** + * 笛卡尔速度控制（命令码：speedL） + * 控制机械臂末端以指定笛卡尔速度运动 + * + * @param edgeCommonVO 边缘通用参数 + * @param vx X轴速度（单位：m/s） + * @param vy Y轴速度（单位：m/s） + * @param vz Z轴速度（单位：m/s） + * @param wx RX角速度（单位：rad/s） + * @param wy RY角速度（单位：rad/s） + * @param wz RZ角速度（单位：rad/s） + * @param frame 坐标系类型（BASE/TOOL/WORLD/USER） + * @param acceleration 加速度（单位：m/s²，可选） + * @param duration 持续时间（单位：秒，可选） + * @return 控制结果 + */ + ArmCommand.SpeedL.Response speedL(EdgeCommonVO edgeCommonVO, double vx, double vy, double vz, + double wx, double wy, double wz, String frame, + Double acceleration, Double duration); + + /** + * 伺服关节控制（命令码：servoJ） + * 实时控制机械臂关节位置，用于高频控制场景 + * + * @param edgeCommonVO 边缘通用参数 + * @param target 目标关节位置数组（6个关节角度，单位：弧度） + * @return 控制结果 + */ + ArmCommand.ServoJ.Response servoJ(EdgeCommonVO edgeCommonVO, double[] target); + + /** + * 停止运动（命令码：stopMotion） + * 立即停止机械臂当前正在执行的所有运动 + * + * @param edgeCommonVO 边缘通用参数 + * @return 停止结果 + */ + Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO); + + /** + * 获取关节状态（命令码：getJointState） + * 获取机械臂当前各关节的位置、速度和力矩信息 + * + * @param edgeCommonVO 边缘通用参数 + * @return 关节状态信息 + */ + ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO); + + /** + * 获取末端位姿（命令码：getPose） + * 获取机械臂末端执行器相对于基座的笛卡尔位姿 + * + * @param edgeCommonVO 边缘通用参数 + * @param baseLink 基座连杆名称（可选，默认为base） + * @param eeLink 末端执行器连杆名称（可选，默认为tool0） + * @return 末端位姿信息 + */ + ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink); + + /** + * 标定零点（命令码：calibrateZeroQ） + * 对指定关节进行零点标定 + * + * @param edgeCommonVO 边缘通用参数 + * @param jointName 关节名称（可选，为空则标定所有关节） + * @return 标定结果 + */ + ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName); + + /** + * 获取位姿矩阵（命令码：getPoseMatrix） + * 获取机械臂末端执行器相对于基座的4x4变换矩阵 + * + * @param edgeCommonVO 边缘通用参数 + * @param baseLink 基座连杆名称（可选，默认为base） + * @param eeLink 末端执行器连杆名称（可选，默认为tool0） + * @return 位姿矩阵信息 + */ + ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink); + + /** + * 计算正向运动学（命令码：computeForwardKinematics） + * 根据给定的关节位置计算末端执行器的位姿矩阵 + * + * @param edgeCommonVO 边缘通用参数 + * @param joints 关节位置数组（6个关节角度，单位：弧度） + * @param baseLink 基座连杆名称（可选，默认为base） + * @param eeLink 末端执行器连杆名称（可选，默认为tool0） + * @return 正向运动学计算结果（4x4变换矩阵） + */ + ArmCommand.ComputeForwardKinematics.Response computeForwardKinematics(EdgeCommonVO edgeCommonVO, + double[] joints, + String baseLink, + String eeLink); +} 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 deleted file mode 100644 index c8c1847..0000000 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java +++ /dev/null @@ -1,35 +0,0 @@ -package com.cmvr.edge.client.service; - -import com.cmvr.edge.client.model.EdgeCommonVO; -import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO; -import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO; - -/** - * 边缘系统机械臂服务 - */ -public interface EdgeHumanoidRobotService { - /** - * 移动机械臂 - */ - public String moveJ(EdgeMoveJVO vo); - - /** - * 获取关节状态 - */ - public String getJointState(EdgeCommonVO vo); - - /** - * 旋转关节 - */ - public String speedJ(EdgeSpeedJVO vo); - - /** - * 使能开 - */ - public String torqueOn(EdgeCommonVO vo); - - /** - * 使能关 - */ - public String torqueOff(EdgeCommonVO vo); -} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java new file mode 100644 index 0000000..417ff23 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java @@ -0,0 +1,369 @@ +package com.cmvr.edge.client.service.impl; + +import cmvr.api.ArmCommand; +import cmvr.api.ArmServiceGrpc; +import cmvr.api.Common; +import cn.hutool.core.util.StrUtil; +import com.cmvr.common.exception.GlobalException; +import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.service.EdgeArmService; +import com.cmvr.edge.client.utils.EdgeCommonUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import java.util.Arrays; + +/** + * 机械臂服务实现类 + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Slf4j +@Service +@RequiredArgsConstructor +public class EdgeArmServiceImpl implements EdgeArmService { + + private final GrpcServiceManager grpcServiceManager; + + @Override + public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); + return executeGrpcCall(() -> stub.torqueOff(request)); + } + + @Override + public Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); + return executeGrpcCall(() -> stub.torqueOn(request)); + } + + @Override + public ArmCommand.MoveJ.Response moveJ(EdgeCommonVO edgeCommonVO, double[] target, Double velocity, + Double acceleration, Double blendRadius, + double[] jointVelocityLimits, Boolean asynchronous) { + if (target == null || target.length == 0) { + throw new GlobalException("目标关节位置不能为空"); + } + + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建关节位置命令 + ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder() + .addAllPosition(Arrays.asList( + Arrays.stream(target).boxed().toArray(Double[]::new) + )) + .build(); + + // 构建运动选项 + ArmCommand.MotionOptions.Builder optionsBuilder = ArmCommand.MotionOptions.newBuilder(); + if (velocity != null) { + optionsBuilder.setVelocity(velocity); + } + if (acceleration != null) { + optionsBuilder.setAcceleration(acceleration); + } + if (blendRadius != null) { + optionsBuilder.setBlendRadius(blendRadius); + } + if (jointVelocityLimits != null && jointVelocityLimits.length > 0) { + optionsBuilder.addAllJointVelocityLimits(Arrays.asList( + Arrays.stream(jointVelocityLimits).boxed().toArray(Double[]::new) + )); + } + if (asynchronous != null) { + optionsBuilder.setAsynchronous(asynchronous); + } + + ArmCommand.MoveJ.Request request = ArmCommand.MoveJ.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setTarget(targetCommand) + .setOptions(optionsBuilder.build()) + .build(); + + return executeGrpcCall(() -> stub.moveJ(request)); + } + + @Override + public ArmCommand.MoveL.Response moveL(EdgeCommonVO edgeCommonVO, double x, double y, double z, + double rx, double ry, double rz, String frame, + Double velocity, Double acceleration, Double blendRadius) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建笛卡尔位姿 + ArmCommand.CartesianPose targetPose = ArmCommand.CartesianPose.newBuilder() + .setX(x) + .setY(y) + .setZ(z) + .setRx(rx) + .setRy(ry) + .setRz(rz) + .build(); + + // 构建运动选项 + ArmCommand.MotionOptions.Builder optionsBuilder = ArmCommand.MotionOptions.newBuilder(); + if (velocity != null) { + optionsBuilder.setVelocity(velocity); + } + if (acceleration != null) { + optionsBuilder.setAcceleration(acceleration); + } + if (blendRadius != null) { + optionsBuilder.setBlendRadius(blendRadius); + } + + // 确定坐标系类型 + ArmCommand.ArmFrameType frameType = parseFrameType(frame); + + ArmCommand.MoveL.Request request = ArmCommand.MoveL.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setTarget(targetPose) + .setOptions(optionsBuilder.build()) + .setFrame(frameType) + .build(); + + return executeGrpcCall(() -> stub.moveL(request)); + } + + @Override + public ArmCommand.SpeedJ.Response speedJ(EdgeCommonVO edgeCommonVO, double[] velocities, + Double acceleration, Double duration) { + if (velocities == null || velocities.length == 0) { + throw new GlobalException("关节速度数组不能为空"); + } + + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建关节速度命令 + ArmCommand.JointVelocityCommand velocityCommand = ArmCommand.JointVelocityCommand.newBuilder() + .addAllVelocity(Arrays.asList( + Arrays.stream(velocities).boxed().toArray(Double[]::new) + )) + .build(); + + ArmCommand.SpeedJ.Request.Builder requestBuilder = ArmCommand.SpeedJ.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setVelocity(velocityCommand); + + if (acceleration != null) { + requestBuilder.setAcceleration(acceleration); + } + if (duration != null) { + requestBuilder.setDuration(duration); + } + + return executeGrpcCall(() -> stub.speedJ(requestBuilder.build())); + } + + @Override + public ArmCommand.SpeedL.Response speedL(EdgeCommonVO edgeCommonVO, double vx, double vy, double vz, + double wx, double wy, double wz, String frame, + Double acceleration, Double duration) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建笛卡尔速度 + ArmCommand.CartesianVelocity velocity = ArmCommand.CartesianVelocity.newBuilder() + .setVx(vx) + .setVy(vy) + .setVz(vz) + .setWx(wx) + .setWy(wy) + .setWz(wz) + .build(); + + ArmCommand.SpeedL.Request.Builder requestBuilder = ArmCommand.SpeedL.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setVelocity(velocity); + + if (acceleration != null) { + requestBuilder.setAcceleration(acceleration); + } + if (duration != null) { + requestBuilder.setDuration(duration); + } + + // 确定坐标系类型 + ArmCommand.ArmFrameType frameType = parseFrameType(frame); + requestBuilder.setFrame(frameType); + + return executeGrpcCall(() -> stub.speedL(requestBuilder.build())); + } + + @Override + public ArmCommand.ServoJ.Response servoJ(EdgeCommonVO edgeCommonVO, double[] target) { + if (target == null || target.length == 0) { + throw new GlobalException("目标关节位置不能为空"); + } + + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建关节位置命令 + ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder() + .addAllPosition(Arrays.asList( + Arrays.stream(target).boxed().toArray(Double[]::new) + )) + .build(); + + ArmCommand.ServoJ.Request request = ArmCommand.ServoJ.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setTarget(targetCommand) + .build(); + + return executeGrpcCall(() -> stub.servoJ(request)); + } + + @Override + public Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); + return executeGrpcCall(() -> stub.stopMotion(request)); + } + + @Override + public ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + ArmCommand.JointRequest request = ArmCommand.JointRequest.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .build(); + return executeGrpcCall(() -> stub.getJointState(request)); + } + + @Override + public ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + ArmCommand.GetPose.Request.Builder requestBuilder = ArmCommand.GetPose.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); + + if (StrUtil.isNotBlank(baseLink)) { + requestBuilder.setBaseLink(baseLink); + } + if (StrUtil.isNotBlank(eeLink)) { + requestBuilder.setEeLink(eeLink); + } + + return executeGrpcCall(() -> stub.getPose(requestBuilder.build())); + } + + @Override + public ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + ArmCommand.CalibrateZeroQ.Request.Builder requestBuilder = ArmCommand.CalibrateZeroQ.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); + + if (StrUtil.isNotBlank(jointName)) { + requestBuilder.setJointName(jointName); + } + + return executeGrpcCall(() -> stub.calibrateZeroQ(requestBuilder.build())); + } + + @Override + public ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) { + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + ArmCommand.GetPoseMatrix.Request.Builder requestBuilder = ArmCommand.GetPoseMatrix.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); + + if (StrUtil.isNotBlank(baseLink)) { + requestBuilder.setBaseLink(baseLink); + } + if (StrUtil.isNotBlank(eeLink)) { + requestBuilder.setEeLink(eeLink); + } + + return executeGrpcCall(() -> stub.getPoseMatrix(requestBuilder.build())); + } + + @Override + public ArmCommand.ComputeForwardKinematics.Response computeForwardKinematics(EdgeCommonVO edgeCommonVO, + double[] joints, + String baseLink, + String eeLink) { + if (joints == null || joints.length == 0) { + throw new GlobalException("关节位置数组不能为空"); + } + + ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + + // 构建关节位置命令 + ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder() + .addAllPosition(Arrays.asList( + Arrays.stream(joints).boxed().toArray(Double[]::new) + )) + .build(); + + ArmCommand.ComputeForwardKinematics.Request.Builder requestBuilder = ArmCommand.ComputeForwardKinematics.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .setJoints(jointsCommand); + + if (StrUtil.isNotBlank(baseLink)) { + requestBuilder.setBaseLink(baseLink); + } + if (StrUtil.isNotBlank(eeLink)) { + requestBuilder.setEeLink(eeLink); + } + + return executeGrpcCall(() -> stub.computeForwardKinematics(requestBuilder.build())); + } + + /** + * 解析坐标系类型 + * + * @param frame 坐标系字符串 + * @return 坐标系枚举 + */ + private ArmCommand.ArmFrameType parseFrameType(String frame) { + if (StrUtil.isBlank(frame)) { + return ArmCommand.ArmFrameType.ARM_FRAME_BASE; + } + + switch (frame.toUpperCase()) { + case "BASE": + return ArmCommand.ArmFrameType.ARM_FRAME_BASE; + case "TOOL": + return ArmCommand.ArmFrameType.ARM_FRAME_TOOL; + case "WORLD": + return ArmCommand.ArmFrameType.ARM_FRAME_WORLD; + case "USER": + return ArmCommand.ArmFrameType.ARM_FRAME_USER; + default: + log.warn("未知的坐标系类型: {}, 使用默认值 BASE", frame); + return ArmCommand.ArmFrameType.ARM_FRAME_BASE; + } + } + + /** + * 执行gRPC调用并处理异常 + * + * @param call gRPC调用 + * @param 返回类型 + * @return 调用结果 + */ + private T executeGrpcCall(java.util.function.Supplier call) { + try { + return call.get(); + } catch (Exception e) { + log.error("机械臂 gRPC调用失败", e); + throw new GlobalException("机械臂通信失败: " + e.getMessage()); + } + } +} 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 deleted file mode 100644 index 36d6d92..0000000 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java +++ /dev/null @@ -1,102 +0,0 @@ -package com.cmvr.edge.client.service.impl; - -import cmvr.api.Common; -import cmvr.api.HumanoidRobotCommand; -import cmvr.api.HumanoidRobotServiceGrpc; -import com.alibaba.fastjson2.JSON; -import com.cmvr.edge.client.manage.GrpcServiceManager; -import com.cmvr.edge.client.model.EdgeCommonVO; -import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO; -import com.cmvr.edge.client.model.humanoid.EdgeSpeedJVO; -import com.cmvr.edge.client.service.EdgeHumanoidRobotService; -import com.cmvr.edge.client.utils.EdgeCommonUtil; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Service; - -@Slf4j -@Service -@RequiredArgsConstructor -public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService { - - private final GrpcServiceManager grpcServiceManager; - - @Override - public String moveJ(EdgeMoveJVO vo) { - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub = - grpcServiceManager.getGrpcClient(vo.getTerminalId(), - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class); - - Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId()); - - 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(HumanoidRobotCommand.JointCmd.newBuilder() - .setJointName(j.getJointName()) - .setRad(j.getRad()) - .setVel(j.getVel()) - .build()); - } - } - -// log.info("movej start time={}", System.currentTimeMillis()); - - HumanoidRobotCommand.MoveJ.Response response = stub.moveJ(builder.build()); -// log.info("movej success time={}", System.currentTimeMillis()); - return JSON.toJSONString(response.getHeader()); - } - - @Override - public String getJointState(EdgeCommonVO vo) { - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub = - grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class); - - Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId()); - HumanoidRobotCommand.JointRequest build = HumanoidRobotCommand.JointRequest.newBuilder() - .setHeader(header) - .build(); - HumanoidRobotCommand.JointResponse response = stub.getJointState(build); - return JSON.toJSONString(response.getStateList()); - } - - @Override - public String speedJ(EdgeSpeedJVO vo) { - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub = - grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class); - - Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId()); - HumanoidRobotCommand.SpeedJ.Request request = HumanoidRobotCommand.SpeedJ.Request.newBuilder() - .setHeader(header) - .setAcc(vo.getAcc()) - .setVel(vo.getVel()) - .setDir(vo.getDir()) - .build(); - HumanoidRobotCommand.SpeedJ.Response response = stub.speedJ(request); - return JSON.toJSONString(response.getHeader()); - } - - @Override - public String torqueOn(EdgeCommonVO vo) { - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub = - grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class); - - Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId()); - Common.CommandHeader.Feedback response = stub.torqueOn(header); - return JSON.toJSONString(response); - } - - @Override - public String torqueOff(EdgeCommonVO vo) { - HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub = - grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class); - - Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId()); - Common.CommandHeader.Feedback response = stub.torqueOff(header); - return JSON.toJSONString(response); - } -} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmCommand.java new file mode 100644 index 0000000..30ffecc --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmCommand.java @@ -0,0 +1,26645 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: cmvr/api/arm_command.proto + +package cmvr.api; + +public final class ArmCommand { + private ArmCommand() {} + 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.ArmFrameType} + */ + public enum ArmFrameType + implements com.google.protobuf.ProtocolMessageEnum { + /** + * ARM_FRAME_BASE = 0; + */ + ARM_FRAME_BASE(0), + /** + * ARM_FRAME_TOOL = 1; + */ + ARM_FRAME_TOOL(1), + /** + * ARM_FRAME_WORLD = 2; + */ + ARM_FRAME_WORLD(2), + /** + * ARM_FRAME_USER = 3; + */ + ARM_FRAME_USER(3), + UNRECOGNIZED(-1), + ; + + /** + * ARM_FRAME_BASE = 0; + */ + public static final int ARM_FRAME_BASE_VALUE = 0; + /** + * ARM_FRAME_TOOL = 1; + */ + public static final int ARM_FRAME_TOOL_VALUE = 1; + /** + * ARM_FRAME_WORLD = 2; + */ + public static final int ARM_FRAME_WORLD_VALUE = 2; + /** + * ARM_FRAME_USER = 3; + */ + public static final int ARM_FRAME_USER_VALUE = 3; + + + 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 ArmFrameType 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 ArmFrameType forNumber(int value) { + switch (value) { + case 0: return ARM_FRAME_BASE; + case 1: return ARM_FRAME_TOOL; + case 2: return ARM_FRAME_WORLD; + case 3: return ARM_FRAME_USER; + default: return null; + } + } + + public static com.google.protobuf.Internal.EnumLiteMap + internalGetValueMap() { + return internalValueMap; + } + private static final com.google.protobuf.Internal.EnumLiteMap< + ArmFrameType> internalValueMap = + new com.google.protobuf.Internal.EnumLiteMap() { + public ArmFrameType findValueByNumber(int number) { + return ArmFrameType.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.ArmCommand.getDescriptor().getEnumTypes().get(0); + } + + private static final ArmFrameType[] VALUES = values(); + + public static ArmFrameType 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 ArmFrameType(int value) { + this.value = value; + } + + // @@protoc_insertion_point(enum_scope:cmvr.api.ArmFrameType) + } + + public interface JointPositionCommandOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.JointPositionCommand) + com.google.protobuf.MessageOrBuilder { + + /** + * repeated double position = 1; + * @return A list containing the position. + */ + java.util.List getPositionList(); + /** + * repeated double position = 1; + * @return The count of position. + */ + int getPositionCount(); + /** + * repeated double position = 1; + * @param index The index of the element to return. + * @return The position at the given index. + */ + double getPosition(int index); + } + /** + * Protobuf type {@code cmvr.api.JointPositionCommand} + */ + public static final class JointPositionCommand extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.JointPositionCommand) + JointPositionCommandOrBuilder { + private static final long serialVersionUID = 0L; + // Use JointPositionCommand.newBuilder() to construct. + private JointPositionCommand(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private JointPositionCommand() { + position_ = emptyDoubleList(); + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new JointPositionCommand(); + } + + @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.ArmCommand.internal_static_cmvr_api_JointPositionCommand_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointPositionCommand_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointPositionCommand.class, cmvr.api.ArmCommand.JointPositionCommand.Builder.class); + } + + public static final int POSITION_FIELD_NUMBER = 1; + private com.google.protobuf.Internal.DoubleList position_; + /** + * repeated double position = 1; + * @return A list containing the position. + */ + @java.lang.Override + public java.util.List + getPositionList() { + return position_; + } + /** + * repeated double position = 1; + * @return The count of position. + */ + public int getPositionCount() { + return position_.size(); + } + /** + * repeated double position = 1; + * @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; + + 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 { + getSerializedSize(); + if (getPositionList().size() > 0) { + output.writeUInt32NoTag(10); + output.writeUInt32NoTag(positionMemoizedSerializedSize); + } + for (int i = 0; i < position_.size(); i++) { + output.writeDoubleNoTag(position_.getDouble(i)); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + { + int dataSize = 0; + dataSize = 8 * getPositionList().size(); + size += dataSize; + if (!getPositionList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + positionMemoizedSerializedSize = dataSize; + } + 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.ArmCommand.JointPositionCommand)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.JointPositionCommand other = (cmvr.api.ArmCommand.JointPositionCommand) obj; + + if (!getPositionList() + .equals(other.getPositionList())) 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 (getPositionCount() > 0) { + hash = (37 * hash) + POSITION_FIELD_NUMBER; + hash = (53 * hash) + getPositionList().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.JointPositionCommand parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointPositionCommand parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointPositionCommand parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointPositionCommand 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.ArmCommand.JointPositionCommand parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointPositionCommand parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointPositionCommand parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointPositionCommand 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.ArmCommand.JointPositionCommand parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointPositionCommand 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.ArmCommand.JointPositionCommand parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointPositionCommand 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.ArmCommand.JointPositionCommand 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.JointPositionCommand} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.JointPositionCommand) + cmvr.api.ArmCommand.JointPositionCommandOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointPositionCommand_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointPositionCommand_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointPositionCommand.class, cmvr.api.ArmCommand.JointPositionCommand.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.JointPositionCommand.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + position_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointPositionCommand_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand getDefaultInstanceForType() { + return cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand build() { + cmvr.api.ArmCommand.JointPositionCommand result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand buildPartial() { + cmvr.api.ArmCommand.JointPositionCommand result = new cmvr.api.ArmCommand.JointPositionCommand(this); + int from_bitField0_ = bitField0_; + if (((bitField0_ & 0x00000001) != 0)) { + position_.makeImmutable(); + bitField0_ = (bitField0_ & ~0x00000001); + } + result.position_ = position_; + 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.ArmCommand.JointPositionCommand) { + return mergeFrom((cmvr.api.ArmCommand.JointPositionCommand)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.JointPositionCommand other) { + if (other == cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance()) return this; + if (!other.position_.isEmpty()) { + if (position_.isEmpty()) { + position_ = other.position_; + bitField0_ = (bitField0_ & ~0x00000001); + } else { + ensurePositionIsMutable(); + position_.addAll(other.position_); + } + onChanged(); + } + 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: { + double v = input.readDouble(); + ensurePositionIsMutable(); + position_.addDouble(v); + break; + } // case 9 + case 10: { + int length = input.readRawVarint32(); + int limit = input.pushLimit(length); + ensurePositionIsMutable(); + while (input.getBytesUntilLimit() > 0) { + position_.addDouble(input.readDouble()); + } + input.popLimit(limit); + 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 int bitField0_; + + private com.google.protobuf.Internal.DoubleList position_ = emptyDoubleList(); + private void ensurePositionIsMutable() { + if (!((bitField0_ & 0x00000001) != 0)) { + position_ = mutableCopy(position_); + bitField0_ |= 0x00000001; + } + } + /** + * repeated double position = 1; + * @return A list containing the position. + */ + public java.util.List + getPositionList() { + return ((bitField0_ & 0x00000001) != 0) ? + java.util.Collections.unmodifiableList(position_) : position_; + } + /** + * repeated double position = 1; + * @return The count of position. + */ + public int getPositionCount() { + return position_.size(); + } + /** + * repeated double position = 1; + * @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); + } + /** + * repeated double position = 1; + * @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; + } + /** + * repeated double position = 1; + * @param value The position to add. + * @return This builder for chaining. + */ + public Builder addPosition(double value) { + ensurePositionIsMutable(); + position_.addDouble(value); + onChanged(); + return this; + } + /** + * repeated double position = 1; + * @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; + } + /** + * repeated double position = 1; + * @return This builder for chaining. + */ + public Builder clearPosition() { + position_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + 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.JointPositionCommand) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.JointPositionCommand) + private static final cmvr.api.ArmCommand.JointPositionCommand DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.JointPositionCommand(); + } + + public static cmvr.api.ArmCommand.JointPositionCommand getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public JointPositionCommand 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.ArmCommand.JointPositionCommand getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface JointVelocityCommandOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.JointVelocityCommand) + com.google.protobuf.MessageOrBuilder { + + /** + * repeated double velocity = 1; + * @return A list containing the velocity. + */ + java.util.List getVelocityList(); + /** + * repeated double velocity = 1; + * @return The count of velocity. + */ + int getVelocityCount(); + /** + * repeated double velocity = 1; + * @param index The index of the element to return. + * @return The velocity at the given index. + */ + double getVelocity(int index); + } + /** + * Protobuf type {@code cmvr.api.JointVelocityCommand} + */ + public static final class JointVelocityCommand extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.JointVelocityCommand) + JointVelocityCommandOrBuilder { + private static final long serialVersionUID = 0L; + // Use JointVelocityCommand.newBuilder() to construct. + private JointVelocityCommand(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private JointVelocityCommand() { + velocity_ = emptyDoubleList(); + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new JointVelocityCommand(); + } + + @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.ArmCommand.internal_static_cmvr_api_JointVelocityCommand_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointVelocityCommand_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointVelocityCommand.class, cmvr.api.ArmCommand.JointVelocityCommand.Builder.class); + } + + public static final int VELOCITY_FIELD_NUMBER = 1; + private com.google.protobuf.Internal.DoubleList velocity_; + /** + * repeated double velocity = 1; + * @return A list containing the velocity. + */ + @java.lang.Override + public java.util.List + getVelocityList() { + return velocity_; + } + /** + * repeated double velocity = 1; + * @return The count of velocity. + */ + public int getVelocityCount() { + return velocity_.size(); + } + /** + * repeated double velocity = 1; + * @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; + + 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 { + getSerializedSize(); + if (getVelocityList().size() > 0) { + output.writeUInt32NoTag(10); + output.writeUInt32NoTag(velocityMemoizedSerializedSize); + } + for (int i = 0; i < velocity_.size(); i++) { + output.writeDoubleNoTag(velocity_.getDouble(i)); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + { + int dataSize = 0; + dataSize = 8 * getVelocityList().size(); + size += dataSize; + if (!getVelocityList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + velocityMemoizedSerializedSize = dataSize; + } + 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.ArmCommand.JointVelocityCommand)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.JointVelocityCommand other = (cmvr.api.ArmCommand.JointVelocityCommand) obj; + + if (!getVelocityList() + .equals(other.getVelocityList())) 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 (getVelocityCount() > 0) { + hash = (37 * hash) + VELOCITY_FIELD_NUMBER; + hash = (53 * hash) + getVelocityList().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.JointVelocityCommand parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointVelocityCommand parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointVelocityCommand parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointVelocityCommand 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.ArmCommand.JointVelocityCommand parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointVelocityCommand parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointVelocityCommand parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointVelocityCommand 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.ArmCommand.JointVelocityCommand parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointVelocityCommand 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.ArmCommand.JointVelocityCommand parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointVelocityCommand 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.ArmCommand.JointVelocityCommand 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.JointVelocityCommand} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.JointVelocityCommand) + cmvr.api.ArmCommand.JointVelocityCommandOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointVelocityCommand_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointVelocityCommand_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointVelocityCommand.class, cmvr.api.ArmCommand.JointVelocityCommand.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.JointVelocityCommand.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + velocity_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointVelocityCommand_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointVelocityCommand getDefaultInstanceForType() { + return cmvr.api.ArmCommand.JointVelocityCommand.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointVelocityCommand build() { + cmvr.api.ArmCommand.JointVelocityCommand result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointVelocityCommand buildPartial() { + cmvr.api.ArmCommand.JointVelocityCommand result = new cmvr.api.ArmCommand.JointVelocityCommand(this); + int from_bitField0_ = bitField0_; + if (((bitField0_ & 0x00000001) != 0)) { + velocity_.makeImmutable(); + bitField0_ = (bitField0_ & ~0x00000001); + } + result.velocity_ = velocity_; + 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.ArmCommand.JointVelocityCommand) { + return mergeFrom((cmvr.api.ArmCommand.JointVelocityCommand)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.JointVelocityCommand other) { + if (other == cmvr.api.ArmCommand.JointVelocityCommand.getDefaultInstance()) return this; + if (!other.velocity_.isEmpty()) { + if (velocity_.isEmpty()) { + velocity_ = other.velocity_; + bitField0_ = (bitField0_ & ~0x00000001); + } else { + ensureVelocityIsMutable(); + velocity_.addAll(other.velocity_); + } + onChanged(); + } + 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: { + double v = input.readDouble(); + ensureVelocityIsMutable(); + velocity_.addDouble(v); + break; + } // case 9 + case 10: { + int length = input.readRawVarint32(); + int limit = input.pushLimit(length); + ensureVelocityIsMutable(); + while (input.getBytesUntilLimit() > 0) { + velocity_.addDouble(input.readDouble()); + } + input.popLimit(limit); + 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 int bitField0_; + + private com.google.protobuf.Internal.DoubleList velocity_ = emptyDoubleList(); + private void ensureVelocityIsMutable() { + if (!((bitField0_ & 0x00000001) != 0)) { + velocity_ = mutableCopy(velocity_); + bitField0_ |= 0x00000001; + } + } + /** + * repeated double velocity = 1; + * @return A list containing the velocity. + */ + public java.util.List + getVelocityList() { + return ((bitField0_ & 0x00000001) != 0) ? + java.util.Collections.unmodifiableList(velocity_) : velocity_; + } + /** + * repeated double velocity = 1; + * @return The count of velocity. + */ + public int getVelocityCount() { + return velocity_.size(); + } + /** + * repeated double velocity = 1; + * @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); + } + /** + * repeated double velocity = 1; + * @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; + } + /** + * repeated double velocity = 1; + * @param value The velocity to add. + * @return This builder for chaining. + */ + public Builder addVelocity(double value) { + ensureVelocityIsMutable(); + velocity_.addDouble(value); + onChanged(); + return this; + } + /** + * repeated double velocity = 1; + * @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; + } + /** + * repeated double velocity = 1; + * @return This builder for chaining. + */ + public Builder clearVelocity() { + velocity_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + 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.JointVelocityCommand) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.JointVelocityCommand) + private static final cmvr.api.ArmCommand.JointVelocityCommand DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.JointVelocityCommand(); + } + + public static cmvr.api.ArmCommand.JointVelocityCommand getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public JointVelocityCommand 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.ArmCommand.JointVelocityCommand getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface MotionOptionsOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.MotionOptions) + com.google.protobuf.MessageOrBuilder { + + /** + * double velocity = 1; + * @return The velocity. + */ + double getVelocity(); + + /** + * double acceleration = 2; + * @return The acceleration. + */ + double getAcceleration(); + + /** + * double blend_radius = 3; + * @return The blendRadius. + */ + double getBlendRadius(); + + /** + * double jerk = 4; + * @return The jerk. + */ + double getJerk(); + + /** + * repeated double joint_velocity_limits = 5; + * @return A list containing the jointVelocityLimits. + */ + java.util.List getJointVelocityLimitsList(); + /** + * repeated double joint_velocity_limits = 5; + * @return The count of jointVelocityLimits. + */ + int getJointVelocityLimitsCount(); + /** + * repeated double joint_velocity_limits = 5; + * @param index The index of the element to return. + * @return The jointVelocityLimits at the given index. + */ + double getJointVelocityLimits(int index); + + /** + * bool asynchronous = 6; + * @return The asynchronous. + */ + boolean getAsynchronous(); + } + /** + * Protobuf type {@code cmvr.api.MotionOptions} + */ + public static final class MotionOptions extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.MotionOptions) + MotionOptionsOrBuilder { + private static final long serialVersionUID = 0L; + // Use MotionOptions.newBuilder() to construct. + private MotionOptions(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private MotionOptions() { + jointVelocityLimits_ = emptyDoubleList(); + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new MotionOptions(); + } + + @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.ArmCommand.internal_static_cmvr_api_MotionOptions_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MotionOptions_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MotionOptions.class, cmvr.api.ArmCommand.MotionOptions.Builder.class); + } + + public static final int VELOCITY_FIELD_NUMBER = 1; + private double velocity_; + /** + * double velocity = 1; + * @return The velocity. + */ + @java.lang.Override + public double getVelocity() { + return velocity_; + } + + public static final int ACCELERATION_FIELD_NUMBER = 2; + private double acceleration_; + /** + * double acceleration = 2; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + + public static final int BLEND_RADIUS_FIELD_NUMBER = 3; + private double blendRadius_; + /** + * double blend_radius = 3; + * @return The blendRadius. + */ + @java.lang.Override + public double getBlendRadius() { + return blendRadius_; + } + + public static final int JERK_FIELD_NUMBER = 4; + private double jerk_; + /** + * double jerk = 4; + * @return The jerk. + */ + @java.lang.Override + public double getJerk() { + return jerk_; + } + + public static final int JOINT_VELOCITY_LIMITS_FIELD_NUMBER = 5; + private com.google.protobuf.Internal.DoubleList jointVelocityLimits_; + /** + * repeated double joint_velocity_limits = 5; + * @return A list containing the jointVelocityLimits. + */ + @java.lang.Override + public java.util.List + getJointVelocityLimitsList() { + return jointVelocityLimits_; + } + /** + * repeated double joint_velocity_limits = 5; + * @return The count of jointVelocityLimits. + */ + public int getJointVelocityLimitsCount() { + return jointVelocityLimits_.size(); + } + /** + * repeated double joint_velocity_limits = 5; + * @param index The index of the element to return. + * @return The jointVelocityLimits at the given index. + */ + public double getJointVelocityLimits(int index) { + return jointVelocityLimits_.getDouble(index); + } + private int jointVelocityLimitsMemoizedSerializedSize = -1; + + public static final int ASYNCHRONOUS_FIELD_NUMBER = 6; + private boolean asynchronous_; + /** + * bool asynchronous = 6; + * @return The asynchronous. + */ + @java.lang.Override + public boolean getAsynchronous() { + return asynchronous_; + } + + 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 { + getSerializedSize(); + if (java.lang.Double.doubleToRawLongBits(velocity_) != 0) { + output.writeDouble(1, velocity_); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + output.writeDouble(2, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(blendRadius_) != 0) { + output.writeDouble(3, blendRadius_); + } + if (java.lang.Double.doubleToRawLongBits(jerk_) != 0) { + output.writeDouble(4, jerk_); + } + if (getJointVelocityLimitsList().size() > 0) { + output.writeUInt32NoTag(42); + output.writeUInt32NoTag(jointVelocityLimitsMemoizedSerializedSize); + } + for (int i = 0; i < jointVelocityLimits_.size(); i++) { + output.writeDoubleNoTag(jointVelocityLimits_.getDouble(i)); + } + if (asynchronous_ != false) { + output.writeBool(6, asynchronous_); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + if (java.lang.Double.doubleToRawLongBits(velocity_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(1, velocity_); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(2, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(blendRadius_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, blendRadius_); + } + if (java.lang.Double.doubleToRawLongBits(jerk_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, jerk_); + } + { + int dataSize = 0; + dataSize = 8 * getJointVelocityLimitsList().size(); + size += dataSize; + if (!getJointVelocityLimitsList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + jointVelocityLimitsMemoizedSerializedSize = dataSize; + } + if (asynchronous_ != false) { + size += com.google.protobuf.CodedOutputStream + .computeBoolSize(6, asynchronous_); + } + 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.ArmCommand.MotionOptions)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MotionOptions other = (cmvr.api.ArmCommand.MotionOptions) obj; + + if (java.lang.Double.doubleToLongBits(getVelocity()) + != java.lang.Double.doubleToLongBits( + other.getVelocity())) return false; + if (java.lang.Double.doubleToLongBits(getAcceleration()) + != java.lang.Double.doubleToLongBits( + other.getAcceleration())) return false; + if (java.lang.Double.doubleToLongBits(getBlendRadius()) + != java.lang.Double.doubleToLongBits( + other.getBlendRadius())) return false; + if (java.lang.Double.doubleToLongBits(getJerk()) + != java.lang.Double.doubleToLongBits( + other.getJerk())) return false; + if (!getJointVelocityLimitsList() + .equals(other.getJointVelocityLimitsList())) return false; + if (getAsynchronous() + != other.getAsynchronous()) 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) + VELOCITY_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getVelocity())); + hash = (37 * hash) + ACCELERATION_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getAcceleration())); + hash = (37 * hash) + BLEND_RADIUS_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getBlendRadius())); + hash = (37 * hash) + JERK_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getJerk())); + if (getJointVelocityLimitsCount() > 0) { + hash = (37 * hash) + JOINT_VELOCITY_LIMITS_FIELD_NUMBER; + hash = (53 * hash) + getJointVelocityLimitsList().hashCode(); + } + hash = (37 * hash) + ASYNCHRONOUS_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean( + getAsynchronous()); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.MotionOptions parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MotionOptions parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MotionOptions parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MotionOptions 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.ArmCommand.MotionOptions parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MotionOptions parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MotionOptions parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MotionOptions 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.ArmCommand.MotionOptions parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MotionOptions 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.ArmCommand.MotionOptions parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MotionOptions 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.ArmCommand.MotionOptions 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.MotionOptions} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.MotionOptions) + cmvr.api.ArmCommand.MotionOptionsOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MotionOptions_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MotionOptions_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MotionOptions.class, cmvr.api.ArmCommand.MotionOptions.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.MotionOptions.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + velocity_ = 0D; + + acceleration_ = 0D; + + blendRadius_ = 0D; + + jerk_ = 0D; + + jointVelocityLimits_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + asynchronous_ = false; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MotionOptions_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptions getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MotionOptions.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptions build() { + cmvr.api.ArmCommand.MotionOptions result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptions buildPartial() { + cmvr.api.ArmCommand.MotionOptions result = new cmvr.api.ArmCommand.MotionOptions(this); + int from_bitField0_ = bitField0_; + result.velocity_ = velocity_; + result.acceleration_ = acceleration_; + result.blendRadius_ = blendRadius_; + result.jerk_ = jerk_; + if (((bitField0_ & 0x00000001) != 0)) { + jointVelocityLimits_.makeImmutable(); + bitField0_ = (bitField0_ & ~0x00000001); + } + result.jointVelocityLimits_ = jointVelocityLimits_; + result.asynchronous_ = asynchronous_; + 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.ArmCommand.MotionOptions) { + return mergeFrom((cmvr.api.ArmCommand.MotionOptions)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MotionOptions other) { + if (other == cmvr.api.ArmCommand.MotionOptions.getDefaultInstance()) return this; + if (other.getVelocity() != 0D) { + setVelocity(other.getVelocity()); + } + if (other.getAcceleration() != 0D) { + setAcceleration(other.getAcceleration()); + } + if (other.getBlendRadius() != 0D) { + setBlendRadius(other.getBlendRadius()); + } + if (other.getJerk() != 0D) { + setJerk(other.getJerk()); + } + if (!other.jointVelocityLimits_.isEmpty()) { + if (jointVelocityLimits_.isEmpty()) { + jointVelocityLimits_ = other.jointVelocityLimits_; + bitField0_ = (bitField0_ & ~0x00000001); + } else { + ensureJointVelocityLimitsIsMutable(); + jointVelocityLimits_.addAll(other.jointVelocityLimits_); + } + onChanged(); + } + if (other.getAsynchronous() != false) { + setAsynchronous(other.getAsynchronous()); + } + 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: { + velocity_ = input.readDouble(); + + break; + } // case 9 + case 17: { + acceleration_ = input.readDouble(); + + break; + } // case 17 + case 25: { + blendRadius_ = input.readDouble(); + + break; + } // case 25 + case 33: { + jerk_ = input.readDouble(); + + break; + } // case 33 + case 41: { + double v = input.readDouble(); + ensureJointVelocityLimitsIsMutable(); + jointVelocityLimits_.addDouble(v); + break; + } // case 41 + case 42: { + int length = input.readRawVarint32(); + int limit = input.pushLimit(length); + ensureJointVelocityLimitsIsMutable(); + while (input.getBytesUntilLimit() > 0) { + jointVelocityLimits_.addDouble(input.readDouble()); + } + input.popLimit(limit); + break; + } // case 42 + case 48: { + asynchronous_ = input.readBool(); + + 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 int bitField0_; + + private double velocity_ ; + /** + * double velocity = 1; + * @return The velocity. + */ + @java.lang.Override + public double getVelocity() { + return velocity_; + } + /** + * double velocity = 1; + * @param value The velocity to set. + * @return This builder for chaining. + */ + public Builder setVelocity(double value) { + + velocity_ = value; + onChanged(); + return this; + } + /** + * double velocity = 1; + * @return This builder for chaining. + */ + public Builder clearVelocity() { + + velocity_ = 0D; + onChanged(); + return this; + } + + private double acceleration_ ; + /** + * double acceleration = 2; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + /** + * double acceleration = 2; + * @param value The acceleration to set. + * @return This builder for chaining. + */ + public Builder setAcceleration(double value) { + + acceleration_ = value; + onChanged(); + return this; + } + /** + * double acceleration = 2; + * @return This builder for chaining. + */ + public Builder clearAcceleration() { + + acceleration_ = 0D; + onChanged(); + return this; + } + + private double blendRadius_ ; + /** + * double blend_radius = 3; + * @return The blendRadius. + */ + @java.lang.Override + public double getBlendRadius() { + return blendRadius_; + } + /** + * double blend_radius = 3; + * @param value The blendRadius to set. + * @return This builder for chaining. + */ + public Builder setBlendRadius(double value) { + + blendRadius_ = value; + onChanged(); + return this; + } + /** + * double blend_radius = 3; + * @return This builder for chaining. + */ + public Builder clearBlendRadius() { + + blendRadius_ = 0D; + onChanged(); + return this; + } + + private double jerk_ ; + /** + * double jerk = 4; + * @return The jerk. + */ + @java.lang.Override + public double getJerk() { + return jerk_; + } + /** + * double jerk = 4; + * @param value The jerk to set. + * @return This builder for chaining. + */ + public Builder setJerk(double value) { + + jerk_ = value; + onChanged(); + return this; + } + /** + * double jerk = 4; + * @return This builder for chaining. + */ + public Builder clearJerk() { + + jerk_ = 0D; + onChanged(); + return this; + } + + private com.google.protobuf.Internal.DoubleList jointVelocityLimits_ = emptyDoubleList(); + private void ensureJointVelocityLimitsIsMutable() { + if (!((bitField0_ & 0x00000001) != 0)) { + jointVelocityLimits_ = mutableCopy(jointVelocityLimits_); + bitField0_ |= 0x00000001; + } + } + /** + * repeated double joint_velocity_limits = 5; + * @return A list containing the jointVelocityLimits. + */ + public java.util.List + getJointVelocityLimitsList() { + return ((bitField0_ & 0x00000001) != 0) ? + java.util.Collections.unmodifiableList(jointVelocityLimits_) : jointVelocityLimits_; + } + /** + * repeated double joint_velocity_limits = 5; + * @return The count of jointVelocityLimits. + */ + public int getJointVelocityLimitsCount() { + return jointVelocityLimits_.size(); + } + /** + * repeated double joint_velocity_limits = 5; + * @param index The index of the element to return. + * @return The jointVelocityLimits at the given index. + */ + public double getJointVelocityLimits(int index) { + return jointVelocityLimits_.getDouble(index); + } + /** + * repeated double joint_velocity_limits = 5; + * @param index The index to set the value at. + * @param value The jointVelocityLimits to set. + * @return This builder for chaining. + */ + public Builder setJointVelocityLimits( + int index, double value) { + ensureJointVelocityLimitsIsMutable(); + jointVelocityLimits_.setDouble(index, value); + onChanged(); + return this; + } + /** + * repeated double joint_velocity_limits = 5; + * @param value The jointVelocityLimits to add. + * @return This builder for chaining. + */ + public Builder addJointVelocityLimits(double value) { + ensureJointVelocityLimitsIsMutable(); + jointVelocityLimits_.addDouble(value); + onChanged(); + return this; + } + /** + * repeated double joint_velocity_limits = 5; + * @param values The jointVelocityLimits to add. + * @return This builder for chaining. + */ + public Builder addAllJointVelocityLimits( + java.lang.Iterable values) { + ensureJointVelocityLimitsIsMutable(); + com.google.protobuf.AbstractMessageLite.Builder.addAll( + values, jointVelocityLimits_); + onChanged(); + return this; + } + /** + * repeated double joint_velocity_limits = 5; + * @return This builder for chaining. + */ + public Builder clearJointVelocityLimits() { + jointVelocityLimits_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000001); + onChanged(); + return this; + } + + private boolean asynchronous_ ; + /** + * bool asynchronous = 6; + * @return The asynchronous. + */ + @java.lang.Override + public boolean getAsynchronous() { + return asynchronous_; + } + /** + * bool asynchronous = 6; + * @param value The asynchronous to set. + * @return This builder for chaining. + */ + public Builder setAsynchronous(boolean value) { + + asynchronous_ = value; + onChanged(); + return this; + } + /** + * bool asynchronous = 6; + * @return This builder for chaining. + */ + public Builder clearAsynchronous() { + + asynchronous_ = false; + 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.MotionOptions) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.MotionOptions) + private static final cmvr.api.ArmCommand.MotionOptions DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MotionOptions(); + } + + public static cmvr.api.ArmCommand.MotionOptions getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public MotionOptions 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.ArmCommand.MotionOptions getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface CartesianPoseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.CartesianPose) + com.google.protobuf.MessageOrBuilder { + + /** + * double x = 1; + * @return The x. + */ + double getX(); + + /** + * double y = 2; + * @return The y. + */ + double getY(); + + /** + * double z = 3; + * @return The z. + */ + double getZ(); + + /** + * double rx = 4; + * @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.CartesianPose} + */ + public static final class CartesianPose extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.CartesianPose) + CartesianPoseOrBuilder { + private static final long serialVersionUID = 0L; + // Use CartesianPose.newBuilder() to construct. + private CartesianPose(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private CartesianPose() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new CartesianPose(); + } + + @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.ArmCommand.internal_static_cmvr_api_CartesianPose_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianPose_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CartesianPose.class, cmvr.api.ArmCommand.CartesianPose.Builder.class); + } + + public static final int X_FIELD_NUMBER = 1; + private double x_; + /** + * double x = 1; + * @return The x. + */ + @java.lang.Override + public double getX() { + return x_; + } + + public static final int Y_FIELD_NUMBER = 2; + private double y_; + /** + * double y = 2; + * @return The y. + */ + @java.lang.Override + public double getY() { + return y_; + } + + public static final int Z_FIELD_NUMBER = 3; + private double z_; + /** + * double z = 3; + * @return The z. + */ + @java.lang.Override + public double getZ() { + return z_; + } + + public static final int RX_FIELD_NUMBER = 4; + private double rx_; + /** + * double rx = 4; + * @return The rx. + */ + @java.lang.Override + public double getRx() { + return rx_; + } + + public static final int RY_FIELD_NUMBER = 5; + private double ry_; + /** + * double ry = 5; + * @return The ry. + */ + @java.lang.Override + public double getRy() { + return ry_; + } + + public static final int RZ_FIELD_NUMBER = 6; + private double rz_; + /** + * double rz = 6; + * @return The rz. + */ + @java.lang.Override + public double getRz() { + return rz_; + } + + 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 (java.lang.Double.doubleToRawLongBits(x_) != 0) { + output.writeDouble(1, x_); + } + if (java.lang.Double.doubleToRawLongBits(y_) != 0) { + output.writeDouble(2, y_); + } + if (java.lang.Double.doubleToRawLongBits(z_) != 0) { + output.writeDouble(3, z_); + } + if (java.lang.Double.doubleToRawLongBits(rx_) != 0) { + output.writeDouble(4, rx_); + } + if (java.lang.Double.doubleToRawLongBits(ry_) != 0) { + output.writeDouble(5, ry_); + } + if (java.lang.Double.doubleToRawLongBits(rz_) != 0) { + output.writeDouble(6, rz_); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + if (java.lang.Double.doubleToRawLongBits(x_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(1, x_); + } + if (java.lang.Double.doubleToRawLongBits(y_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(2, y_); + } + if (java.lang.Double.doubleToRawLongBits(z_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, z_); + } + if (java.lang.Double.doubleToRawLongBits(rx_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, rx_); + } + if (java.lang.Double.doubleToRawLongBits(ry_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(5, ry_); + } + if (java.lang.Double.doubleToRawLongBits(rz_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(6, rz_); + } + 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.ArmCommand.CartesianPose)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.CartesianPose other = (cmvr.api.ArmCommand.CartesianPose) obj; + + 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( + other.getZ())) return false; + if (java.lang.Double.doubleToLongBits(getRx()) + != java.lang.Double.doubleToLongBits( + other.getRx())) return false; + if (java.lang.Double.doubleToLongBits(getRy()) + != java.lang.Double.doubleToLongBits( + other.getRy())) return false; + if (java.lang.Double.doubleToLongBits(getRz()) + != java.lang.Double.doubleToLongBits( + other.getRz())) 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) + X_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getX())); + hash = (37 * hash) + Y_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getY())); + hash = (37 * hash) + Z_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getZ())); + hash = (37 * hash) + RX_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getRx())); + hash = (37 * hash) + RY_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getRy())); + hash = (37 * hash) + RZ_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getRz())); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.CartesianPose parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianPose parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CartesianPose parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianPose 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.ArmCommand.CartesianPose parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianPose parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CartesianPose parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianPose 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.ArmCommand.CartesianPose parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianPose 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.ArmCommand.CartesianPose parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianPose 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.ArmCommand.CartesianPose 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.CartesianPose} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.CartesianPose) + cmvr.api.ArmCommand.CartesianPoseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianPose_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianPose_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CartesianPose.class, cmvr.api.ArmCommand.CartesianPose.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.CartesianPose.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + x_ = 0D; + + y_ = 0D; + + z_ = 0D; + + rx_ = 0D; + + ry_ = 0D; + + rz_ = 0D; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianPose_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPose getDefaultInstanceForType() { + return cmvr.api.ArmCommand.CartesianPose.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPose build() { + cmvr.api.ArmCommand.CartesianPose result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPose buildPartial() { + cmvr.api.ArmCommand.CartesianPose result = new cmvr.api.ArmCommand.CartesianPose(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.ArmCommand.CartesianPose) { + return mergeFrom((cmvr.api.ArmCommand.CartesianPose)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.CartesianPose other) { + if (other == cmvr.api.ArmCommand.CartesianPose.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.CartesianPose) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.CartesianPose) + private static final cmvr.api.ArmCommand.CartesianPose DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.CartesianPose(); + } + + public static cmvr.api.ArmCommand.CartesianPose getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public CartesianPose 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.ArmCommand.CartesianPose getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface CartesianVelocityOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.CartesianVelocity) + com.google.protobuf.MessageOrBuilder { + + /** + * double vx = 1; + * @return The vx. + */ + double getVx(); + + /** + * double vy = 2; + * @return The vy. + */ + double getVy(); + + /** + * double vz = 3; + * @return The vz. + */ + double getVz(); + + /** + * double wx = 4; + * @return The wx. + */ + double getWx(); + + /** + * double wy = 5; + * @return The wy. + */ + double getWy(); + + /** + * double wz = 6; + * @return The wz. + */ + double getWz(); + } + /** + * Protobuf type {@code cmvr.api.CartesianVelocity} + */ + public static final class CartesianVelocity extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.CartesianVelocity) + CartesianVelocityOrBuilder { + private static final long serialVersionUID = 0L; + // Use CartesianVelocity.newBuilder() to construct. + private CartesianVelocity(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private CartesianVelocity() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new CartesianVelocity(); + } + + @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.ArmCommand.internal_static_cmvr_api_CartesianVelocity_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianVelocity_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CartesianVelocity.class, cmvr.api.ArmCommand.CartesianVelocity.Builder.class); + } + + public static final int VX_FIELD_NUMBER = 1; + private double vx_; + /** + * double vx = 1; + * @return The vx. + */ + @java.lang.Override + public double getVx() { + return vx_; + } + + public static final int VY_FIELD_NUMBER = 2; + private double vy_; + /** + * double vy = 2; + * @return The vy. + */ + @java.lang.Override + public double getVy() { + return vy_; + } + + public static final int VZ_FIELD_NUMBER = 3; + private double vz_; + /** + * double vz = 3; + * @return The vz. + */ + @java.lang.Override + public double getVz() { + return vz_; + } + + public static final int WX_FIELD_NUMBER = 4; + private double wx_; + /** + * double wx = 4; + * @return The wx. + */ + @java.lang.Override + public double getWx() { + return wx_; + } + + public static final int WY_FIELD_NUMBER = 5; + private double wy_; + /** + * double wy = 5; + * @return The wy. + */ + @java.lang.Override + public double getWy() { + return wy_; + } + + public static final int WZ_FIELD_NUMBER = 6; + private double wz_; + /** + * double wz = 6; + * @return The wz. + */ + @java.lang.Override + public double getWz() { + return wz_; + } + + 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 (java.lang.Double.doubleToRawLongBits(vx_) != 0) { + output.writeDouble(1, vx_); + } + if (java.lang.Double.doubleToRawLongBits(vy_) != 0) { + output.writeDouble(2, vy_); + } + if (java.lang.Double.doubleToRawLongBits(vz_) != 0) { + output.writeDouble(3, vz_); + } + if (java.lang.Double.doubleToRawLongBits(wx_) != 0) { + output.writeDouble(4, wx_); + } + if (java.lang.Double.doubleToRawLongBits(wy_) != 0) { + output.writeDouble(5, wy_); + } + if (java.lang.Double.doubleToRawLongBits(wz_) != 0) { + output.writeDouble(6, wz_); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + if (java.lang.Double.doubleToRawLongBits(vx_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(1, vx_); + } + if (java.lang.Double.doubleToRawLongBits(vy_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(2, vy_); + } + if (java.lang.Double.doubleToRawLongBits(vz_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, vz_); + } + if (java.lang.Double.doubleToRawLongBits(wx_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, wx_); + } + if (java.lang.Double.doubleToRawLongBits(wy_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(5, wy_); + } + if (java.lang.Double.doubleToRawLongBits(wz_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(6, wz_); + } + 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.ArmCommand.CartesianVelocity)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.CartesianVelocity other = (cmvr.api.ArmCommand.CartesianVelocity) obj; + + if (java.lang.Double.doubleToLongBits(getVx()) + != java.lang.Double.doubleToLongBits( + other.getVx())) return false; + if (java.lang.Double.doubleToLongBits(getVy()) + != java.lang.Double.doubleToLongBits( + other.getVy())) return false; + if (java.lang.Double.doubleToLongBits(getVz()) + != java.lang.Double.doubleToLongBits( + other.getVz())) return false; + if (java.lang.Double.doubleToLongBits(getWx()) + != java.lang.Double.doubleToLongBits( + other.getWx())) return false; + if (java.lang.Double.doubleToLongBits(getWy()) + != java.lang.Double.doubleToLongBits( + other.getWy())) return false; + if (java.lang.Double.doubleToLongBits(getWz()) + != java.lang.Double.doubleToLongBits( + other.getWz())) 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) + VX_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getVx())); + hash = (37 * hash) + VY_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getVy())); + hash = (37 * hash) + VZ_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getVz())); + hash = (37 * hash) + WX_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getWx())); + hash = (37 * hash) + WY_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getWy())); + hash = (37 * hash) + WZ_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getWz())); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.CartesianVelocity parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianVelocity parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CartesianVelocity parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianVelocity 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.ArmCommand.CartesianVelocity parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CartesianVelocity parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CartesianVelocity parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianVelocity 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.ArmCommand.CartesianVelocity parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianVelocity 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.ArmCommand.CartesianVelocity parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CartesianVelocity 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.ArmCommand.CartesianVelocity 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.CartesianVelocity} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.CartesianVelocity) + cmvr.api.ArmCommand.CartesianVelocityOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianVelocity_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianVelocity_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CartesianVelocity.class, cmvr.api.ArmCommand.CartesianVelocity.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.CartesianVelocity.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + vx_ = 0D; + + vy_ = 0D; + + vz_ = 0D; + + wx_ = 0D; + + wy_ = 0D; + + wz_ = 0D; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CartesianVelocity_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianVelocity getDefaultInstanceForType() { + return cmvr.api.ArmCommand.CartesianVelocity.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianVelocity build() { + cmvr.api.ArmCommand.CartesianVelocity result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CartesianVelocity buildPartial() { + cmvr.api.ArmCommand.CartesianVelocity result = new cmvr.api.ArmCommand.CartesianVelocity(this); + result.vx_ = vx_; + result.vy_ = vy_; + result.vz_ = vz_; + result.wx_ = wx_; + result.wy_ = wy_; + result.wz_ = wz_; + 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.ArmCommand.CartesianVelocity) { + return mergeFrom((cmvr.api.ArmCommand.CartesianVelocity)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.CartesianVelocity other) { + if (other == cmvr.api.ArmCommand.CartesianVelocity.getDefaultInstance()) return this; + if (other.getVx() != 0D) { + setVx(other.getVx()); + } + if (other.getVy() != 0D) { + setVy(other.getVy()); + } + if (other.getVz() != 0D) { + setVz(other.getVz()); + } + if (other.getWx() != 0D) { + setWx(other.getWx()); + } + if (other.getWy() != 0D) { + setWy(other.getWy()); + } + if (other.getWz() != 0D) { + setWz(other.getWz()); + } + 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: { + vx_ = input.readDouble(); + + break; + } // case 9 + case 17: { + vy_ = input.readDouble(); + + break; + } // case 17 + case 25: { + vz_ = input.readDouble(); + + break; + } // case 25 + case 33: { + wx_ = input.readDouble(); + + break; + } // case 33 + case 41: { + wy_ = input.readDouble(); + + break; + } // case 41 + case 49: { + wz_ = 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 vx_ ; + /** + * double vx = 1; + * @return The vx. + */ + @java.lang.Override + public double getVx() { + return vx_; + } + /** + * double vx = 1; + * @param value The vx to set. + * @return This builder for chaining. + */ + public Builder setVx(double value) { + + vx_ = value; + onChanged(); + return this; + } + /** + * double vx = 1; + * @return This builder for chaining. + */ + public Builder clearVx() { + + vx_ = 0D; + onChanged(); + return this; + } + + private double vy_ ; + /** + * double vy = 2; + * @return The vy. + */ + @java.lang.Override + public double getVy() { + return vy_; + } + /** + * double vy = 2; + * @param value The vy to set. + * @return This builder for chaining. + */ + public Builder setVy(double value) { + + vy_ = value; + onChanged(); + return this; + } + /** + * double vy = 2; + * @return This builder for chaining. + */ + public Builder clearVy() { + + vy_ = 0D; + onChanged(); + return this; + } + + private double vz_ ; + /** + * double vz = 3; + * @return The vz. + */ + @java.lang.Override + public double getVz() { + return vz_; + } + /** + * double vz = 3; + * @param value The vz to set. + * @return This builder for chaining. + */ + public Builder setVz(double value) { + + vz_ = value; + onChanged(); + return this; + } + /** + * double vz = 3; + * @return This builder for chaining. + */ + public Builder clearVz() { + + vz_ = 0D; + onChanged(); + return this; + } + + private double wx_ ; + /** + * double wx = 4; + * @return The wx. + */ + @java.lang.Override + public double getWx() { + return wx_; + } + /** + * double wx = 4; + * @param value The wx to set. + * @return This builder for chaining. + */ + public Builder setWx(double value) { + + wx_ = value; + onChanged(); + return this; + } + /** + * double wx = 4; + * @return This builder for chaining. + */ + public Builder clearWx() { + + wx_ = 0D; + onChanged(); + return this; + } + + private double wy_ ; + /** + * double wy = 5; + * @return The wy. + */ + @java.lang.Override + public double getWy() { + return wy_; + } + /** + * double wy = 5; + * @param value The wy to set. + * @return This builder for chaining. + */ + public Builder setWy(double value) { + + wy_ = value; + onChanged(); + return this; + } + /** + * double wy = 5; + * @return This builder for chaining. + */ + public Builder clearWy() { + + wy_ = 0D; + onChanged(); + return this; + } + + private double wz_ ; + /** + * double wz = 6; + * @return The wz. + */ + @java.lang.Override + public double getWz() { + return wz_; + } + /** + * double wz = 6; + * @param value The wz to set. + * @return This builder for chaining. + */ + public Builder setWz(double value) { + + wz_ = value; + onChanged(); + return this; + } + /** + * double wz = 6; + * @return This builder for chaining. + */ + public Builder clearWz() { + + wz_ = 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.CartesianVelocity) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.CartesianVelocity) + private static final cmvr.api.ArmCommand.CartesianVelocity DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.CartesianVelocity(); + } + + public static cmvr.api.ArmCommand.CartesianVelocity getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public CartesianVelocity 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.ArmCommand.CartesianVelocity getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface TransformMatrix4x4OrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.TransformMatrix4x4) + com.google.protobuf.MessageOrBuilder { + + /** + * double m00 = 1; + * @return The m00. + */ + double getM00(); + + /** + * double m01 = 2; + * @return The m01. + */ + double getM01(); + + /** + * double m02 = 3; + * @return The m02. + */ + double getM02(); + + /** + * double m03 = 4; + * @return The m03. + */ + double getM03(); + + /** + * double m10 = 5; + * @return The m10. + */ + double getM10(); + + /** + * double m11 = 6; + * @return The m11. + */ + double getM11(); + + /** + * double m12 = 7; + * @return The m12. + */ + double getM12(); + + /** + * double m13 = 8; + * @return The m13. + */ + double getM13(); + + /** + * double m20 = 9; + * @return The m20. + */ + double getM20(); + + /** + * double m21 = 10; + * @return The m21. + */ + double getM21(); + + /** + * double m22 = 11; + * @return The m22. + */ + double getM22(); + + /** + * double m23 = 12; + * @return The m23. + */ + double getM23(); + + /** + * double m30 = 13; + * @return The m30. + */ + double getM30(); + + /** + * double m31 = 14; + * @return The m31. + */ + double getM31(); + + /** + * double m32 = 15; + * @return The m32. + */ + double getM32(); + + /** + * double m33 = 16; + * @return The m33. + */ + double getM33(); + } + /** + * Protobuf type {@code cmvr.api.TransformMatrix4x4} + */ + public static final class TransformMatrix4x4 extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.TransformMatrix4x4) + TransformMatrix4x4OrBuilder { + private static final long serialVersionUID = 0L; + // Use TransformMatrix4x4.newBuilder() to construct. + private TransformMatrix4x4(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private TransformMatrix4x4() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new TransformMatrix4x4(); + } + + @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.ArmCommand.internal_static_cmvr_api_TransformMatrix4x4_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_TransformMatrix4x4_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.TransformMatrix4x4.class, cmvr.api.ArmCommand.TransformMatrix4x4.Builder.class); + } + + public static final int M00_FIELD_NUMBER = 1; + private double m00_; + /** + * double m00 = 1; + * @return The m00. + */ + @java.lang.Override + public double getM00() { + return m00_; + } + + public static final int M01_FIELD_NUMBER = 2; + private double m01_; + /** + * double m01 = 2; + * @return The m01. + */ + @java.lang.Override + public double getM01() { + return m01_; + } + + public static final int M02_FIELD_NUMBER = 3; + private double m02_; + /** + * double m02 = 3; + * @return The m02. + */ + @java.lang.Override + public double getM02() { + return m02_; + } + + public static final int M03_FIELD_NUMBER = 4; + private double m03_; + /** + * double m03 = 4; + * @return The m03. + */ + @java.lang.Override + public double getM03() { + return m03_; + } + + public static final int M10_FIELD_NUMBER = 5; + private double m10_; + /** + * double m10 = 5; + * @return The m10. + */ + @java.lang.Override + public double getM10() { + return m10_; + } + + public static final int M11_FIELD_NUMBER = 6; + private double m11_; + /** + * double m11 = 6; + * @return The m11. + */ + @java.lang.Override + public double getM11() { + return m11_; + } + + public static final int M12_FIELD_NUMBER = 7; + private double m12_; + /** + * double m12 = 7; + * @return The m12. + */ + @java.lang.Override + public double getM12() { + return m12_; + } + + public static final int M13_FIELD_NUMBER = 8; + private double m13_; + /** + * double m13 = 8; + * @return The m13. + */ + @java.lang.Override + public double getM13() { + return m13_; + } + + public static final int M20_FIELD_NUMBER = 9; + private double m20_; + /** + * double m20 = 9; + * @return The m20. + */ + @java.lang.Override + public double getM20() { + return m20_; + } + + public static final int M21_FIELD_NUMBER = 10; + private double m21_; + /** + * double m21 = 10; + * @return The m21. + */ + @java.lang.Override + public double getM21() { + return m21_; + } + + public static final int M22_FIELD_NUMBER = 11; + private double m22_; + /** + * double m22 = 11; + * @return The m22. + */ + @java.lang.Override + public double getM22() { + return m22_; + } + + public static final int M23_FIELD_NUMBER = 12; + private double m23_; + /** + * double m23 = 12; + * @return The m23. + */ + @java.lang.Override + public double getM23() { + return m23_; + } + + public static final int M30_FIELD_NUMBER = 13; + private double m30_; + /** + * double m30 = 13; + * @return The m30. + */ + @java.lang.Override + public double getM30() { + return m30_; + } + + public static final int M31_FIELD_NUMBER = 14; + private double m31_; + /** + * double m31 = 14; + * @return The m31. + */ + @java.lang.Override + public double getM31() { + return m31_; + } + + public static final int M32_FIELD_NUMBER = 15; + private double m32_; + /** + * double m32 = 15; + * @return The m32. + */ + @java.lang.Override + public double getM32() { + return m32_; + } + + public static final int M33_FIELD_NUMBER = 16; + private double m33_; + /** + * double m33 = 16; + * @return The m33. + */ + @java.lang.Override + public double getM33() { + return m33_; + } + + 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 (java.lang.Double.doubleToRawLongBits(m00_) != 0) { + output.writeDouble(1, m00_); + } + if (java.lang.Double.doubleToRawLongBits(m01_) != 0) { + output.writeDouble(2, m01_); + } + if (java.lang.Double.doubleToRawLongBits(m02_) != 0) { + output.writeDouble(3, m02_); + } + if (java.lang.Double.doubleToRawLongBits(m03_) != 0) { + output.writeDouble(4, m03_); + } + if (java.lang.Double.doubleToRawLongBits(m10_) != 0) { + output.writeDouble(5, m10_); + } + if (java.lang.Double.doubleToRawLongBits(m11_) != 0) { + output.writeDouble(6, m11_); + } + if (java.lang.Double.doubleToRawLongBits(m12_) != 0) { + output.writeDouble(7, m12_); + } + if (java.lang.Double.doubleToRawLongBits(m13_) != 0) { + output.writeDouble(8, m13_); + } + if (java.lang.Double.doubleToRawLongBits(m20_) != 0) { + output.writeDouble(9, m20_); + } + if (java.lang.Double.doubleToRawLongBits(m21_) != 0) { + output.writeDouble(10, m21_); + } + if (java.lang.Double.doubleToRawLongBits(m22_) != 0) { + output.writeDouble(11, m22_); + } + if (java.lang.Double.doubleToRawLongBits(m23_) != 0) { + output.writeDouble(12, m23_); + } + if (java.lang.Double.doubleToRawLongBits(m30_) != 0) { + output.writeDouble(13, m30_); + } + if (java.lang.Double.doubleToRawLongBits(m31_) != 0) { + output.writeDouble(14, m31_); + } + if (java.lang.Double.doubleToRawLongBits(m32_) != 0) { + output.writeDouble(15, m32_); + } + if (java.lang.Double.doubleToRawLongBits(m33_) != 0) { + output.writeDouble(16, m33_); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + if (java.lang.Double.doubleToRawLongBits(m00_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(1, m00_); + } + if (java.lang.Double.doubleToRawLongBits(m01_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(2, m01_); + } + if (java.lang.Double.doubleToRawLongBits(m02_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, m02_); + } + if (java.lang.Double.doubleToRawLongBits(m03_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, m03_); + } + if (java.lang.Double.doubleToRawLongBits(m10_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(5, m10_); + } + if (java.lang.Double.doubleToRawLongBits(m11_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(6, m11_); + } + if (java.lang.Double.doubleToRawLongBits(m12_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(7, m12_); + } + if (java.lang.Double.doubleToRawLongBits(m13_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(8, m13_); + } + if (java.lang.Double.doubleToRawLongBits(m20_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(9, m20_); + } + if (java.lang.Double.doubleToRawLongBits(m21_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(10, m21_); + } + if (java.lang.Double.doubleToRawLongBits(m22_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(11, m22_); + } + if (java.lang.Double.doubleToRawLongBits(m23_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(12, m23_); + } + if (java.lang.Double.doubleToRawLongBits(m30_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(13, m30_); + } + if (java.lang.Double.doubleToRawLongBits(m31_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(14, m31_); + } + if (java.lang.Double.doubleToRawLongBits(m32_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(15, m32_); + } + if (java.lang.Double.doubleToRawLongBits(m33_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(16, m33_); + } + 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.ArmCommand.TransformMatrix4x4)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.TransformMatrix4x4 other = (cmvr.api.ArmCommand.TransformMatrix4x4) obj; + + if (java.lang.Double.doubleToLongBits(getM00()) + != java.lang.Double.doubleToLongBits( + other.getM00())) return false; + if (java.lang.Double.doubleToLongBits(getM01()) + != java.lang.Double.doubleToLongBits( + other.getM01())) return false; + if (java.lang.Double.doubleToLongBits(getM02()) + != java.lang.Double.doubleToLongBits( + other.getM02())) return false; + if (java.lang.Double.doubleToLongBits(getM03()) + != java.lang.Double.doubleToLongBits( + other.getM03())) return false; + if (java.lang.Double.doubleToLongBits(getM10()) + != java.lang.Double.doubleToLongBits( + other.getM10())) return false; + if (java.lang.Double.doubleToLongBits(getM11()) + != java.lang.Double.doubleToLongBits( + other.getM11())) return false; + if (java.lang.Double.doubleToLongBits(getM12()) + != java.lang.Double.doubleToLongBits( + other.getM12())) return false; + if (java.lang.Double.doubleToLongBits(getM13()) + != java.lang.Double.doubleToLongBits( + other.getM13())) return false; + if (java.lang.Double.doubleToLongBits(getM20()) + != java.lang.Double.doubleToLongBits( + other.getM20())) return false; + if (java.lang.Double.doubleToLongBits(getM21()) + != java.lang.Double.doubleToLongBits( + other.getM21())) return false; + if (java.lang.Double.doubleToLongBits(getM22()) + != java.lang.Double.doubleToLongBits( + other.getM22())) return false; + if (java.lang.Double.doubleToLongBits(getM23()) + != java.lang.Double.doubleToLongBits( + other.getM23())) return false; + if (java.lang.Double.doubleToLongBits(getM30()) + != java.lang.Double.doubleToLongBits( + other.getM30())) return false; + if (java.lang.Double.doubleToLongBits(getM31()) + != java.lang.Double.doubleToLongBits( + other.getM31())) return false; + if (java.lang.Double.doubleToLongBits(getM32()) + != java.lang.Double.doubleToLongBits( + other.getM32())) return false; + if (java.lang.Double.doubleToLongBits(getM33()) + != java.lang.Double.doubleToLongBits( + other.getM33())) 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) + M00_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM00())); + hash = (37 * hash) + M01_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM01())); + hash = (37 * hash) + M02_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM02())); + hash = (37 * hash) + M03_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM03())); + hash = (37 * hash) + M10_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM10())); + hash = (37 * hash) + M11_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM11())); + hash = (37 * hash) + M12_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM12())); + hash = (37 * hash) + M13_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM13())); + hash = (37 * hash) + M20_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM20())); + hash = (37 * hash) + M21_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM21())); + hash = (37 * hash) + M22_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM22())); + hash = (37 * hash) + M23_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM23())); + hash = (37 * hash) + M30_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM30())); + hash = (37 * hash) + M31_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM31())); + hash = (37 * hash) + M32_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM32())); + hash = (37 * hash) + M33_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getM33())); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.TransformMatrix4x4 parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 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.ArmCommand.TransformMatrix4x4 parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 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.ArmCommand.TransformMatrix4x4 parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 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.ArmCommand.TransformMatrix4x4 parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.TransformMatrix4x4 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.ArmCommand.TransformMatrix4x4 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.TransformMatrix4x4} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.TransformMatrix4x4) + cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_TransformMatrix4x4_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_TransformMatrix4x4_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.TransformMatrix4x4.class, cmvr.api.ArmCommand.TransformMatrix4x4.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.TransformMatrix4x4.newBuilder() + private Builder() { + + } + + private Builder( + com.google.protobuf.GeneratedMessageV3.BuilderParent parent) { + super(parent); + + } + @java.lang.Override + public Builder clear() { + super.clear(); + m00_ = 0D; + + m01_ = 0D; + + m02_ = 0D; + + m03_ = 0D; + + m10_ = 0D; + + m11_ = 0D; + + m12_ = 0D; + + m13_ = 0D; + + m20_ = 0D; + + m21_ = 0D; + + m22_ = 0D; + + m23_ = 0D; + + m30_ = 0D; + + m31_ = 0D; + + m32_ = 0D; + + m33_ = 0D; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_TransformMatrix4x4_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4 getDefaultInstanceForType() { + return cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4 build() { + cmvr.api.ArmCommand.TransformMatrix4x4 result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4 buildPartial() { + cmvr.api.ArmCommand.TransformMatrix4x4 result = new cmvr.api.ArmCommand.TransformMatrix4x4(this); + result.m00_ = m00_; + result.m01_ = m01_; + result.m02_ = m02_; + result.m03_ = m03_; + result.m10_ = m10_; + result.m11_ = m11_; + result.m12_ = m12_; + result.m13_ = m13_; + result.m20_ = m20_; + result.m21_ = m21_; + result.m22_ = m22_; + result.m23_ = m23_; + result.m30_ = m30_; + result.m31_ = m31_; + result.m32_ = m32_; + result.m33_ = m33_; + 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.ArmCommand.TransformMatrix4x4) { + return mergeFrom((cmvr.api.ArmCommand.TransformMatrix4x4)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.TransformMatrix4x4 other) { + if (other == cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance()) return this; + if (other.getM00() != 0D) { + setM00(other.getM00()); + } + if (other.getM01() != 0D) { + setM01(other.getM01()); + } + if (other.getM02() != 0D) { + setM02(other.getM02()); + } + if (other.getM03() != 0D) { + setM03(other.getM03()); + } + if (other.getM10() != 0D) { + setM10(other.getM10()); + } + if (other.getM11() != 0D) { + setM11(other.getM11()); + } + if (other.getM12() != 0D) { + setM12(other.getM12()); + } + if (other.getM13() != 0D) { + setM13(other.getM13()); + } + if (other.getM20() != 0D) { + setM20(other.getM20()); + } + if (other.getM21() != 0D) { + setM21(other.getM21()); + } + if (other.getM22() != 0D) { + setM22(other.getM22()); + } + if (other.getM23() != 0D) { + setM23(other.getM23()); + } + if (other.getM30() != 0D) { + setM30(other.getM30()); + } + if (other.getM31() != 0D) { + setM31(other.getM31()); + } + if (other.getM32() != 0D) { + setM32(other.getM32()); + } + if (other.getM33() != 0D) { + setM33(other.getM33()); + } + 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: { + m00_ = input.readDouble(); + + break; + } // case 9 + case 17: { + m01_ = input.readDouble(); + + break; + } // case 17 + case 25: { + m02_ = input.readDouble(); + + break; + } // case 25 + case 33: { + m03_ = input.readDouble(); + + break; + } // case 33 + case 41: { + m10_ = input.readDouble(); + + break; + } // case 41 + case 49: { + m11_ = input.readDouble(); + + break; + } // case 49 + case 57: { + m12_ = input.readDouble(); + + break; + } // case 57 + case 65: { + m13_ = input.readDouble(); + + break; + } // case 65 + case 73: { + m20_ = input.readDouble(); + + break; + } // case 73 + case 81: { + m21_ = input.readDouble(); + + break; + } // case 81 + case 89: { + m22_ = input.readDouble(); + + break; + } // case 89 + case 97: { + m23_ = input.readDouble(); + + break; + } // case 97 + case 105: { + m30_ = input.readDouble(); + + break; + } // case 105 + case 113: { + m31_ = input.readDouble(); + + break; + } // case 113 + case 121: { + m32_ = input.readDouble(); + + break; + } // case 121 + case 129: { + m33_ = input.readDouble(); + + break; + } // case 129 + 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 m00_ ; + /** + * double m00 = 1; + * @return The m00. + */ + @java.lang.Override + public double getM00() { + return m00_; + } + /** + * double m00 = 1; + * @param value The m00 to set. + * @return This builder for chaining. + */ + public Builder setM00(double value) { + + m00_ = value; + onChanged(); + return this; + } + /** + * double m00 = 1; + * @return This builder for chaining. + */ + public Builder clearM00() { + + m00_ = 0D; + onChanged(); + return this; + } + + private double m01_ ; + /** + * double m01 = 2; + * @return The m01. + */ + @java.lang.Override + public double getM01() { + return m01_; + } + /** + * double m01 = 2; + * @param value The m01 to set. + * @return This builder for chaining. + */ + public Builder setM01(double value) { + + m01_ = value; + onChanged(); + return this; + } + /** + * double m01 = 2; + * @return This builder for chaining. + */ + public Builder clearM01() { + + m01_ = 0D; + onChanged(); + return this; + } + + private double m02_ ; + /** + * double m02 = 3; + * @return The m02. + */ + @java.lang.Override + public double getM02() { + return m02_; + } + /** + * double m02 = 3; + * @param value The m02 to set. + * @return This builder for chaining. + */ + public Builder setM02(double value) { + + m02_ = value; + onChanged(); + return this; + } + /** + * double m02 = 3; + * @return This builder for chaining. + */ + public Builder clearM02() { + + m02_ = 0D; + onChanged(); + return this; + } + + private double m03_ ; + /** + * double m03 = 4; + * @return The m03. + */ + @java.lang.Override + public double getM03() { + return m03_; + } + /** + * double m03 = 4; + * @param value The m03 to set. + * @return This builder for chaining. + */ + public Builder setM03(double value) { + + m03_ = value; + onChanged(); + return this; + } + /** + * double m03 = 4; + * @return This builder for chaining. + */ + public Builder clearM03() { + + m03_ = 0D; + onChanged(); + return this; + } + + private double m10_ ; + /** + * double m10 = 5; + * @return The m10. + */ + @java.lang.Override + public double getM10() { + return m10_; + } + /** + * double m10 = 5; + * @param value The m10 to set. + * @return This builder for chaining. + */ + public Builder setM10(double value) { + + m10_ = value; + onChanged(); + return this; + } + /** + * double m10 = 5; + * @return This builder for chaining. + */ + public Builder clearM10() { + + m10_ = 0D; + onChanged(); + return this; + } + + private double m11_ ; + /** + * double m11 = 6; + * @return The m11. + */ + @java.lang.Override + public double getM11() { + return m11_; + } + /** + * double m11 = 6; + * @param value The m11 to set. + * @return This builder for chaining. + */ + public Builder setM11(double value) { + + m11_ = value; + onChanged(); + return this; + } + /** + * double m11 = 6; + * @return This builder for chaining. + */ + public Builder clearM11() { + + m11_ = 0D; + onChanged(); + return this; + } + + private double m12_ ; + /** + * double m12 = 7; + * @return The m12. + */ + @java.lang.Override + public double getM12() { + return m12_; + } + /** + * double m12 = 7; + * @param value The m12 to set. + * @return This builder for chaining. + */ + public Builder setM12(double value) { + + m12_ = value; + onChanged(); + return this; + } + /** + * double m12 = 7; + * @return This builder for chaining. + */ + public Builder clearM12() { + + m12_ = 0D; + onChanged(); + return this; + } + + private double m13_ ; + /** + * double m13 = 8; + * @return The m13. + */ + @java.lang.Override + public double getM13() { + return m13_; + } + /** + * double m13 = 8; + * @param value The m13 to set. + * @return This builder for chaining. + */ + public Builder setM13(double value) { + + m13_ = value; + onChanged(); + return this; + } + /** + * double m13 = 8; + * @return This builder for chaining. + */ + public Builder clearM13() { + + m13_ = 0D; + onChanged(); + return this; + } + + private double m20_ ; + /** + * double m20 = 9; + * @return The m20. + */ + @java.lang.Override + public double getM20() { + return m20_; + } + /** + * double m20 = 9; + * @param value The m20 to set. + * @return This builder for chaining. + */ + public Builder setM20(double value) { + + m20_ = value; + onChanged(); + return this; + } + /** + * double m20 = 9; + * @return This builder for chaining. + */ + public Builder clearM20() { + + m20_ = 0D; + onChanged(); + return this; + } + + private double m21_ ; + /** + * double m21 = 10; + * @return The m21. + */ + @java.lang.Override + public double getM21() { + return m21_; + } + /** + * double m21 = 10; + * @param value The m21 to set. + * @return This builder for chaining. + */ + public Builder setM21(double value) { + + m21_ = value; + onChanged(); + return this; + } + /** + * double m21 = 10; + * @return This builder for chaining. + */ + public Builder clearM21() { + + m21_ = 0D; + onChanged(); + return this; + } + + private double m22_ ; + /** + * double m22 = 11; + * @return The m22. + */ + @java.lang.Override + public double getM22() { + return m22_; + } + /** + * double m22 = 11; + * @param value The m22 to set. + * @return This builder for chaining. + */ + public Builder setM22(double value) { + + m22_ = value; + onChanged(); + return this; + } + /** + * double m22 = 11; + * @return This builder for chaining. + */ + public Builder clearM22() { + + m22_ = 0D; + onChanged(); + return this; + } + + private double m23_ ; + /** + * double m23 = 12; + * @return The m23. + */ + @java.lang.Override + public double getM23() { + return m23_; + } + /** + * double m23 = 12; + * @param value The m23 to set. + * @return This builder for chaining. + */ + public Builder setM23(double value) { + + m23_ = value; + onChanged(); + return this; + } + /** + * double m23 = 12; + * @return This builder for chaining. + */ + public Builder clearM23() { + + m23_ = 0D; + onChanged(); + return this; + } + + private double m30_ ; + /** + * double m30 = 13; + * @return The m30. + */ + @java.lang.Override + public double getM30() { + return m30_; + } + /** + * double m30 = 13; + * @param value The m30 to set. + * @return This builder for chaining. + */ + public Builder setM30(double value) { + + m30_ = value; + onChanged(); + return this; + } + /** + * double m30 = 13; + * @return This builder for chaining. + */ + public Builder clearM30() { + + m30_ = 0D; + onChanged(); + return this; + } + + private double m31_ ; + /** + * double m31 = 14; + * @return The m31. + */ + @java.lang.Override + public double getM31() { + return m31_; + } + /** + * double m31 = 14; + * @param value The m31 to set. + * @return This builder for chaining. + */ + public Builder setM31(double value) { + + m31_ = value; + onChanged(); + return this; + } + /** + * double m31 = 14; + * @return This builder for chaining. + */ + public Builder clearM31() { + + m31_ = 0D; + onChanged(); + return this; + } + + private double m32_ ; + /** + * double m32 = 15; + * @return The m32. + */ + @java.lang.Override + public double getM32() { + return m32_; + } + /** + * double m32 = 15; + * @param value The m32 to set. + * @return This builder for chaining. + */ + public Builder setM32(double value) { + + m32_ = value; + onChanged(); + return this; + } + /** + * double m32 = 15; + * @return This builder for chaining. + */ + public Builder clearM32() { + + m32_ = 0D; + onChanged(); + return this; + } + + private double m33_ ; + /** + * double m33 = 16; + * @return The m33. + */ + @java.lang.Override + public double getM33() { + return m33_; + } + /** + * double m33 = 16; + * @param value The m33 to set. + * @return This builder for chaining. + */ + public Builder setM33(double value) { + + m33_ = value; + onChanged(); + return this; + } + /** + * double m33 = 16; + * @return This builder for chaining. + */ + public Builder clearM33() { + + m33_ = 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.TransformMatrix4x4) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.TransformMatrix4x4) + private static final cmvr.api.ArmCommand.TransformMatrix4x4 DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.TransformMatrix4x4(); + } + + public static cmvr.api.ArmCommand.TransformMatrix4x4 getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public TransformMatrix4x4 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.ArmCommand.TransformMatrix4x4 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.ArmCommand.internal_static_cmvr_api_MoveJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.class, cmvr.api.ArmCommand.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(); + + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + boolean hasTarget(); + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + cmvr.api.ArmCommand.JointPositionCommand getTarget(); + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder(); + + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + boolean hasOptions(); + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + cmvr.api.ArmCommand.MotionOptions getOptions(); + /** + * .cmvr.api.MotionOptions options = 3; + */ + cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder(); + } + /** + * 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() { + } + + @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.ArmCommand.internal_static_cmvr_api_MoveJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.Request.class, cmvr.api.ArmCommand.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 TARGET_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.JointPositionCommand target_; + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + @java.lang.Override + public boolean hasTarget() { + return target_ != null; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand getTarget() { + return target_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder() { + return getTarget(); + } + + public static final int OPTIONS_FIELD_NUMBER = 3; + private cmvr.api.ArmCommand.MotionOptions options_; + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + @java.lang.Override + public boolean hasOptions() { + return options_ != null; + } + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptions getOptions() { + return options_ == null ? cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder() { + return getOptions(); + } + + 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()); + } + if (target_ != null) { + output.writeMessage(2, getTarget()); + } + if (options_ != null) { + output.writeMessage(3, getOptions()); + } + 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 (target_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getTarget()); + } + if (options_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(3, getOptions()); + } + 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.ArmCommand.MoveJ.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveJ.Request other = (cmvr.api.ArmCommand.MoveJ.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasTarget() != other.hasTarget()) return false; + if (hasTarget()) { + if (!getTarget() + .equals(other.getTarget())) return false; + } + if (hasOptions() != other.hasOptions()) return false; + if (hasOptions()) { + if (!getOptions() + .equals(other.getOptions())) 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 (hasTarget()) { + hash = (37 * hash) + TARGET_FIELD_NUMBER; + hash = (53 * hash) + getTarget().hashCode(); + } + if (hasOptions()) { + hash = (37 * hash) + OPTIONS_FIELD_NUMBER; + hash = (53 * hash) + getOptions().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.MoveJ.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveJ.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveJ.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveJ.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveJ.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveJ.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.MoveJ.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.Request.class, cmvr.api.ArmCommand.MoveJ.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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 (targetBuilder_ == null) { + target_ = null; + } else { + target_ = null; + targetBuilder_ = null; + } + if (optionsBuilder_ == null) { + options_ = null; + } else { + options_ = null; + optionsBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveJ.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Request build() { + cmvr.api.ArmCommand.MoveJ.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Request buildPartial() { + cmvr.api.ArmCommand.MoveJ.Request result = new cmvr.api.ArmCommand.MoveJ.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (targetBuilder_ == null) { + result.target_ = target_; + } else { + result.target_ = targetBuilder_.build(); + } + if (optionsBuilder_ == null) { + result.options_ = options_; + } else { + result.options_ = optionsBuilder_.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.ArmCommand.MoveJ.Request) { + return mergeFrom((cmvr.api.ArmCommand.MoveJ.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveJ.Request other) { + if (other == cmvr.api.ArmCommand.MoveJ.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasTarget()) { + mergeTarget(other.getTarget()); + } + if (other.hasOptions()) { + mergeOptions(other.getOptions()); + } + 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: { + input.readMessage( + getTargetFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 18 + case 26: { + input.readMessage( + getOptionsFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 26 + 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 cmvr.api.ArmCommand.JointPositionCommand target_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> targetBuilder_; + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + public boolean hasTarget() { + return targetBuilder_ != null || target_ != null; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + public cmvr.api.ArmCommand.JointPositionCommand getTarget() { + if (targetBuilder_ == null) { + return target_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } else { + return targetBuilder_.getMessage(); + } + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder setTarget(cmvr.api.ArmCommand.JointPositionCommand value) { + if (targetBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + target_ = value; + onChanged(); + } else { + targetBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder setTarget( + cmvr.api.ArmCommand.JointPositionCommand.Builder builderForValue) { + if (targetBuilder_ == null) { + target_ = builderForValue.build(); + onChanged(); + } else { + targetBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder mergeTarget(cmvr.api.ArmCommand.JointPositionCommand value) { + if (targetBuilder_ == null) { + if (target_ != null) { + target_ = + cmvr.api.ArmCommand.JointPositionCommand.newBuilder(target_).mergeFrom(value).buildPartial(); + } else { + target_ = value; + } + onChanged(); + } else { + targetBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder clearTarget() { + if (targetBuilder_ == null) { + target_ = null; + onChanged(); + } else { + target_ = null; + targetBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public cmvr.api.ArmCommand.JointPositionCommand.Builder getTargetBuilder() { + + onChanged(); + return getTargetFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder() { + if (targetBuilder_ != null) { + return targetBuilder_.getMessageOrBuilder(); + } else { + return target_ == null ? + cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> + getTargetFieldBuilder() { + if (targetBuilder_ == null) { + targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder>( + getTarget(), + getParentForChildren(), + isClean()); + target_ = null; + } + return targetBuilder_; + } + + private cmvr.api.ArmCommand.MotionOptions options_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder> optionsBuilder_; + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + public boolean hasOptions() { + return optionsBuilder_ != null || options_ != null; + } + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + public cmvr.api.ArmCommand.MotionOptions getOptions() { + if (optionsBuilder_ == null) { + return options_ == null ? cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } else { + return optionsBuilder_.getMessage(); + } + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder setOptions(cmvr.api.ArmCommand.MotionOptions value) { + if (optionsBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + options_ = value; + onChanged(); + } else { + optionsBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder setOptions( + cmvr.api.ArmCommand.MotionOptions.Builder builderForValue) { + if (optionsBuilder_ == null) { + options_ = builderForValue.build(); + onChanged(); + } else { + optionsBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder mergeOptions(cmvr.api.ArmCommand.MotionOptions value) { + if (optionsBuilder_ == null) { + if (options_ != null) { + options_ = + cmvr.api.ArmCommand.MotionOptions.newBuilder(options_).mergeFrom(value).buildPartial(); + } else { + options_ = value; + } + onChanged(); + } else { + optionsBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder clearOptions() { + if (optionsBuilder_ == null) { + options_ = null; + onChanged(); + } else { + options_ = null; + optionsBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public cmvr.api.ArmCommand.MotionOptions.Builder getOptionsBuilder() { + + onChanged(); + return getOptionsFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder() { + if (optionsBuilder_ != null) { + return optionsBuilder_.getMessageOrBuilder(); + } else { + return options_ == null ? + cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder> + getOptionsFieldBuilder() { + if (optionsBuilder_ == null) { + optionsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder>( + getOptions(), + getParentForChildren(), + isClean()); + options_ = null; + } + return optionsBuilder_; + } + @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.ArmCommand.MoveJ.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveJ.Request(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.internal_static_cmvr_api_MoveJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.Response.class, cmvr.api.ArmCommand.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) + 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.ArmCommand.MoveJ.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveJ.Response other = (cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveJ.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.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.MoveJ.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.MoveJ.Response) + cmvr.api.ArmCommand.MoveJ.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.Response.class, cmvr.api.ArmCommand.MoveJ.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.MoveJ.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.ArmCommand.internal_static_cmvr_api_MoveJ_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveJ.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Response build() { + cmvr.api.ArmCommand.MoveJ.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ.Response buildPartial() { + cmvr.api.ArmCommand.MoveJ.Response result = new cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.Response) { + return mergeFrom((cmvr.api.ArmCommand.MoveJ.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveJ.Response other) { + if (other == cmvr.api.ArmCommand.MoveJ.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.MoveJ.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Response) + private static final cmvr.api.ArmCommand.MoveJ.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveJ.Response(); + } + + public static cmvr.api.ArmCommand.MoveJ.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.ArmCommand.MoveJ.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; + } + + @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.ArmCommand.MoveJ)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveJ other = (cmvr.api.ArmCommand.MoveJ) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.MoveJ parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveJ parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ 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.ArmCommand.MoveJ parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveJ parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveJ parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ 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.ArmCommand.MoveJ parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ 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.ArmCommand.MoveJ parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveJ 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.ArmCommand.MoveJ 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} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.MoveJ) + cmvr.api.ArmCommand.MoveJOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveJ.class, cmvr.api.ArmCommand.MoveJ.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.MoveJ.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.ArmCommand.internal_static_cmvr_api_MoveJ_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveJ.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ build() { + cmvr.api.ArmCommand.MoveJ result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveJ buildPartial() { + cmvr.api.ArmCommand.MoveJ result = new cmvr.api.ArmCommand.MoveJ(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.ArmCommand.MoveJ) { + return mergeFrom((cmvr.api.ArmCommand.MoveJ)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveJ other) { + if (other == cmvr.api.ArmCommand.MoveJ.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.MoveJ) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ) + private static final cmvr.api.ArmCommand.MoveJ DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveJ(); + } + + public static cmvr.api.ArmCommand.MoveJ getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public MoveJ 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.ArmCommand.MoveJ getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface MoveLOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.MoveL) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.MoveL} + */ + public static final class MoveL extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.MoveL) + MoveLOrBuilder { + private static final long serialVersionUID = 0L; + // Use MoveL.newBuilder() to construct. + private MoveL(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private MoveL() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new MoveL(); + } + + @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.ArmCommand.internal_static_cmvr_api_MoveL_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.class, cmvr.api.ArmCommand.MoveL.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.MoveL.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(); + + /** + * .cmvr.api.CartesianPose target = 2; + * @return Whether the target field is set. + */ + boolean hasTarget(); + /** + * .cmvr.api.CartesianPose target = 2; + * @return The target. + */ + cmvr.api.ArmCommand.CartesianPose getTarget(); + /** + * .cmvr.api.CartesianPose target = 2; + */ + cmvr.api.ArmCommand.CartesianPoseOrBuilder getTargetOrBuilder(); + + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + boolean hasOptions(); + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + cmvr.api.ArmCommand.MotionOptions getOptions(); + /** + * .cmvr.api.MotionOptions options = 3; + */ + cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder(); + + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The enum numeric value on the wire for frame. + */ + int getFrameValue(); + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The frame. + */ + cmvr.api.ArmCommand.ArmFrameType getFrame(); + } + /** + * Protobuf type {@code cmvr.api.MoveL.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.MoveL.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() { + frame_ = 0; + } + + @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.ArmCommand.internal_static_cmvr_api_MoveL_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.Request.class, cmvr.api.ArmCommand.MoveL.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 TARGET_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.CartesianPose target_; + /** + * .cmvr.api.CartesianPose target = 2; + * @return Whether the target field is set. + */ + @java.lang.Override + public boolean hasTarget() { + return target_ != null; + } + /** + * .cmvr.api.CartesianPose target = 2; + * @return The target. + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPose getTarget() { + return target_ == null ? cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : target_; + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPoseOrBuilder getTargetOrBuilder() { + return getTarget(); + } + + public static final int OPTIONS_FIELD_NUMBER = 3; + private cmvr.api.ArmCommand.MotionOptions options_; + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + @java.lang.Override + public boolean hasOptions() { + return options_ != null; + } + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptions getOptions() { + return options_ == null ? cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + @java.lang.Override + public cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder() { + return getOptions(); + } + + public static final int FRAME_FIELD_NUMBER = 4; + private int frame_; + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The enum numeric value on the wire for frame. + */ + @java.lang.Override public int getFrameValue() { + return frame_; + } + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The frame. + */ + @java.lang.Override public cmvr.api.ArmCommand.ArmFrameType getFrame() { + @SuppressWarnings("deprecation") + cmvr.api.ArmCommand.ArmFrameType result = cmvr.api.ArmCommand.ArmFrameType.valueOf(frame_); + return result == null ? cmvr.api.ArmCommand.ArmFrameType.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; + return true; + } + + @java.lang.Override + public void writeTo(com.google.protobuf.CodedOutputStream output) + throws java.io.IOException { + if (header_ != null) { + output.writeMessage(1, getHeader()); + } + if (target_ != null) { + output.writeMessage(2, getTarget()); + } + if (options_ != null) { + output.writeMessage(3, getOptions()); + } + if (frame_ != cmvr.api.ArmCommand.ArmFrameType.ARM_FRAME_BASE.getNumber()) { + output.writeEnum(4, frame_); + } + 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 (target_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getTarget()); + } + if (options_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(3, getOptions()); + } + if (frame_ != cmvr.api.ArmCommand.ArmFrameType.ARM_FRAME_BASE.getNumber()) { + size += com.google.protobuf.CodedOutputStream + .computeEnumSize(4, frame_); + } + 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.ArmCommand.MoveL.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveL.Request other = (cmvr.api.ArmCommand.MoveL.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasTarget() != other.hasTarget()) return false; + if (hasTarget()) { + if (!getTarget() + .equals(other.getTarget())) return false; + } + if (hasOptions() != other.hasOptions()) return false; + if (hasOptions()) { + if (!getOptions() + .equals(other.getOptions())) return false; + } + if (frame_ != other.frame_) 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 (hasTarget()) { + hash = (37 * hash) + TARGET_FIELD_NUMBER; + hash = (53 * hash) + getTarget().hashCode(); + } + if (hasOptions()) { + hash = (37 * hash) + OPTIONS_FIELD_NUMBER; + hash = (53 * hash) + getOptions().hashCode(); + } + hash = (37 * hash) + FRAME_FIELD_NUMBER; + hash = (53 * hash) + frame_; + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.MoveL.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveL.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.ArmCommand.MoveL.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveL.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.ArmCommand.MoveL.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveL.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveL.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveL.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.ArmCommand.MoveL.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveL.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.ArmCommand.MoveL.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveL.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.ArmCommand.MoveL.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.MoveL.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.MoveL.Request) + cmvr.api.ArmCommand.MoveL.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.Request.class, cmvr.api.ArmCommand.MoveL.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.MoveL.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 (targetBuilder_ == null) { + target_ = null; + } else { + target_ = null; + targetBuilder_ = null; + } + if (optionsBuilder_ == null) { + options_ = null; + } else { + options_ = null; + optionsBuilder_ = null; + } + frame_ = 0; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveL.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Request build() { + cmvr.api.ArmCommand.MoveL.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Request buildPartial() { + cmvr.api.ArmCommand.MoveL.Request result = new cmvr.api.ArmCommand.MoveL.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (targetBuilder_ == null) { + result.target_ = target_; + } else { + result.target_ = targetBuilder_.build(); + } + if (optionsBuilder_ == null) { + result.options_ = options_; + } else { + result.options_ = optionsBuilder_.build(); + } + result.frame_ = frame_; + 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.ArmCommand.MoveL.Request) { + return mergeFrom((cmvr.api.ArmCommand.MoveL.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveL.Request other) { + if (other == cmvr.api.ArmCommand.MoveL.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasTarget()) { + mergeTarget(other.getTarget()); + } + if (other.hasOptions()) { + mergeOptions(other.getOptions()); + } + if (other.frame_ != 0) { + setFrameValue(other.getFrameValue()); + } + 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: { + input.readMessage( + getTargetFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 18 + case 26: { + input.readMessage( + getOptionsFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 26 + case 32: { + frame_ = input.readEnum(); + + break; + } // case 32 + 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 cmvr.api.ArmCommand.CartesianPose target_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder> targetBuilder_; + /** + * .cmvr.api.CartesianPose target = 2; + * @return Whether the target field is set. + */ + public boolean hasTarget() { + return targetBuilder_ != null || target_ != null; + } + /** + * .cmvr.api.CartesianPose target = 2; + * @return The target. + */ + public cmvr.api.ArmCommand.CartesianPose getTarget() { + if (targetBuilder_ == null) { + return target_ == null ? cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : target_; + } else { + return targetBuilder_.getMessage(); + } + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public Builder setTarget(cmvr.api.ArmCommand.CartesianPose value) { + if (targetBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + target_ = value; + onChanged(); + } else { + targetBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public Builder setTarget( + cmvr.api.ArmCommand.CartesianPose.Builder builderForValue) { + if (targetBuilder_ == null) { + target_ = builderForValue.build(); + onChanged(); + } else { + targetBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public Builder mergeTarget(cmvr.api.ArmCommand.CartesianPose value) { + if (targetBuilder_ == null) { + if (target_ != null) { + target_ = + cmvr.api.ArmCommand.CartesianPose.newBuilder(target_).mergeFrom(value).buildPartial(); + } else { + target_ = value; + } + onChanged(); + } else { + targetBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public Builder clearTarget() { + if (targetBuilder_ == null) { + target_ = null; + onChanged(); + } else { + target_ = null; + targetBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public cmvr.api.ArmCommand.CartesianPose.Builder getTargetBuilder() { + + onChanged(); + return getTargetFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + public cmvr.api.ArmCommand.CartesianPoseOrBuilder getTargetOrBuilder() { + if (targetBuilder_ != null) { + return targetBuilder_.getMessageOrBuilder(); + } else { + return target_ == null ? + cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : target_; + } + } + /** + * .cmvr.api.CartesianPose target = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder> + getTargetFieldBuilder() { + if (targetBuilder_ == null) { + targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder>( + getTarget(), + getParentForChildren(), + isClean()); + target_ = null; + } + return targetBuilder_; + } + + private cmvr.api.ArmCommand.MotionOptions options_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder> optionsBuilder_; + /** + * .cmvr.api.MotionOptions options = 3; + * @return Whether the options field is set. + */ + public boolean hasOptions() { + return optionsBuilder_ != null || options_ != null; + } + /** + * .cmvr.api.MotionOptions options = 3; + * @return The options. + */ + public cmvr.api.ArmCommand.MotionOptions getOptions() { + if (optionsBuilder_ == null) { + return options_ == null ? cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } else { + return optionsBuilder_.getMessage(); + } + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder setOptions(cmvr.api.ArmCommand.MotionOptions value) { + if (optionsBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + options_ = value; + onChanged(); + } else { + optionsBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder setOptions( + cmvr.api.ArmCommand.MotionOptions.Builder builderForValue) { + if (optionsBuilder_ == null) { + options_ = builderForValue.build(); + onChanged(); + } else { + optionsBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder mergeOptions(cmvr.api.ArmCommand.MotionOptions value) { + if (optionsBuilder_ == null) { + if (options_ != null) { + options_ = + cmvr.api.ArmCommand.MotionOptions.newBuilder(options_).mergeFrom(value).buildPartial(); + } else { + options_ = value; + } + onChanged(); + } else { + optionsBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public Builder clearOptions() { + if (optionsBuilder_ == null) { + options_ = null; + onChanged(); + } else { + options_ = null; + optionsBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public cmvr.api.ArmCommand.MotionOptions.Builder getOptionsBuilder() { + + onChanged(); + return getOptionsFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + public cmvr.api.ArmCommand.MotionOptionsOrBuilder getOptionsOrBuilder() { + if (optionsBuilder_ != null) { + return optionsBuilder_.getMessageOrBuilder(); + } else { + return options_ == null ? + cmvr.api.ArmCommand.MotionOptions.getDefaultInstance() : options_; + } + } + /** + * .cmvr.api.MotionOptions options = 3; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder> + getOptionsFieldBuilder() { + if (optionsBuilder_ == null) { + optionsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.MotionOptions, cmvr.api.ArmCommand.MotionOptions.Builder, cmvr.api.ArmCommand.MotionOptionsOrBuilder>( + getOptions(), + getParentForChildren(), + isClean()); + options_ = null; + } + return optionsBuilder_; + } + + private int frame_ = 0; + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The enum numeric value on the wire for frame. + */ + @java.lang.Override public int getFrameValue() { + return frame_; + } + /** + * .cmvr.api.ArmFrameType frame = 4; + * @param value The enum numeric value on the wire for frame to set. + * @return This builder for chaining. + */ + public Builder setFrameValue(int value) { + + frame_ = value; + onChanged(); + return this; + } + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return The frame. + */ + @java.lang.Override + public cmvr.api.ArmCommand.ArmFrameType getFrame() { + @SuppressWarnings("deprecation") + cmvr.api.ArmCommand.ArmFrameType result = cmvr.api.ArmCommand.ArmFrameType.valueOf(frame_); + return result == null ? cmvr.api.ArmCommand.ArmFrameType.UNRECOGNIZED : result; + } + /** + * .cmvr.api.ArmFrameType frame = 4; + * @param value The frame to set. + * @return This builder for chaining. + */ + public Builder setFrame(cmvr.api.ArmCommand.ArmFrameType value) { + if (value == null) { + throw new NullPointerException(); + } + + frame_ = value.getNumber(); + onChanged(); + return this; + } + /** + * .cmvr.api.ArmFrameType frame = 4; + * @return This builder for chaining. + */ + public Builder clearFrame() { + + frame_ = 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.MoveL.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.MoveL.Request) + private static final cmvr.api.ArmCommand.MoveL.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveL.Request(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.internal_static_cmvr_api_MoveL_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.Response.class, cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveL.Response other = (cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveL.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveL.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.MoveL.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.Response.class, cmvr.api.ArmCommand.MoveL.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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.ArmCommand.internal_static_cmvr_api_MoveL_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveL.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Response build() { + cmvr.api.ArmCommand.MoveL.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL.Response buildPartial() { + cmvr.api.ArmCommand.MoveL.Response result = new cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response) { + return mergeFrom((cmvr.api.ArmCommand.MoveL.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveL.Response other) { + if (other == cmvr.api.ArmCommand.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.ArmCommand.MoveL.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveL.Response(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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; + } + + @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.ArmCommand.MoveL)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.MoveL other = (cmvr.api.ArmCommand.MoveL) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.MoveL parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.MoveL parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.MoveL parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.MoveL 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.ArmCommand.MoveL parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.MoveL parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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; + } + /** + * Protobuf type {@code cmvr.api.MoveL} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.MoveL) + cmvr.api.ArmCommand.MoveLOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_MoveL_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.MoveL.class, cmvr.api.ArmCommand.MoveL.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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.ArmCommand.internal_static_cmvr_api_MoveL_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL getDefaultInstanceForType() { + return cmvr.api.ArmCommand.MoveL.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL build() { + cmvr.api.ArmCommand.MoveL result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.MoveL buildPartial() { + cmvr.api.ArmCommand.MoveL result = new cmvr.api.ArmCommand.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.ArmCommand.MoveL) { + return mergeFrom((cmvr.api.ArmCommand.MoveL)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.MoveL other) { + if (other == cmvr.api.ArmCommand.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.ArmCommand.MoveL DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.MoveL(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.internal_static_cmvr_api_SpeedJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.class, cmvr.api.ArmCommand.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(); + + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return Whether the velocity field is set. + */ + boolean hasVelocity(); + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return The velocity. + */ + cmvr.api.ArmCommand.JointVelocityCommand getVelocity(); + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + cmvr.api.ArmCommand.JointVelocityCommandOrBuilder getVelocityOrBuilder(); + + /** + * double acceleration = 3; + * @return The acceleration. + */ + double getAcceleration(); + + /** + * double duration = 4; + * @return The duration. + */ + double getDuration(); + } + /** + * 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() { + } + + @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.ArmCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.Request.class, cmvr.api.ArmCommand.SpeedJ.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 VELOCITY_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.JointVelocityCommand velocity_; + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return Whether the velocity field is set. + */ + @java.lang.Override + public boolean hasVelocity() { + return velocity_ != null; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return The velocity. + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointVelocityCommand getVelocity() { + return velocity_ == null ? cmvr.api.ArmCommand.JointVelocityCommand.getDefaultInstance() : velocity_; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointVelocityCommandOrBuilder getVelocityOrBuilder() { + return getVelocity(); + } + + public static final int ACCELERATION_FIELD_NUMBER = 3; + private double acceleration_; + /** + * double acceleration = 3; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + + public static final int DURATION_FIELD_NUMBER = 4; + private double duration_; + /** + * double duration = 4; + * @return The duration. + */ + @java.lang.Override + public double getDuration() { + return duration_; + } + + 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()); + } + if (velocity_ != null) { + output.writeMessage(2, getVelocity()); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + output.writeDouble(3, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(duration_) != 0) { + output.writeDouble(4, duration_); + } + 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 (velocity_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getVelocity()); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(duration_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, duration_); + } + 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.ArmCommand.SpeedJ.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedJ.Request other = (cmvr.api.ArmCommand.SpeedJ.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasVelocity() != other.hasVelocity()) return false; + if (hasVelocity()) { + if (!getVelocity() + .equals(other.getVelocity())) return false; + } + if (java.lang.Double.doubleToLongBits(getAcceleration()) + != java.lang.Double.doubleToLongBits( + other.getAcceleration())) return false; + if (java.lang.Double.doubleToLongBits(getDuration()) + != java.lang.Double.doubleToLongBits( + other.getDuration())) 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 (hasVelocity()) { + hash = (37 * hash) + VELOCITY_FIELD_NUMBER; + hash = (53 * hash) + getVelocity().hashCode(); + } + hash = (37 * hash) + ACCELERATION_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getAcceleration())); + hash = (37 * hash) + DURATION_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getDuration())); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.SpeedJ.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedJ.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedJ.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.SpeedJ.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.Request.class, cmvr.api.ArmCommand.SpeedJ.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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; + } + if (velocityBuilder_ == null) { + velocity_ = null; + } else { + velocity_ = null; + velocityBuilder_ = null; + } + acceleration_ = 0D; + + duration_ = 0D; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedJ.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Request build() { + cmvr.api.ArmCommand.SpeedJ.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Request buildPartial() { + cmvr.api.ArmCommand.SpeedJ.Request result = new cmvr.api.ArmCommand.SpeedJ.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (velocityBuilder_ == null) { + result.velocity_ = velocity_; + } else { + result.velocity_ = velocityBuilder_.build(); + } + result.acceleration_ = acceleration_; + result.duration_ = duration_; + 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.ArmCommand.SpeedJ.Request) { + return mergeFrom((cmvr.api.ArmCommand.SpeedJ.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedJ.Request other) { + if (other == cmvr.api.ArmCommand.SpeedJ.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasVelocity()) { + mergeVelocity(other.getVelocity()); + } + if (other.getAcceleration() != 0D) { + setAcceleration(other.getAcceleration()); + } + if (other.getDuration() != 0D) { + setDuration(other.getDuration()); + } + 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: { + input.readMessage( + getVelocityFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 18 + case 25: { + acceleration_ = input.readDouble(); + + break; + } // case 25 + case 33: { + duration_ = 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 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 cmvr.api.ArmCommand.JointVelocityCommand velocity_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointVelocityCommand, cmvr.api.ArmCommand.JointVelocityCommand.Builder, cmvr.api.ArmCommand.JointVelocityCommandOrBuilder> velocityBuilder_; + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return Whether the velocity field is set. + */ + public boolean hasVelocity() { + return velocityBuilder_ != null || velocity_ != null; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + * @return The velocity. + */ + public cmvr.api.ArmCommand.JointVelocityCommand getVelocity() { + if (velocityBuilder_ == null) { + return velocity_ == null ? cmvr.api.ArmCommand.JointVelocityCommand.getDefaultInstance() : velocity_; + } else { + return velocityBuilder_.getMessage(); + } + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public Builder setVelocity(cmvr.api.ArmCommand.JointVelocityCommand value) { + if (velocityBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + velocity_ = value; + onChanged(); + } else { + velocityBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public Builder setVelocity( + cmvr.api.ArmCommand.JointVelocityCommand.Builder builderForValue) { + if (velocityBuilder_ == null) { + velocity_ = builderForValue.build(); + onChanged(); + } else { + velocityBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public Builder mergeVelocity(cmvr.api.ArmCommand.JointVelocityCommand value) { + if (velocityBuilder_ == null) { + if (velocity_ != null) { + velocity_ = + cmvr.api.ArmCommand.JointVelocityCommand.newBuilder(velocity_).mergeFrom(value).buildPartial(); + } else { + velocity_ = value; + } + onChanged(); + } else { + velocityBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public Builder clearVelocity() { + if (velocityBuilder_ == null) { + velocity_ = null; + onChanged(); + } else { + velocity_ = null; + velocityBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public cmvr.api.ArmCommand.JointVelocityCommand.Builder getVelocityBuilder() { + + onChanged(); + return getVelocityFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + public cmvr.api.ArmCommand.JointVelocityCommandOrBuilder getVelocityOrBuilder() { + if (velocityBuilder_ != null) { + return velocityBuilder_.getMessageOrBuilder(); + } else { + return velocity_ == null ? + cmvr.api.ArmCommand.JointVelocityCommand.getDefaultInstance() : velocity_; + } + } + /** + * .cmvr.api.JointVelocityCommand velocity = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointVelocityCommand, cmvr.api.ArmCommand.JointVelocityCommand.Builder, cmvr.api.ArmCommand.JointVelocityCommandOrBuilder> + getVelocityFieldBuilder() { + if (velocityBuilder_ == null) { + velocityBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointVelocityCommand, cmvr.api.ArmCommand.JointVelocityCommand.Builder, cmvr.api.ArmCommand.JointVelocityCommandOrBuilder>( + getVelocity(), + getParentForChildren(), + isClean()); + velocity_ = null; + } + return velocityBuilder_; + } + + private double acceleration_ ; + /** + * double acceleration = 3; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + /** + * double acceleration = 3; + * @param value The acceleration to set. + * @return This builder for chaining. + */ + public Builder setAcceleration(double value) { + + acceleration_ = value; + onChanged(); + return this; + } + /** + * double acceleration = 3; + * @return This builder for chaining. + */ + public Builder clearAcceleration() { + + acceleration_ = 0D; + onChanged(); + return this; + } + + private double duration_ ; + /** + * double duration = 4; + * @return The duration. + */ + @java.lang.Override + public double getDuration() { + return duration_; + } + /** + * double duration = 4; + * @param value The duration to set. + * @return This builder for chaining. + */ + public Builder setDuration(double value) { + + duration_ = value; + onChanged(); + return this; + } + /** + * double duration = 4; + * @return This builder for chaining. + */ + public Builder clearDuration() { + + duration_ = 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.SpeedJ.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ.Request) + private static final cmvr.api.ArmCommand.SpeedJ.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedJ.Request(); + } + + public static cmvr.api.ArmCommand.SpeedJ.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.ArmCommand.SpeedJ.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + 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. + */ + 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.SpeedJ.Response} + */ + 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; + // 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.ArmCommand.internal_static_cmvr_api_SpeedJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.Response.class, cmvr.api.ArmCommand.SpeedJ.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.ArmCommand.SpeedJ.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedJ.Response other = (cmvr.api.ArmCommand.SpeedJ.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.ArmCommand.SpeedJ.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedJ.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedJ.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedJ.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.SpeedJ.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.Response.class, cmvr.api.ArmCommand.SpeedJ.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedJ.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Response build() { + cmvr.api.ArmCommand.SpeedJ.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ.Response buildPartial() { + cmvr.api.ArmCommand.SpeedJ.Response result = new cmvr.api.ArmCommand.SpeedJ.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.ArmCommand.SpeedJ.Response) { + return mergeFrom((cmvr.api.ArmCommand.SpeedJ.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedJ.Response other) { + if (other == cmvr.api.ArmCommand.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 { + 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.SpeedJ.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ.Response) + private static final cmvr.api.ArmCommand.SpeedJ.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedJ.Response(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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; + } + + @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.ArmCommand.SpeedJ)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedJ other = (cmvr.api.ArmCommand.SpeedJ) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.SpeedJ parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedJ parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedJ parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedJ 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.ArmCommand.SpeedJ parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedJ parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedJ parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedJ 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.ArmCommand.SpeedJ parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedJ 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.ArmCommand.SpeedJ parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedJ 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.ArmCommand.SpeedJ 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} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedJ) + cmvr.api.ArmCommand.SpeedJOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedJ.class, cmvr.api.ArmCommand.SpeedJ.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.SpeedJ.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.ArmCommand.internal_static_cmvr_api_SpeedJ_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedJ.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ build() { + cmvr.api.ArmCommand.SpeedJ result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedJ buildPartial() { + cmvr.api.ArmCommand.SpeedJ result = new cmvr.api.ArmCommand.SpeedJ(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.ArmCommand.SpeedJ) { + return mergeFrom((cmvr.api.ArmCommand.SpeedJ)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedJ other) { + if (other == cmvr.api.ArmCommand.SpeedJ.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.SpeedJ) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ) + private static final cmvr.api.ArmCommand.SpeedJ DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedJ(); + } + + public static cmvr.api.ArmCommand.SpeedJ getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public SpeedJ 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.ArmCommand.SpeedJ getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface SpeedLOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedL) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.SpeedL} + */ + public static final class SpeedL extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.SpeedL) + SpeedLOrBuilder { + private static final long serialVersionUID = 0L; + // Use SpeedL.newBuilder() to construct. + private SpeedL(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private SpeedL() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new SpeedL(); + } + + @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.ArmCommand.internal_static_cmvr_api_SpeedL_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.class, cmvr.api.ArmCommand.SpeedL.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.SpeedL.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(); + + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return Whether the velocity field is set. + */ + boolean hasVelocity(); + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return The velocity. + */ + cmvr.api.ArmCommand.CartesianVelocity getVelocity(); + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + cmvr.api.ArmCommand.CartesianVelocityOrBuilder getVelocityOrBuilder(); + + /** + * double acceleration = 3; + * @return The acceleration. + */ + double getAcceleration(); + + /** + * double duration = 4; + * @return The duration. + */ + double getDuration(); + + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The enum numeric value on the wire for frame. + */ + int getFrameValue(); + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The frame. + */ + cmvr.api.ArmCommand.ArmFrameType getFrame(); + } + /** + * Protobuf type {@code cmvr.api.SpeedL.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.SpeedL.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() { + frame_ = 0; + } + + @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.ArmCommand.internal_static_cmvr_api_SpeedL_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.Request.class, cmvr.api.ArmCommand.SpeedL.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 VELOCITY_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.CartesianVelocity velocity_; + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return Whether the velocity field is set. + */ + @java.lang.Override + public boolean hasVelocity() { + return velocity_ != null; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return The velocity. + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianVelocity getVelocity() { + return velocity_ == null ? cmvr.api.ArmCommand.CartesianVelocity.getDefaultInstance() : velocity_; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianVelocityOrBuilder getVelocityOrBuilder() { + return getVelocity(); + } + + public static final int ACCELERATION_FIELD_NUMBER = 3; + private double acceleration_; + /** + * double acceleration = 3; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + + public static final int DURATION_FIELD_NUMBER = 4; + private double duration_; + /** + * double duration = 4; + * @return The duration. + */ + @java.lang.Override + public double getDuration() { + return duration_; + } + + public static final int FRAME_FIELD_NUMBER = 5; + private int frame_; + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The enum numeric value on the wire for frame. + */ + @java.lang.Override public int getFrameValue() { + return frame_; + } + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The frame. + */ + @java.lang.Override public cmvr.api.ArmCommand.ArmFrameType getFrame() { + @SuppressWarnings("deprecation") + cmvr.api.ArmCommand.ArmFrameType result = cmvr.api.ArmCommand.ArmFrameType.valueOf(frame_); + return result == null ? cmvr.api.ArmCommand.ArmFrameType.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; + return true; + } + + @java.lang.Override + public void writeTo(com.google.protobuf.CodedOutputStream output) + throws java.io.IOException { + if (header_ != null) { + output.writeMessage(1, getHeader()); + } + if (velocity_ != null) { + output.writeMessage(2, getVelocity()); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + output.writeDouble(3, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(duration_) != 0) { + output.writeDouble(4, duration_); + } + if (frame_ != cmvr.api.ArmCommand.ArmFrameType.ARM_FRAME_BASE.getNumber()) { + output.writeEnum(5, frame_); + } + 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 (velocity_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getVelocity()); + } + if (java.lang.Double.doubleToRawLongBits(acceleration_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(3, acceleration_); + } + if (java.lang.Double.doubleToRawLongBits(duration_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(4, duration_); + } + if (frame_ != cmvr.api.ArmCommand.ArmFrameType.ARM_FRAME_BASE.getNumber()) { + size += com.google.protobuf.CodedOutputStream + .computeEnumSize(5, frame_); + } + 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.ArmCommand.SpeedL.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedL.Request other = (cmvr.api.ArmCommand.SpeedL.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasVelocity() != other.hasVelocity()) return false; + if (hasVelocity()) { + if (!getVelocity() + .equals(other.getVelocity())) return false; + } + if (java.lang.Double.doubleToLongBits(getAcceleration()) + != java.lang.Double.doubleToLongBits( + other.getAcceleration())) return false; + if (java.lang.Double.doubleToLongBits(getDuration()) + != java.lang.Double.doubleToLongBits( + other.getDuration())) return false; + if (frame_ != other.frame_) 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 (hasVelocity()) { + hash = (37 * hash) + VELOCITY_FIELD_NUMBER; + hash = (53 * hash) + getVelocity().hashCode(); + } + hash = (37 * hash) + ACCELERATION_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getAcceleration())); + hash = (37 * hash) + DURATION_FIELD_NUMBER; + hash = (53 * hash) + com.google.protobuf.Internal.hashLong( + java.lang.Double.doubleToLongBits(getDuration())); + hash = (37 * hash) + FRAME_FIELD_NUMBER; + hash = (53 * hash) + frame_; + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.SpeedL.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedL.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedL.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedL.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.SpeedL.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.Request.class, cmvr.api.ArmCommand.SpeedL.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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; + } + if (velocityBuilder_ == null) { + velocity_ = null; + } else { + velocity_ = null; + velocityBuilder_ = null; + } + acceleration_ = 0D; + + duration_ = 0D; + + frame_ = 0; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedL.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Request build() { + cmvr.api.ArmCommand.SpeedL.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Request buildPartial() { + cmvr.api.ArmCommand.SpeedL.Request result = new cmvr.api.ArmCommand.SpeedL.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (velocityBuilder_ == null) { + result.velocity_ = velocity_; + } else { + result.velocity_ = velocityBuilder_.build(); + } + result.acceleration_ = acceleration_; + result.duration_ = duration_; + result.frame_ = frame_; + 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.ArmCommand.SpeedL.Request) { + return mergeFrom((cmvr.api.ArmCommand.SpeedL.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedL.Request other) { + if (other == cmvr.api.ArmCommand.SpeedL.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasVelocity()) { + mergeVelocity(other.getVelocity()); + } + if (other.getAcceleration() != 0D) { + setAcceleration(other.getAcceleration()); + } + if (other.getDuration() != 0D) { + setDuration(other.getDuration()); + } + if (other.frame_ != 0) { + setFrameValue(other.getFrameValue()); + } + 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: { + input.readMessage( + getVelocityFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 18 + case 25: { + acceleration_ = input.readDouble(); + + break; + } // case 25 + case 33: { + duration_ = input.readDouble(); + + break; + } // case 33 + case 40: { + frame_ = 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 cmvr.api.ArmCommand.CartesianVelocity velocity_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianVelocity, cmvr.api.ArmCommand.CartesianVelocity.Builder, cmvr.api.ArmCommand.CartesianVelocityOrBuilder> velocityBuilder_; + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return Whether the velocity field is set. + */ + public boolean hasVelocity() { + return velocityBuilder_ != null || velocity_ != null; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + * @return The velocity. + */ + public cmvr.api.ArmCommand.CartesianVelocity getVelocity() { + if (velocityBuilder_ == null) { + return velocity_ == null ? cmvr.api.ArmCommand.CartesianVelocity.getDefaultInstance() : velocity_; + } else { + return velocityBuilder_.getMessage(); + } + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public Builder setVelocity(cmvr.api.ArmCommand.CartesianVelocity value) { + if (velocityBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + velocity_ = value; + onChanged(); + } else { + velocityBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public Builder setVelocity( + cmvr.api.ArmCommand.CartesianVelocity.Builder builderForValue) { + if (velocityBuilder_ == null) { + velocity_ = builderForValue.build(); + onChanged(); + } else { + velocityBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public Builder mergeVelocity(cmvr.api.ArmCommand.CartesianVelocity value) { + if (velocityBuilder_ == null) { + if (velocity_ != null) { + velocity_ = + cmvr.api.ArmCommand.CartesianVelocity.newBuilder(velocity_).mergeFrom(value).buildPartial(); + } else { + velocity_ = value; + } + onChanged(); + } else { + velocityBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public Builder clearVelocity() { + if (velocityBuilder_ == null) { + velocity_ = null; + onChanged(); + } else { + velocity_ = null; + velocityBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public cmvr.api.ArmCommand.CartesianVelocity.Builder getVelocityBuilder() { + + onChanged(); + return getVelocityFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + public cmvr.api.ArmCommand.CartesianVelocityOrBuilder getVelocityOrBuilder() { + if (velocityBuilder_ != null) { + return velocityBuilder_.getMessageOrBuilder(); + } else { + return velocity_ == null ? + cmvr.api.ArmCommand.CartesianVelocity.getDefaultInstance() : velocity_; + } + } + /** + * .cmvr.api.CartesianVelocity velocity = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianVelocity, cmvr.api.ArmCommand.CartesianVelocity.Builder, cmvr.api.ArmCommand.CartesianVelocityOrBuilder> + getVelocityFieldBuilder() { + if (velocityBuilder_ == null) { + velocityBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianVelocity, cmvr.api.ArmCommand.CartesianVelocity.Builder, cmvr.api.ArmCommand.CartesianVelocityOrBuilder>( + getVelocity(), + getParentForChildren(), + isClean()); + velocity_ = null; + } + return velocityBuilder_; + } + + private double acceleration_ ; + /** + * double acceleration = 3; + * @return The acceleration. + */ + @java.lang.Override + public double getAcceleration() { + return acceleration_; + } + /** + * double acceleration = 3; + * @param value The acceleration to set. + * @return This builder for chaining. + */ + public Builder setAcceleration(double value) { + + acceleration_ = value; + onChanged(); + return this; + } + /** + * double acceleration = 3; + * @return This builder for chaining. + */ + public Builder clearAcceleration() { + + acceleration_ = 0D; + onChanged(); + return this; + } + + private double duration_ ; + /** + * double duration = 4; + * @return The duration. + */ + @java.lang.Override + public double getDuration() { + return duration_; + } + /** + * double duration = 4; + * @param value The duration to set. + * @return This builder for chaining. + */ + public Builder setDuration(double value) { + + duration_ = value; + onChanged(); + return this; + } + /** + * double duration = 4; + * @return This builder for chaining. + */ + public Builder clearDuration() { + + duration_ = 0D; + onChanged(); + return this; + } + + private int frame_ = 0; + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The enum numeric value on the wire for frame. + */ + @java.lang.Override public int getFrameValue() { + return frame_; + } + /** + * .cmvr.api.ArmFrameType frame = 5; + * @param value The enum numeric value on the wire for frame to set. + * @return This builder for chaining. + */ + public Builder setFrameValue(int value) { + + frame_ = value; + onChanged(); + return this; + } + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return The frame. + */ + @java.lang.Override + public cmvr.api.ArmCommand.ArmFrameType getFrame() { + @SuppressWarnings("deprecation") + cmvr.api.ArmCommand.ArmFrameType result = cmvr.api.ArmCommand.ArmFrameType.valueOf(frame_); + return result == null ? cmvr.api.ArmCommand.ArmFrameType.UNRECOGNIZED : result; + } + /** + * .cmvr.api.ArmFrameType frame = 5; + * @param value The frame to set. + * @return This builder for chaining. + */ + public Builder setFrame(cmvr.api.ArmCommand.ArmFrameType value) { + if (value == null) { + throw new NullPointerException(); + } + + frame_ = value.getNumber(); + onChanged(); + return this; + } + /** + * .cmvr.api.ArmFrameType frame = 5; + * @return This builder for chaining. + */ + public Builder clearFrame() { + + frame_ = 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.ArmCommand.SpeedL.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedL.Request(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.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.ArmCommand.internal_static_cmvr_api_SpeedL_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.Response.class, cmvr.api.ArmCommand.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; + + 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.ArmCommand.SpeedL.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedL.Response other = (cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedL.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.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.SpeedL.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedL.Response) + cmvr.api.ArmCommand.SpeedL.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.Response.class, cmvr.api.ArmCommand.SpeedL.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.SpeedL.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.ArmCommand.internal_static_cmvr_api_SpeedL_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedL.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Response build() { + cmvr.api.ArmCommand.SpeedL.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL.Response buildPartial() { + cmvr.api.ArmCommand.SpeedL.Response result = new cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.Response) { + return mergeFrom((cmvr.api.ArmCommand.SpeedL.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedL.Response other) { + if (other == cmvr.api.ArmCommand.SpeedL.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.SpeedL.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.SpeedL.Response) + private static final cmvr.api.ArmCommand.SpeedL.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedL.Response(); + } + + public static cmvr.api.ArmCommand.SpeedL.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.ArmCommand.SpeedL.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; + } + + @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.ArmCommand.SpeedL)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.SpeedL other = (cmvr.api.ArmCommand.SpeedL) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.SpeedL parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedL parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL 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.ArmCommand.SpeedL parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.SpeedL parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.SpeedL parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL 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.ArmCommand.SpeedL parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL 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.ArmCommand.SpeedL parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.SpeedL 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.ArmCommand.SpeedL 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} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedL) + cmvr.api.ArmCommand.SpeedLOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_SpeedL_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.SpeedL.class, cmvr.api.ArmCommand.SpeedL.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.SpeedL.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.ArmCommand.internal_static_cmvr_api_SpeedL_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL getDefaultInstanceForType() { + return cmvr.api.ArmCommand.SpeedL.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL build() { + cmvr.api.ArmCommand.SpeedL result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.SpeedL buildPartial() { + cmvr.api.ArmCommand.SpeedL result = new cmvr.api.ArmCommand.SpeedL(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.ArmCommand.SpeedL) { + return mergeFrom((cmvr.api.ArmCommand.SpeedL)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.SpeedL other) { + if (other == cmvr.api.ArmCommand.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.ArmCommand.SpeedL DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.SpeedL(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.SpeedL getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ServoJOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ServoJ) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.ServoJ} + */ + public static final class ServoJ extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ServoJ) + ServoJOrBuilder { + private static final long serialVersionUID = 0L; + // Use ServoJ.newBuilder() to construct. + private ServoJ(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private ServoJ() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new ServoJ(); + } + + @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.ArmCommand.internal_static_cmvr_api_ServoJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.class, cmvr.api.ArmCommand.ServoJ.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ServoJ.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(); + + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + boolean hasTarget(); + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + cmvr.api.ArmCommand.JointPositionCommand getTarget(); + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder(); + } + /** + * Protobuf type {@code cmvr.api.ServoJ.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ServoJ.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() { + } + + @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.ArmCommand.internal_static_cmvr_api_ServoJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.Request.class, cmvr.api.ArmCommand.ServoJ.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 TARGET_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.JointPositionCommand target_; + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + @java.lang.Override + public boolean hasTarget() { + return target_ != null; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand getTarget() { + return target_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder() { + return getTarget(); + } + + 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()); + } + if (target_ != null) { + output.writeMessage(2, getTarget()); + } + 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 (target_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getTarget()); + } + 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.ArmCommand.ServoJ.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ServoJ.Request other = (cmvr.api.ArmCommand.ServoJ.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasTarget() != other.hasTarget()) return false; + if (hasTarget()) { + if (!getTarget() + .equals(other.getTarget())) 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 (hasTarget()) { + hash = (37 * hash) + TARGET_FIELD_NUMBER; + hash = (53 * hash) + getTarget().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.ServoJ.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ServoJ.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.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.ServoJ.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ServoJ.Request) + cmvr.api.ArmCommand.ServoJ.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.Request.class, cmvr.api.ArmCommand.ServoJ.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ServoJ.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 (targetBuilder_ == null) { + target_ = null; + } else { + target_ = null; + targetBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ServoJ.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Request build() { + cmvr.api.ArmCommand.ServoJ.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Request buildPartial() { + cmvr.api.ArmCommand.ServoJ.Request result = new cmvr.api.ArmCommand.ServoJ.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (targetBuilder_ == null) { + result.target_ = target_; + } else { + result.target_ = targetBuilder_.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.ArmCommand.ServoJ.Request) { + return mergeFrom((cmvr.api.ArmCommand.ServoJ.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ServoJ.Request other) { + if (other == cmvr.api.ArmCommand.ServoJ.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasTarget()) { + mergeTarget(other.getTarget()); + } + 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: { + input.readMessage( + getTargetFieldBuilder().getBuilder(), + extensionRegistry); + + 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 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 cmvr.api.ArmCommand.JointPositionCommand target_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> targetBuilder_; + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return Whether the target field is set. + */ + public boolean hasTarget() { + return targetBuilder_ != null || target_ != null; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + * @return The target. + */ + public cmvr.api.ArmCommand.JointPositionCommand getTarget() { + if (targetBuilder_ == null) { + return target_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } else { + return targetBuilder_.getMessage(); + } + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder setTarget(cmvr.api.ArmCommand.JointPositionCommand value) { + if (targetBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + target_ = value; + onChanged(); + } else { + targetBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder setTarget( + cmvr.api.ArmCommand.JointPositionCommand.Builder builderForValue) { + if (targetBuilder_ == null) { + target_ = builderForValue.build(); + onChanged(); + } else { + targetBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder mergeTarget(cmvr.api.ArmCommand.JointPositionCommand value) { + if (targetBuilder_ == null) { + if (target_ != null) { + target_ = + cmvr.api.ArmCommand.JointPositionCommand.newBuilder(target_).mergeFrom(value).buildPartial(); + } else { + target_ = value; + } + onChanged(); + } else { + targetBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public Builder clearTarget() { + if (targetBuilder_ == null) { + target_ = null; + onChanged(); + } else { + target_ = null; + targetBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public cmvr.api.ArmCommand.JointPositionCommand.Builder getTargetBuilder() { + + onChanged(); + return getTargetFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getTargetOrBuilder() { + if (targetBuilder_ != null) { + return targetBuilder_.getMessageOrBuilder(); + } else { + return target_ == null ? + cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : target_; + } + } + /** + * .cmvr.api.JointPositionCommand target = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> + getTargetFieldBuilder() { + if (targetBuilder_ == null) { + targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder>( + getTarget(), + getParentForChildren(), + isClean()); + target_ = null; + } + return targetBuilder_; + } + @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.ServoJ.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ServoJ.Request) + private static final cmvr.api.ArmCommand.ServoJ.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ServoJ.Request(); + } + + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ResponseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ServoJ.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.ServoJ.Response} + */ + public static final class Response extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ServoJ.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.ArmCommand.internal_static_cmvr_api_ServoJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.Response.class, cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ServoJ.Response other = (cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ServoJ.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.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.ServoJ.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ServoJ.Response) + cmvr.api.ArmCommand.ServoJ.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.Response.class, cmvr.api.ArmCommand.ServoJ.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ServoJ.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.ArmCommand.internal_static_cmvr_api_ServoJ_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ServoJ.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Response build() { + cmvr.api.ArmCommand.ServoJ.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ.Response buildPartial() { + cmvr.api.ArmCommand.ServoJ.Response result = new cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.Response) { + return mergeFrom((cmvr.api.ArmCommand.ServoJ.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ServoJ.Response other) { + if (other == cmvr.api.ArmCommand.ServoJ.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.ServoJ.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ServoJ.Response) + private static final cmvr.api.ArmCommand.ServoJ.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ServoJ.Response(); + } + + public static cmvr.api.ArmCommand.ServoJ.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.ArmCommand.ServoJ.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; + } + + @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.ArmCommand.ServoJ)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ServoJ other = (cmvr.api.ArmCommand.ServoJ) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.ServoJ parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ServoJ parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ 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.ArmCommand.ServoJ parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ServoJ parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ServoJ parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ 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.ArmCommand.ServoJ parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ 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.ArmCommand.ServoJ parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ServoJ 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.ArmCommand.ServoJ 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.ServoJ} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ServoJ) + cmvr.api.ArmCommand.ServoJOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ServoJ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ServoJ.class, cmvr.api.ArmCommand.ServoJ.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ServoJ.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.ArmCommand.internal_static_cmvr_api_ServoJ_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ServoJ.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ build() { + cmvr.api.ArmCommand.ServoJ result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ServoJ buildPartial() { + cmvr.api.ArmCommand.ServoJ result = new cmvr.api.ArmCommand.ServoJ(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.ArmCommand.ServoJ) { + return mergeFrom((cmvr.api.ArmCommand.ServoJ)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ServoJ other) { + if (other == cmvr.api.ArmCommand.ServoJ.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.ServoJ) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ServoJ) + private static final cmvr.api.ArmCommand.ServoJ DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ServoJ(); + } + + public static cmvr.api.ArmCommand.ServoJ getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public ServoJ 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.ArmCommand.ServoJ getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface JointStateOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.JointState) + com.google.protobuf.MessageOrBuilder { + + /** + * repeated string name = 1; + * @return A list containing the name. + */ + java.util.List + getNameList(); + /** + * repeated string name = 1; + * @return The count of name. + */ + int getNameCount(); + /** + * 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); + /** + * 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); + + /** + * repeated double position = 2; + * @return A list containing the position. + */ + java.util.List getPositionList(); + /** + * repeated double position = 2; + * @return The count of position. + */ + int getPositionCount(); + /** + * repeated double position = 2; + * @param index The index of the element to return. + * @return The position at the given index. + */ + double getPosition(int index); + + /** + * repeated double velocity = 3; + * @return A list containing the velocity. + */ + java.util.List getVelocityList(); + /** + * repeated double velocity = 3; + * @return The count of velocity. + */ + int getVelocityCount(); + /** + * repeated double velocity = 3; + * @param index The index of the element to return. + * @return The velocity at the given index. + */ + double getVelocity(int index); + + /** + * repeated double effort = 4; + * @return A list containing the effort. + */ + java.util.List getEffortList(); + /** + * repeated double effort = 4; + * @return The count of effort. + */ + int getEffortCount(); + /** + * repeated double effort = 4; + * @param index The index of the element to return. + * @return The effort at the given index. + */ + double getEffort(int index); + + /** + * double timestamp = 5; + * @return The timestamp. + */ + double getTimestamp(); + } + /** + * 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.ArmCommand.internal_static_cmvr_api_JointState_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointState_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointState.class, cmvr.api.ArmCommand.JointState.Builder.class); + } + + public static final int NAME_FIELD_NUMBER = 1; + private com.google.protobuf.LazyStringList name_; + /** + * repeated string name = 1; + * @return A list containing the name. + */ + public com.google.protobuf.ProtocolStringList + getNameList() { + return name_; + } + /** + * repeated string name = 1; + * @return The count of name. + */ + public int getNameCount() { + return name_.size(); + } + /** + * 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); + } + /** + * 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_; + /** + * repeated double position = 2; + * @return A list containing the position. + */ + @java.lang.Override + public java.util.List + getPositionList() { + return position_; + } + /** + * repeated double position = 2; + * @return The count of position. + */ + public int getPositionCount() { + return position_.size(); + } + /** + * 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_; + /** + * repeated double velocity = 3; + * @return A list containing the velocity. + */ + @java.lang.Override + public java.util.List + getVelocityList() { + return velocity_; + } + /** + * repeated double velocity = 3; + * @return The count of velocity. + */ + public int getVelocityCount() { + return velocity_.size(); + } + /** + * 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_; + /** + * repeated double effort = 4; + * @return A list containing the effort. + */ + @java.lang.Override + public java.util.List + getEffortList() { + return effort_; + } + /** + * repeated double effort = 4; + * @return The count of effort. + */ + public int getEffortCount() { + return effort_.size(); + } + /** + * 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_; + /** + * 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; + return true; + } + + @java.lang.Override + public void writeTo(com.google.protobuf.CodedOutputStream output) + throws java.io.IOException { + getSerializedSize(); + for (int i = 0; i < name_.size(); i++) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 1, name_.getRaw(i)); + } + if (getPositionList().size() > 0) { + output.writeUInt32NoTag(18); + output.writeUInt32NoTag(positionMemoizedSerializedSize); + } + for (int i = 0; i < position_.size(); i++) { + output.writeDoubleNoTag(position_.getDouble(i)); + } + if (getVelocityList().size() > 0) { + output.writeUInt32NoTag(26); + output.writeUInt32NoTag(velocityMemoizedSerializedSize); + } + for (int i = 0; i < velocity_.size(); i++) { + output.writeDoubleNoTag(velocity_.getDouble(i)); + } + if (getEffortList().size() > 0) { + output.writeUInt32NoTag(34); + output.writeUInt32NoTag(effortMemoizedSerializedSize); + } + for (int i = 0; i < effort_.size(); i++) { + output.writeDoubleNoTag(effort_.getDouble(i)); + } + if (java.lang.Double.doubleToRawLongBits(timestamp_) != 0) { + output.writeDouble(5, timestamp_); + } + getUnknownFields().writeTo(output); + } + + @java.lang.Override + public int getSerializedSize() { + int size = memoizedSize; + if (size != -1) return size; + + size = 0; + { + int dataSize = 0; + for (int i = 0; i < name_.size(); i++) { + dataSize += computeStringSizeNoTag(name_.getRaw(i)); + } + size += dataSize; + size += 1 * getNameList().size(); + } + { + int dataSize = 0; + dataSize = 8 * getPositionList().size(); + size += dataSize; + if (!getPositionList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + positionMemoizedSerializedSize = dataSize; + } + { + int dataSize = 0; + dataSize = 8 * getVelocityList().size(); + size += dataSize; + if (!getVelocityList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + velocityMemoizedSerializedSize = dataSize; + } + { + int dataSize = 0; + dataSize = 8 * getEffortList().size(); + size += dataSize; + if (!getEffortList().isEmpty()) { + size += 1; + size += com.google.protobuf.CodedOutputStream + .computeInt32SizeNoTag(dataSize); + } + effortMemoizedSerializedSize = dataSize; + } + if (java.lang.Double.doubleToRawLongBits(timestamp_) != 0) { + size += com.google.protobuf.CodedOutputStream + .computeDoubleSize(5, timestamp_); + } + 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.ArmCommand.JointState)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.JointState other = (cmvr.api.ArmCommand.JointState) obj; + + if (!getNameList() + .equals(other.getNameList())) return false; + if (!getPositionList() + .equals(other.getPositionList())) return false; + if (!getVelocityList() + .equals(other.getVelocityList())) return false; + 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) { + hash = (37 * hash) + POSITION_FIELD_NUMBER; + hash = (53 * hash) + getPositionList().hashCode(); + } + if (getVelocityCount() > 0) { + hash = (37 * hash) + VELOCITY_FIELD_NUMBER; + hash = (53 * hash) + getVelocityList().hashCode(); + } + if (getEffortCount() > 0) { + hash = (37 * hash) + EFFORT_FIELD_NUMBER; + hash = (53 * hash) + getEffortList().hashCode(); + } + 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.ArmCommand.JointState parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointState parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointState parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointState parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointState parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointState parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointState parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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; + } + /** + * 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.ArmCommand.JointStateOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointState_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointState_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointState.class, cmvr.api.ArmCommand.JointState.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointState_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointState getDefaultInstanceForType() { + return cmvr.api.ArmCommand.JointState.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointState build() { + cmvr.api.ArmCommand.JointState result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointState buildPartial() { + cmvr.api.ArmCommand.JointState result = new cmvr.api.ArmCommand.JointState(this); + int from_bitField0_ = bitField0_; + if (((bitField0_ & 0x00000001) != 0)) { + name_ = name_.getUnmodifiableView(); + bitField0_ = (bitField0_ & ~0x00000001); + } + result.name_ = name_; + if (((bitField0_ & 0x00000002) != 0)) { + position_.makeImmutable(); + bitField0_ = (bitField0_ & ~0x00000002); + } + result.position_ = position_; + if (((bitField0_ & 0x00000004) != 0)) { + velocity_.makeImmutable(); + bitField0_ = (bitField0_ & ~0x00000004); + } + result.velocity_ = velocity_; + 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.ArmCommand.JointState) { + return mergeFrom((cmvr.api.ArmCommand.JointState)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.JointState other) { + if (other == cmvr.api.ArmCommand.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; + } + } + /** + * repeated string name = 1; + * @return A list containing the name. + */ + public com.google.protobuf.ProtocolStringList + getNameList() { + return name_.getUnmodifiableView(); + } + /** + * repeated string name = 1; + * @return The count of name. + */ + public int getNameCount() { + return name_.size(); + } + /** + * 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); + } + /** + * 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); + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + /** + * repeated string name = 1; + * @return This builder for chaining. + */ + public Builder clearName() { + name_ = com.google.protobuf.LazyStringArrayList.EMPTY; + bitField0_ = (bitField0_ & ~0x00000001); + onChanged(); + return this; + } + /** + * 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; + } + } + /** + * 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_; + } + /** + * repeated double position = 2; + * @return The count of position. + */ + public int getPositionCount() { + return position_.size(); + } + /** + * 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); + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + } + /** + * 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_; + } + /** + * repeated double velocity = 3; + * @return The count of velocity. + */ + public int getVelocityCount() { + return velocity_.size(); + } + /** + * 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); + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + } + /** + * 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_; + } + /** + * repeated double effort = 4; + * @return The count of effort. + */ + public int getEffortCount() { + return effort_.size(); + } + /** + * 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); + } + /** + * 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; + } + /** + * 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; + } + /** + * 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; + } + /** + * repeated double effort = 4; + * @return This builder for chaining. + */ + public Builder clearEffort() { + effort_ = emptyDoubleList(); + bitField0_ = (bitField0_ & ~0x00000008); + onChanged(); + return this; + } + + private double timestamp_ ; + /** + * double timestamp = 5; + * @return The timestamp. + */ + @java.lang.Override + public double getTimestamp() { + return timestamp_; + } + /** + * double timestamp = 5; + * @param value The timestamp to set. + * @return This builder for chaining. + */ + public Builder setTimestamp(double value) { + + timestamp_ = value; + onChanged(); + return this; + } + /** + * 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.ArmCommand.JointState DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.JointState(); + } + + public static cmvr.api.ArmCommand.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.ArmCommand.JointState getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface JointRequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.JointRequest) + 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(); + } + /** + * Protobuf type {@code cmvr.api.JointRequest} + */ + public static final class JointRequest extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.JointRequest) + JointRequestOrBuilder { + private static final long serialVersionUID = 0L; + // Use JointRequest.newBuilder() to construct. + private JointRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private JointRequest() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new JointRequest(); + } + + @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.ArmCommand.internal_static_cmvr_api_JointRequest_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointRequest_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointRequest.class, cmvr.api.ArmCommand.JointRequest.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(); + } + + 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.ArmCommand.JointRequest)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.JointRequest other = (cmvr.api.ArmCommand.JointRequest) 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.ArmCommand.JointRequest parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointRequest parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointRequest parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointRequest 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.ArmCommand.JointRequest parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointRequest parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointRequest parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointRequest 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.ArmCommand.JointRequest parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointRequest 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.ArmCommand.JointRequest parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.JointRequest 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.ArmCommand.JointRequest 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.JointRequest} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.JointRequest) + cmvr.api.ArmCommand.JointRequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointRequest_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointRequest_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointRequest.class, cmvr.api.ArmCommand.JointRequest.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.JointRequest.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.ArmCommand.internal_static_cmvr_api_JointRequest_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointRequest getDefaultInstanceForType() { + return cmvr.api.ArmCommand.JointRequest.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointRequest build() { + cmvr.api.ArmCommand.JointRequest result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointRequest buildPartial() { + cmvr.api.ArmCommand.JointRequest result = new cmvr.api.ArmCommand.JointRequest(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.ArmCommand.JointRequest) { + return mergeFrom((cmvr.api.ArmCommand.JointRequest)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.JointRequest other) { + if (other == cmvr.api.ArmCommand.JointRequest.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.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_; + } + @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.JointRequest) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.JointRequest) + private static final cmvr.api.ArmCommand.JointRequest DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.JointRequest(); + } + + public static cmvr.api.ArmCommand.JointRequest getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public JointRequest 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.ArmCommand.JointRequest 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(); + + /** + * .cmvr.api.JointState state = 2; + * @return Whether the state field is set. + */ + boolean hasState(); + /** + * .cmvr.api.JointState state = 2; + * @return The state. + */ + cmvr.api.ArmCommand.JointState getState(); + /** + * .cmvr.api.JointState state = 2; + */ + cmvr.api.ArmCommand.JointStateOrBuilder getStateOrBuilder(); + } + /** + * 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() { + } + + @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.ArmCommand.internal_static_cmvr_api_JointResponse_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointResponse.class, cmvr.api.ArmCommand.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 cmvr.api.ArmCommand.JointState state_; + /** + * .cmvr.api.JointState state = 2; + * @return Whether the state field is set. + */ + @java.lang.Override + public boolean hasState() { + return state_ != null; + } + /** + * .cmvr.api.JointState state = 2; + * @return The state. + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointState getState() { + return state_ == null ? cmvr.api.ArmCommand.JointState.getDefaultInstance() : state_; + } + /** + * .cmvr.api.JointState state = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointStateOrBuilder getStateOrBuilder() { + return getState(); + } + + 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()); + } + if (state_ != null) { + output.writeMessage(2, getState()); + } + 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 (state_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getState()); + } + 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.ArmCommand.JointResponse)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.JointResponse other = (cmvr.api.ArmCommand.JointResponse) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasState() != other.hasState()) return false; + if (hasState()) { + if (!getState() + .equals(other.getState())) 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 (hasState()) { + hash = (37 * hash) + STATE_FIELD_NUMBER; + hash = (53 * hash) + getState().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.JointResponse parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointResponse parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointResponse parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.JointResponse parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.JointResponse parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointResponse parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.JointResponse parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.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.ArmCommand.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; + } + /** + * 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.ArmCommand.JointResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointResponse_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.JointResponse.class, cmvr.api.ArmCommand.JointResponse.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.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_ = null; + } else { + state_ = null; + stateBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_JointResponse_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointResponse getDefaultInstanceForType() { + return cmvr.api.ArmCommand.JointResponse.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointResponse build() { + cmvr.api.ArmCommand.JointResponse result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.JointResponse buildPartial() { + cmvr.api.ArmCommand.JointResponse result = new cmvr.api.ArmCommand.JointResponse(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (stateBuilder_ == null) { + 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.ArmCommand.JointResponse) { + return mergeFrom((cmvr.api.ArmCommand.JointResponse)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.JointResponse other) { + if (other == cmvr.api.ArmCommand.JointResponse.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasState()) { + mergeState(other.getState()); + } + 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: { + input.readMessage( + getStateFieldBuilder().getBuilder(), + extensionRegistry); + + 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 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 cmvr.api.ArmCommand.JointState state_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointState, cmvr.api.ArmCommand.JointState.Builder, cmvr.api.ArmCommand.JointStateOrBuilder> stateBuilder_; + /** + * .cmvr.api.JointState state = 2; + * @return Whether the state field is set. + */ + public boolean hasState() { + return stateBuilder_ != null || state_ != null; + } + /** + * .cmvr.api.JointState state = 2; + * @return The state. + */ + public cmvr.api.ArmCommand.JointState getState() { + if (stateBuilder_ == null) { + return state_ == null ? cmvr.api.ArmCommand.JointState.getDefaultInstance() : state_; + } else { + return stateBuilder_.getMessage(); + } + } + /** + * .cmvr.api.JointState state = 2; + */ + public Builder setState(cmvr.api.ArmCommand.JointState value) { + if (stateBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + state_ = value; + onChanged(); + } else { + stateBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.JointState state = 2; + */ + public Builder setState( + cmvr.api.ArmCommand.JointState.Builder builderForValue) { + if (stateBuilder_ == null) { + state_ = builderForValue.build(); + onChanged(); + } else { + stateBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.JointState state = 2; + */ + public Builder mergeState(cmvr.api.ArmCommand.JointState value) { + if (stateBuilder_ == null) { + if (state_ != null) { + state_ = + cmvr.api.ArmCommand.JointState.newBuilder(state_).mergeFrom(value).buildPartial(); + } else { + state_ = value; + } + onChanged(); + } else { + stateBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.JointState state = 2; + */ + public Builder clearState() { + if (stateBuilder_ == null) { + state_ = null; + onChanged(); + } else { + state_ = null; + stateBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.JointState state = 2; + */ + public cmvr.api.ArmCommand.JointState.Builder getStateBuilder() { + + onChanged(); + return getStateFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.JointState state = 2; + */ + public cmvr.api.ArmCommand.JointStateOrBuilder getStateOrBuilder() { + if (stateBuilder_ != null) { + return stateBuilder_.getMessageOrBuilder(); + } else { + return state_ == null ? + cmvr.api.ArmCommand.JointState.getDefaultInstance() : state_; + } + } + /** + * .cmvr.api.JointState state = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointState, cmvr.api.ArmCommand.JointState.Builder, cmvr.api.ArmCommand.JointStateOrBuilder> + getStateFieldBuilder() { + if (stateBuilder_ == null) { + stateBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointState, cmvr.api.ArmCommand.JointState.Builder, cmvr.api.ArmCommand.JointStateOrBuilder>( + getState(), + 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.ArmCommand.JointResponse DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.JointResponse(); + } + + public static cmvr.api.ArmCommand.JointResponse getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public JointResponse 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.ArmCommand.JointResponse getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface GetPoseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPose) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.GetPose} + */ + public static final class GetPose extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPose) + GetPoseOrBuilder { + private static final long serialVersionUID = 0L; + // Use GetPose.newBuilder() to construct. + private GetPose(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private GetPose() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new GetPose(); + } + + @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.ArmCommand.internal_static_cmvr_api_GetPose_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.class, cmvr.api.ArmCommand.GetPose.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPose.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 base_link = 2; + * @return The baseLink. + */ + java.lang.String getBaseLink(); + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + com.google.protobuf.ByteString + getBaseLinkBytes(); + + /** + * string ee_link = 3; + * @return The eeLink. + */ + java.lang.String getEeLink(); + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + com.google.protobuf.ByteString + getEeLinkBytes(); + } + /** + * Protobuf type {@code cmvr.api.GetPose.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPose.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() { + baseLink_ = ""; + eeLink_ = ""; + } + + @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.ArmCommand.internal_static_cmvr_api_GetPose_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.Request.class, cmvr.api.ArmCommand.GetPose.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 BASE_LINK_FIELD_NUMBER = 2; + private volatile java.lang.Object baseLink_; + /** + * string base_link = 2; + * @return The baseLink. + */ + @java.lang.Override + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + 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(); + baseLink_ = s; + return s; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof java.lang.String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + + public static final int EE_LINK_FIELD_NUMBER = 3; + private volatile java.lang.Object eeLink_; + /** + * string ee_link = 3; + * @return The eeLink. + */ + @java.lang.Override + public java.lang.String getEeLink() { + java.lang.Object ref = eeLink_; + 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(); + eeLink_ = s; + return s; + } + } + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getEeLinkBytes() { + java.lang.Object ref = eeLink_; + if (ref instanceof java.lang.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; + } + } + + 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()); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(baseLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 3, eeLink_); + } + 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(baseLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(3, eeLink_); + } + 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.ArmCommand.GetPose.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPose.Request other = (cmvr.api.ArmCommand.GetPose.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (!getBaseLink() + .equals(other.getBaseLink())) return false; + if (!getEeLink() + .equals(other.getEeLink())) 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) + BASE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getBaseLink().hashCode(); + hash = (37 * hash) + EE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getEeLink().hashCode(); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPose.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPose.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.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.GetPose.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPose.Request) + cmvr.api.ArmCommand.GetPose.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.Request.class, cmvr.api.ArmCommand.GetPose.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPose.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; + } + baseLink_ = ""; + + eeLink_ = ""; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPose.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Request build() { + cmvr.api.ArmCommand.GetPose.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Request buildPartial() { + cmvr.api.ArmCommand.GetPose.Request result = new cmvr.api.ArmCommand.GetPose.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + result.baseLink_ = baseLink_; + result.eeLink_ = eeLink_; + 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.ArmCommand.GetPose.Request) { + return mergeFrom((cmvr.api.ArmCommand.GetPose.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPose.Request other) { + if (other == cmvr.api.ArmCommand.GetPose.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (!other.getBaseLink().isEmpty()) { + baseLink_ = other.baseLink_; + onChanged(); + } + if (!other.getEeLink().isEmpty()) { + eeLink_ = other.eeLink_; + onChanged(); + } + 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: { + baseLink_ = input.readStringRequireUtf8(); + + break; + } // case 18 + case 26: { + eeLink_ = input.readStringRequireUtf8(); + + break; + } // case 26 + 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 baseLink_ = ""; + /** + * string base_link = 2; + * @return The baseLink. + */ + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + if (!(ref instanceof java.lang.String)) { + com.google.protobuf.ByteString bs = + (com.google.protobuf.ByteString) ref; + java.lang.String s = bs.toStringUtf8(); + baseLink_ = s; + return s; + } else { + return (java.lang.String) ref; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + /** + * string base_link = 2; + * @param value The baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLink( + java.lang.String value) { + if (value == null) { + throw new NullPointerException(); + } + + baseLink_ = value; + onChanged(); + return this; + } + /** + * string base_link = 2; + * @return This builder for chaining. + */ + public Builder clearBaseLink() { + + baseLink_ = getDefaultInstance().getBaseLink(); + onChanged(); + return this; + } + /** + * string base_link = 2; + * @param value The bytes for baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLinkBytes( + com.google.protobuf.ByteString value) { + if (value == null) { + throw new NullPointerException(); + } + checkByteStringIsUtf8(value); + + baseLink_ = value; + onChanged(); + return this; + } + + private java.lang.Object eeLink_ = ""; + /** + * string ee_link = 3; + * @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 = 3; + * @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 = 3; + * @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 = 3; + * @return This builder for chaining. + */ + public Builder clearEeLink() { + + eeLink_ = getDefaultInstance().getEeLink(); + onChanged(); + return this; + } + /** + * string ee_link = 3; + * @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; + } + @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.GetPose.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPose.Request) + private static final cmvr.api.ArmCommand.GetPose.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPose.Request(); + } + + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ResponseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPose.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(); + + /** + * .cmvr.api.CartesianPose pose = 2; + * @return Whether the pose field is set. + */ + boolean hasPose(); + /** + * .cmvr.api.CartesianPose pose = 2; + * @return The pose. + */ + cmvr.api.ArmCommand.CartesianPose getPose(); + /** + * .cmvr.api.CartesianPose pose = 2; + */ + cmvr.api.ArmCommand.CartesianPoseOrBuilder getPoseOrBuilder(); + } + /** + * Protobuf type {@code cmvr.api.GetPose.Response} + */ + public static final class Response extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPose.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.ArmCommand.internal_static_cmvr_api_GetPose_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.Response.class, cmvr.api.ArmCommand.GetPose.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(); + } + + public static final int POSE_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.CartesianPose pose_; + /** + * .cmvr.api.CartesianPose pose = 2; + * @return Whether the pose field is set. + */ + @java.lang.Override + public boolean hasPose() { + return pose_ != null; + } + /** + * .cmvr.api.CartesianPose pose = 2; + * @return The pose. + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPose getPose() { + return pose_ == null ? cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : pose_; + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.CartesianPoseOrBuilder getPoseOrBuilder() { + return getPose(); + } + + 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()); + } + if (pose_ != null) { + output.writeMessage(2, getPose()); + } + 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 (pose_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getPose()); + } + 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.ArmCommand.GetPose.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPose.Response other = (cmvr.api.ArmCommand.GetPose.Response) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasPose() != other.hasPose()) return false; + if (hasPose()) { + if (!getPose() + .equals(other.getPose())) 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 (hasPose()) { + hash = (37 * hash) + POSE_FIELD_NUMBER; + hash = (53 * hash) + getPose().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPose.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPose.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.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.GetPose.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPose.Response) + cmvr.api.ArmCommand.GetPose.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.Response.class, cmvr.api.ArmCommand.GetPose.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPose.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; + } + if (poseBuilder_ == null) { + pose_ = null; + } else { + pose_ = null; + poseBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPose.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Response build() { + cmvr.api.ArmCommand.GetPose.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose.Response buildPartial() { + cmvr.api.ArmCommand.GetPose.Response result = new cmvr.api.ArmCommand.GetPose.Response(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (poseBuilder_ == null) { + result.pose_ = pose_; + } else { + result.pose_ = poseBuilder_.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.ArmCommand.GetPose.Response) { + return mergeFrom((cmvr.api.ArmCommand.GetPose.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPose.Response other) { + if (other == cmvr.api.ArmCommand.GetPose.Response.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasPose()) { + mergePose(other.getPose()); + } + 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: { + input.readMessage( + getPoseFieldBuilder().getBuilder(), + extensionRegistry); + + 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 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 cmvr.api.ArmCommand.CartesianPose pose_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder> poseBuilder_; + /** + * .cmvr.api.CartesianPose pose = 2; + * @return Whether the pose field is set. + */ + public boolean hasPose() { + return poseBuilder_ != null || pose_ != null; + } + /** + * .cmvr.api.CartesianPose pose = 2; + * @return The pose. + */ + public cmvr.api.ArmCommand.CartesianPose getPose() { + if (poseBuilder_ == null) { + return pose_ == null ? cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : pose_; + } else { + return poseBuilder_.getMessage(); + } + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public Builder setPose(cmvr.api.ArmCommand.CartesianPose value) { + if (poseBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + pose_ = value; + onChanged(); + } else { + poseBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public Builder setPose( + cmvr.api.ArmCommand.CartesianPose.Builder builderForValue) { + if (poseBuilder_ == null) { + pose_ = builderForValue.build(); + onChanged(); + } else { + poseBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public Builder mergePose(cmvr.api.ArmCommand.CartesianPose value) { + if (poseBuilder_ == null) { + if (pose_ != null) { + pose_ = + cmvr.api.ArmCommand.CartesianPose.newBuilder(pose_).mergeFrom(value).buildPartial(); + } else { + pose_ = value; + } + onChanged(); + } else { + poseBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public Builder clearPose() { + if (poseBuilder_ == null) { + pose_ = null; + onChanged(); + } else { + pose_ = null; + poseBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public cmvr.api.ArmCommand.CartesianPose.Builder getPoseBuilder() { + + onChanged(); + return getPoseFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + public cmvr.api.ArmCommand.CartesianPoseOrBuilder getPoseOrBuilder() { + if (poseBuilder_ != null) { + return poseBuilder_.getMessageOrBuilder(); + } else { + return pose_ == null ? + cmvr.api.ArmCommand.CartesianPose.getDefaultInstance() : pose_; + } + } + /** + * .cmvr.api.CartesianPose pose = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder> + getPoseFieldBuilder() { + if (poseBuilder_ == null) { + poseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.CartesianPose, cmvr.api.ArmCommand.CartesianPose.Builder, cmvr.api.ArmCommand.CartesianPoseOrBuilder>( + getPose(), + getParentForChildren(), + isClean()); + pose_ = null; + } + return poseBuilder_; + } + @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.GetPose.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPose.Response) + private static final cmvr.api.ArmCommand.GetPose.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPose.Response(); + } + + public static cmvr.api.ArmCommand.GetPose.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.ArmCommand.GetPose.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; + } + + @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.ArmCommand.GetPose)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPose other = (cmvr.api.ArmCommand.GetPose) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPose parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPose parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose 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.ArmCommand.GetPose parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPose parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPose parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose 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.ArmCommand.GetPose parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose 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.ArmCommand.GetPose parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPose 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.ArmCommand.GetPose 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.GetPose} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPose) + cmvr.api.ArmCommand.GetPoseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPose_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPose.class, cmvr.api.ArmCommand.GetPose.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPose.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.ArmCommand.internal_static_cmvr_api_GetPose_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPose.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose build() { + cmvr.api.ArmCommand.GetPose result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPose buildPartial() { + cmvr.api.ArmCommand.GetPose result = new cmvr.api.ArmCommand.GetPose(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.ArmCommand.GetPose) { + return mergeFrom((cmvr.api.ArmCommand.GetPose)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPose other) { + if (other == cmvr.api.ArmCommand.GetPose.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.GetPose) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPose) + private static final cmvr.api.ArmCommand.GetPose DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPose(); + } + + public static cmvr.api.ArmCommand.GetPose getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public GetPose 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.ArmCommand.GetPose getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface CalibrateZeroQOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.CalibrateZeroQ) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.CalibrateZeroQ} + */ + public static final class CalibrateZeroQ extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.CalibrateZeroQ) + CalibrateZeroQOrBuilder { + private static final long serialVersionUID = 0L; + // Use CalibrateZeroQ.newBuilder() to construct. + private CalibrateZeroQ(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private CalibrateZeroQ() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new CalibrateZeroQ(); + } + + @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.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.class, cmvr.api.ArmCommand.CalibrateZeroQ.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.CalibrateZeroQ.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(); + } + /** + * Protobuf type {@code cmvr.api.CalibrateZeroQ.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.CalibrateZeroQ.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_ = ""; + } + + @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.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.Request.class, cmvr.api.ArmCommand.CalibrateZeroQ.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 JOINT_NAME_FIELD_NUMBER = 2; + private volatile java.lang.Object jointName_; + /** + * string joint_name = 2; + * @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; + } + } + /** + * string joint_name = 2; + * @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; + } + } + + 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()); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 2, jointName_); + } + 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_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, jointName_); + } + 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.ArmCommand.CalibrateZeroQ.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.CalibrateZeroQ.Request other = (cmvr.api.ArmCommand.CalibrateZeroQ.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 (!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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.CalibrateZeroQ.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.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.CalibrateZeroQ.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.CalibrateZeroQ.Request) + cmvr.api.ArmCommand.CalibrateZeroQ.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.Request.class, cmvr.api.ArmCommand.CalibrateZeroQ.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.CalibrateZeroQ.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_ = ""; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.CalibrateZeroQ.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Request build() { + cmvr.api.ArmCommand.CalibrateZeroQ.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Request buildPartial() { + cmvr.api.ArmCommand.CalibrateZeroQ.Request result = new cmvr.api.ArmCommand.CalibrateZeroQ.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + result.jointName_ = jointName_; + 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.ArmCommand.CalibrateZeroQ.Request) { + return mergeFrom((cmvr.api.ArmCommand.CalibrateZeroQ.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.CalibrateZeroQ.Request other) { + if (other == cmvr.api.ArmCommand.CalibrateZeroQ.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (!other.getJointName().isEmpty()) { + jointName_ = other.jointName_; + onChanged(); + } + 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 + 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; + } + @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.CalibrateZeroQ.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.CalibrateZeroQ.Request) + private static final cmvr.api.ArmCommand.CalibrateZeroQ.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.CalibrateZeroQ.Request(); + } + + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ResponseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.CalibrateZeroQ.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.CalibrateZeroQ.Response} + */ + public static final class Response extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.CalibrateZeroQ.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.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.Response.class, cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.CalibrateZeroQ.Response other = (cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.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.CalibrateZeroQ.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.CalibrateZeroQ.Response) + cmvr.api.ArmCommand.CalibrateZeroQ.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.Response.class, cmvr.api.ArmCommand.CalibrateZeroQ.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.CalibrateZeroQ.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Response build() { + cmvr.api.ArmCommand.CalibrateZeroQ.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ.Response buildPartial() { + cmvr.api.ArmCommand.CalibrateZeroQ.Response result = new cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.Response) { + return mergeFrom((cmvr.api.ArmCommand.CalibrateZeroQ.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.CalibrateZeroQ.Response other) { + if (other == cmvr.api.ArmCommand.CalibrateZeroQ.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.CalibrateZeroQ.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.CalibrateZeroQ.Response) + private static final cmvr.api.ArmCommand.CalibrateZeroQ.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.CalibrateZeroQ.Response(); + } + + public static cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.CalibrateZeroQ.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; + } + + @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.ArmCommand.CalibrateZeroQ)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.CalibrateZeroQ other = (cmvr.api.ArmCommand.CalibrateZeroQ) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.CalibrateZeroQ parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ 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.ArmCommand.CalibrateZeroQ parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ 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.ArmCommand.CalibrateZeroQ parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ 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.ArmCommand.CalibrateZeroQ parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.CalibrateZeroQ 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.ArmCommand.CalibrateZeroQ 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.CalibrateZeroQ} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.CalibrateZeroQ) + cmvr.api.ArmCommand.CalibrateZeroQOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.CalibrateZeroQ.class, cmvr.api.ArmCommand.CalibrateZeroQ.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.CalibrateZeroQ.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.ArmCommand.internal_static_cmvr_api_CalibrateZeroQ_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ getDefaultInstanceForType() { + return cmvr.api.ArmCommand.CalibrateZeroQ.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ build() { + cmvr.api.ArmCommand.CalibrateZeroQ result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.CalibrateZeroQ buildPartial() { + cmvr.api.ArmCommand.CalibrateZeroQ result = new cmvr.api.ArmCommand.CalibrateZeroQ(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.ArmCommand.CalibrateZeroQ) { + return mergeFrom((cmvr.api.ArmCommand.CalibrateZeroQ)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.CalibrateZeroQ other) { + if (other == cmvr.api.ArmCommand.CalibrateZeroQ.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.CalibrateZeroQ) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.CalibrateZeroQ) + private static final cmvr.api.ArmCommand.CalibrateZeroQ DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.CalibrateZeroQ(); + } + + public static cmvr.api.ArmCommand.CalibrateZeroQ getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public CalibrateZeroQ 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.ArmCommand.CalibrateZeroQ getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface GetPoseMatrixOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPoseMatrix) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.GetPoseMatrix} + */ + public static final class GetPoseMatrix extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPoseMatrix) + GetPoseMatrixOrBuilder { + private static final long serialVersionUID = 0L; + // Use GetPoseMatrix.newBuilder() to construct. + private GetPoseMatrix(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private GetPoseMatrix() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new GetPoseMatrix(); + } + + @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.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.class, cmvr.api.ArmCommand.GetPoseMatrix.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPoseMatrix.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 base_link = 2; + * @return The baseLink. + */ + java.lang.String getBaseLink(); + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + com.google.protobuf.ByteString + getBaseLinkBytes(); + + /** + * string ee_link = 3; + * @return The eeLink. + */ + java.lang.String getEeLink(); + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + com.google.protobuf.ByteString + getEeLinkBytes(); + } + /** + * Protobuf type {@code cmvr.api.GetPoseMatrix.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPoseMatrix.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() { + baseLink_ = ""; + eeLink_ = ""; + } + + @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.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.Request.class, cmvr.api.ArmCommand.GetPoseMatrix.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 BASE_LINK_FIELD_NUMBER = 2; + private volatile java.lang.Object baseLink_; + /** + * string base_link = 2; + * @return The baseLink. + */ + @java.lang.Override + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + 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(); + baseLink_ = s; + return s; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof java.lang.String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + + public static final int EE_LINK_FIELD_NUMBER = 3; + private volatile java.lang.Object eeLink_; + /** + * string ee_link = 3; + * @return The eeLink. + */ + @java.lang.Override + public java.lang.String getEeLink() { + java.lang.Object ref = eeLink_; + 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(); + eeLink_ = s; + return s; + } + } + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getEeLinkBytes() { + java.lang.Object ref = eeLink_; + if (ref instanceof java.lang.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; + } + } + + 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()); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(baseLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 3, eeLink_); + } + 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(baseLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(3, eeLink_); + } + 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.ArmCommand.GetPoseMatrix.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPoseMatrix.Request other = (cmvr.api.ArmCommand.GetPoseMatrix.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (!getBaseLink() + .equals(other.getBaseLink())) return false; + if (!getEeLink() + .equals(other.getEeLink())) 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) + BASE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getBaseLink().hashCode(); + hash = (37 * hash) + EE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getEeLink().hashCode(); + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPoseMatrix.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.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.GetPoseMatrix.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPoseMatrix.Request) + cmvr.api.ArmCommand.GetPoseMatrix.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.Request.class, cmvr.api.ArmCommand.GetPoseMatrix.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPoseMatrix.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; + } + baseLink_ = ""; + + eeLink_ = ""; + + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPoseMatrix.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Request build() { + cmvr.api.ArmCommand.GetPoseMatrix.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Request buildPartial() { + cmvr.api.ArmCommand.GetPoseMatrix.Request result = new cmvr.api.ArmCommand.GetPoseMatrix.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + result.baseLink_ = baseLink_; + result.eeLink_ = eeLink_; + 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.ArmCommand.GetPoseMatrix.Request) { + return mergeFrom((cmvr.api.ArmCommand.GetPoseMatrix.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPoseMatrix.Request other) { + if (other == cmvr.api.ArmCommand.GetPoseMatrix.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (!other.getBaseLink().isEmpty()) { + baseLink_ = other.baseLink_; + onChanged(); + } + if (!other.getEeLink().isEmpty()) { + eeLink_ = other.eeLink_; + onChanged(); + } + 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: { + baseLink_ = input.readStringRequireUtf8(); + + break; + } // case 18 + case 26: { + eeLink_ = input.readStringRequireUtf8(); + + break; + } // case 26 + 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 baseLink_ = ""; + /** + * string base_link = 2; + * @return The baseLink. + */ + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + if (!(ref instanceof java.lang.String)) { + com.google.protobuf.ByteString bs = + (com.google.protobuf.ByteString) ref; + java.lang.String s = bs.toStringUtf8(); + baseLink_ = s; + return s; + } else { + return (java.lang.String) ref; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + /** + * string base_link = 2; + * @param value The baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLink( + java.lang.String value) { + if (value == null) { + throw new NullPointerException(); + } + + baseLink_ = value; + onChanged(); + return this; + } + /** + * string base_link = 2; + * @return This builder for chaining. + */ + public Builder clearBaseLink() { + + baseLink_ = getDefaultInstance().getBaseLink(); + onChanged(); + return this; + } + /** + * string base_link = 2; + * @param value The bytes for baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLinkBytes( + com.google.protobuf.ByteString value) { + if (value == null) { + throw new NullPointerException(); + } + checkByteStringIsUtf8(value); + + baseLink_ = value; + onChanged(); + return this; + } + + private java.lang.Object eeLink_ = ""; + /** + * string ee_link = 3; + * @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 = 3; + * @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 = 3; + * @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 = 3; + * @return This builder for chaining. + */ + public Builder clearEeLink() { + + eeLink_ = getDefaultInstance().getEeLink(); + onChanged(); + return this; + } + /** + * string ee_link = 3; + * @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; + } + @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.GetPoseMatrix.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPoseMatrix.Request) + private static final cmvr.api.ArmCommand.GetPoseMatrix.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPoseMatrix.Request(); + } + + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ResponseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.GetPoseMatrix.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(); + + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + boolean hasMatrix(); + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix(); + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder(); + } + /** + * Protobuf type {@code cmvr.api.GetPoseMatrix.Response} + */ + public static final class Response extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.GetPoseMatrix.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.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.Response.class, cmvr.api.ArmCommand.GetPoseMatrix.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(); + } + + public static final int MATRIX_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.TransformMatrix4x4 matrix_; + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + @java.lang.Override + public boolean hasMatrix() { + return matrix_ != null; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix() { + return matrix_ == null ? cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder() { + return getMatrix(); + } + + 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()); + } + if (matrix_ != null) { + output.writeMessage(2, getMatrix()); + } + 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 (matrix_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getMatrix()); + } + 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.ArmCommand.GetPoseMatrix.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPoseMatrix.Response other = (cmvr.api.ArmCommand.GetPoseMatrix.Response) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasMatrix() != other.hasMatrix()) return false; + if (hasMatrix()) { + if (!getMatrix() + .equals(other.getMatrix())) 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 (hasMatrix()) { + hash = (37 * hash) + MATRIX_FIELD_NUMBER; + hash = (53 * hash) + getMatrix().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPoseMatrix.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.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.GetPoseMatrix.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPoseMatrix.Response) + cmvr.api.ArmCommand.GetPoseMatrix.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.Response.class, cmvr.api.ArmCommand.GetPoseMatrix.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPoseMatrix.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; + } + if (matrixBuilder_ == null) { + matrix_ = null; + } else { + matrix_ = null; + matrixBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPoseMatrix.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Response build() { + cmvr.api.ArmCommand.GetPoseMatrix.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix.Response buildPartial() { + cmvr.api.ArmCommand.GetPoseMatrix.Response result = new cmvr.api.ArmCommand.GetPoseMatrix.Response(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (matrixBuilder_ == null) { + result.matrix_ = matrix_; + } else { + result.matrix_ = matrixBuilder_.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.ArmCommand.GetPoseMatrix.Response) { + return mergeFrom((cmvr.api.ArmCommand.GetPoseMatrix.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPoseMatrix.Response other) { + if (other == cmvr.api.ArmCommand.GetPoseMatrix.Response.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasMatrix()) { + mergeMatrix(other.getMatrix()); + } + 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: { + input.readMessage( + getMatrixFieldBuilder().getBuilder(), + extensionRegistry); + + 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 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 cmvr.api.ArmCommand.TransformMatrix4x4 matrix_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder> matrixBuilder_; + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + public boolean hasMatrix() { + return matrixBuilder_ != null || matrix_ != null; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + public cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix() { + if (matrixBuilder_ == null) { + return matrix_ == null ? cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } else { + return matrixBuilder_.getMessage(); + } + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder setMatrix(cmvr.api.ArmCommand.TransformMatrix4x4 value) { + if (matrixBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + matrix_ = value; + onChanged(); + } else { + matrixBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder setMatrix( + cmvr.api.ArmCommand.TransformMatrix4x4.Builder builderForValue) { + if (matrixBuilder_ == null) { + matrix_ = builderForValue.build(); + onChanged(); + } else { + matrixBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder mergeMatrix(cmvr.api.ArmCommand.TransformMatrix4x4 value) { + if (matrixBuilder_ == null) { + if (matrix_ != null) { + matrix_ = + cmvr.api.ArmCommand.TransformMatrix4x4.newBuilder(matrix_).mergeFrom(value).buildPartial(); + } else { + matrix_ = value; + } + onChanged(); + } else { + matrixBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder clearMatrix() { + if (matrixBuilder_ == null) { + matrix_ = null; + onChanged(); + } else { + matrix_ = null; + matrixBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public cmvr.api.ArmCommand.TransformMatrix4x4.Builder getMatrixBuilder() { + + onChanged(); + return getMatrixFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder() { + if (matrixBuilder_ != null) { + return matrixBuilder_.getMessageOrBuilder(); + } else { + return matrix_ == null ? + cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder> + getMatrixFieldBuilder() { + if (matrixBuilder_ == null) { + matrixBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder>( + getMatrix(), + getParentForChildren(), + isClean()); + matrix_ = null; + } + return matrixBuilder_; + } + @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.GetPoseMatrix.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPoseMatrix.Response) + private static final cmvr.api.ArmCommand.GetPoseMatrix.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPoseMatrix.Response(); + } + + public static cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.GetPoseMatrix.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; + } + + @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.ArmCommand.GetPoseMatrix)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.GetPoseMatrix other = (cmvr.api.ArmCommand.GetPoseMatrix) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.GetPoseMatrix parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPoseMatrix parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix 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.ArmCommand.GetPoseMatrix parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.GetPoseMatrix parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.GetPoseMatrix parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix 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.ArmCommand.GetPoseMatrix parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix 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.ArmCommand.GetPoseMatrix parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.GetPoseMatrix 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.ArmCommand.GetPoseMatrix 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.GetPoseMatrix} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.GetPoseMatrix) + cmvr.api.ArmCommand.GetPoseMatrixOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.GetPoseMatrix.class, cmvr.api.ArmCommand.GetPoseMatrix.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.GetPoseMatrix.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.ArmCommand.internal_static_cmvr_api_GetPoseMatrix_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix getDefaultInstanceForType() { + return cmvr.api.ArmCommand.GetPoseMatrix.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix build() { + cmvr.api.ArmCommand.GetPoseMatrix result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.GetPoseMatrix buildPartial() { + cmvr.api.ArmCommand.GetPoseMatrix result = new cmvr.api.ArmCommand.GetPoseMatrix(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.ArmCommand.GetPoseMatrix) { + return mergeFrom((cmvr.api.ArmCommand.GetPoseMatrix)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.GetPoseMatrix other) { + if (other == cmvr.api.ArmCommand.GetPoseMatrix.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.GetPoseMatrix) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.GetPoseMatrix) + private static final cmvr.api.ArmCommand.GetPoseMatrix DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.GetPoseMatrix(); + } + + public static cmvr.api.ArmCommand.GetPoseMatrix getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public GetPoseMatrix 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.ArmCommand.GetPoseMatrix getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ComputeForwardKinematicsOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ComputeForwardKinematics) + com.google.protobuf.MessageOrBuilder { + } + /** + * Protobuf type {@code cmvr.api.ComputeForwardKinematics} + */ + public static final class ComputeForwardKinematics extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ComputeForwardKinematics) + ComputeForwardKinematicsOrBuilder { + private static final long serialVersionUID = 0L; + // Use ComputeForwardKinematics.newBuilder() to construct. + private ComputeForwardKinematics(com.google.protobuf.GeneratedMessageV3.Builder builder) { + super(builder); + } + private ComputeForwardKinematics() { + } + + @java.lang.Override + @SuppressWarnings({"unused"}) + protected java.lang.Object newInstance( + UnusedPrivateParameter unused) { + return new ComputeForwardKinematics(); + } + + @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.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.class, cmvr.api.ArmCommand.ComputeForwardKinematics.Builder.class); + } + + public interface RequestOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ComputeForwardKinematics.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 base_link = 2; + * @return The baseLink. + */ + java.lang.String getBaseLink(); + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + com.google.protobuf.ByteString + getBaseLinkBytes(); + + /** + * string ee_link = 3; + * @return The eeLink. + */ + java.lang.String getEeLink(); + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + com.google.protobuf.ByteString + getEeLinkBytes(); + + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return Whether the joints field is set. + */ + boolean hasJoints(); + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return The joints. + */ + cmvr.api.ArmCommand.JointPositionCommand getJoints(); + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + cmvr.api.ArmCommand.JointPositionCommandOrBuilder getJointsOrBuilder(); + } + /** + * Protobuf type {@code cmvr.api.ComputeForwardKinematics.Request} + */ + public static final class Request extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ComputeForwardKinematics.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() { + baseLink_ = ""; + eeLink_ = ""; + } + + @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.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.Request.class, cmvr.api.ArmCommand.ComputeForwardKinematics.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 BASE_LINK_FIELD_NUMBER = 2; + private volatile java.lang.Object baseLink_; + /** + * string base_link = 2; + * @return The baseLink. + */ + @java.lang.Override + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + 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(); + baseLink_ = s; + return s; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof java.lang.String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + + public static final int EE_LINK_FIELD_NUMBER = 3; + private volatile java.lang.Object eeLink_; + /** + * string ee_link = 3; + * @return The eeLink. + */ + @java.lang.Override + public java.lang.String getEeLink() { + java.lang.Object ref = eeLink_; + 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(); + eeLink_ = s; + return s; + } + } + /** + * string ee_link = 3; + * @return The bytes for eeLink. + */ + @java.lang.Override + public com.google.protobuf.ByteString + getEeLinkBytes() { + java.lang.Object ref = eeLink_; + if (ref instanceof java.lang.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; + } + } + + public static final int JOINTS_FIELD_NUMBER = 4; + private cmvr.api.ArmCommand.JointPositionCommand joints_; + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return Whether the joints field is set. + */ + @java.lang.Override + public boolean hasJoints() { + return joints_ != null; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return The joints. + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommand getJoints() { + return joints_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : joints_; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + @java.lang.Override + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getJointsOrBuilder() { + return getJoints(); + } + + 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()); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(baseLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + com.google.protobuf.GeneratedMessageV3.writeString(output, 3, eeLink_); + } + if (joints_ != null) { + output.writeMessage(4, getJoints()); + } + 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(baseLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, baseLink_); + } + if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(eeLink_)) { + size += com.google.protobuf.GeneratedMessageV3.computeStringSize(3, eeLink_); + } + if (joints_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(4, getJoints()); + } + 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.ArmCommand.ComputeForwardKinematics.Request)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ComputeForwardKinematics.Request other = (cmvr.api.ArmCommand.ComputeForwardKinematics.Request) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (!getBaseLink() + .equals(other.getBaseLink())) return false; + if (!getEeLink() + .equals(other.getEeLink())) return false; + if (hasJoints() != other.hasJoints()) return false; + if (hasJoints()) { + if (!getJoints() + .equals(other.getJoints())) 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) + BASE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getBaseLink().hashCode(); + hash = (37 * hash) + EE_LINK_FIELD_NUMBER; + hash = (53 * hash) + getEeLink().hashCode(); + if (hasJoints()) { + hash = (37 * hash) + JOINTS_FIELD_NUMBER; + hash = (53 * hash) + getJoints().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Request parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Request parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Request parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Request parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Request parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Request parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Request parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.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.ComputeForwardKinematics.Request} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ComputeForwardKinematics.Request) + cmvr.api.ArmCommand.ComputeForwardKinematics.RequestOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Request_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.Request.class, cmvr.api.ArmCommand.ComputeForwardKinematics.Request.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ComputeForwardKinematics.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; + } + baseLink_ = ""; + + eeLink_ = ""; + + if (jointsBuilder_ == null) { + joints_ = null; + } else { + joints_ = null; + jointsBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Request getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ComputeForwardKinematics.Request.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Request build() { + cmvr.api.ArmCommand.ComputeForwardKinematics.Request result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Request buildPartial() { + cmvr.api.ArmCommand.ComputeForwardKinematics.Request result = new cmvr.api.ArmCommand.ComputeForwardKinematics.Request(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + result.baseLink_ = baseLink_; + result.eeLink_ = eeLink_; + if (jointsBuilder_ == null) { + result.joints_ = joints_; + } else { + result.joints_ = jointsBuilder_.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.ArmCommand.ComputeForwardKinematics.Request) { + return mergeFrom((cmvr.api.ArmCommand.ComputeForwardKinematics.Request)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ComputeForwardKinematics.Request other) { + if (other == cmvr.api.ArmCommand.ComputeForwardKinematics.Request.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (!other.getBaseLink().isEmpty()) { + baseLink_ = other.baseLink_; + onChanged(); + } + if (!other.getEeLink().isEmpty()) { + eeLink_ = other.eeLink_; + onChanged(); + } + if (other.hasJoints()) { + mergeJoints(other.getJoints()); + } + 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: { + baseLink_ = input.readStringRequireUtf8(); + + break; + } // case 18 + case 26: { + eeLink_ = input.readStringRequireUtf8(); + + break; + } // case 26 + case 34: { + input.readMessage( + getJointsFieldBuilder().getBuilder(), + extensionRegistry); + + break; + } // case 34 + 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 baseLink_ = ""; + /** + * string base_link = 2; + * @return The baseLink. + */ + public java.lang.String getBaseLink() { + java.lang.Object ref = baseLink_; + if (!(ref instanceof java.lang.String)) { + com.google.protobuf.ByteString bs = + (com.google.protobuf.ByteString) ref; + java.lang.String s = bs.toStringUtf8(); + baseLink_ = s; + return s; + } else { + return (java.lang.String) ref; + } + } + /** + * string base_link = 2; + * @return The bytes for baseLink. + */ + public com.google.protobuf.ByteString + getBaseLinkBytes() { + java.lang.Object ref = baseLink_; + if (ref instanceof String) { + com.google.protobuf.ByteString b = + com.google.protobuf.ByteString.copyFromUtf8( + (java.lang.String) ref); + baseLink_ = b; + return b; + } else { + return (com.google.protobuf.ByteString) ref; + } + } + /** + * string base_link = 2; + * @param value The baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLink( + java.lang.String value) { + if (value == null) { + throw new NullPointerException(); + } + + baseLink_ = value; + onChanged(); + return this; + } + /** + * string base_link = 2; + * @return This builder for chaining. + */ + public Builder clearBaseLink() { + + baseLink_ = getDefaultInstance().getBaseLink(); + onChanged(); + return this; + } + /** + * string base_link = 2; + * @param value The bytes for baseLink to set. + * @return This builder for chaining. + */ + public Builder setBaseLinkBytes( + com.google.protobuf.ByteString value) { + if (value == null) { + throw new NullPointerException(); + } + checkByteStringIsUtf8(value); + + baseLink_ = value; + onChanged(); + return this; + } + + private java.lang.Object eeLink_ = ""; + /** + * string ee_link = 3; + * @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 = 3; + * @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 = 3; + * @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 = 3; + * @return This builder for chaining. + */ + public Builder clearEeLink() { + + eeLink_ = getDefaultInstance().getEeLink(); + onChanged(); + return this; + } + /** + * string ee_link = 3; + * @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.ArmCommand.JointPositionCommand joints_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> jointsBuilder_; + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return Whether the joints field is set. + */ + public boolean hasJoints() { + return jointsBuilder_ != null || joints_ != null; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + * @return The joints. + */ + public cmvr.api.ArmCommand.JointPositionCommand getJoints() { + if (jointsBuilder_ == null) { + return joints_ == null ? cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : joints_; + } else { + return jointsBuilder_.getMessage(); + } + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public Builder setJoints(cmvr.api.ArmCommand.JointPositionCommand value) { + if (jointsBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + joints_ = value; + onChanged(); + } else { + jointsBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public Builder setJoints( + cmvr.api.ArmCommand.JointPositionCommand.Builder builderForValue) { + if (jointsBuilder_ == null) { + joints_ = builderForValue.build(); + onChanged(); + } else { + jointsBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public Builder mergeJoints(cmvr.api.ArmCommand.JointPositionCommand value) { + if (jointsBuilder_ == null) { + if (joints_ != null) { + joints_ = + cmvr.api.ArmCommand.JointPositionCommand.newBuilder(joints_).mergeFrom(value).buildPartial(); + } else { + joints_ = value; + } + onChanged(); + } else { + jointsBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public Builder clearJoints() { + if (jointsBuilder_ == null) { + joints_ = null; + onChanged(); + } else { + joints_ = null; + jointsBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public cmvr.api.ArmCommand.JointPositionCommand.Builder getJointsBuilder() { + + onChanged(); + return getJointsFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + public cmvr.api.ArmCommand.JointPositionCommandOrBuilder getJointsOrBuilder() { + if (jointsBuilder_ != null) { + return jointsBuilder_.getMessageOrBuilder(); + } else { + return joints_ == null ? + cmvr.api.ArmCommand.JointPositionCommand.getDefaultInstance() : joints_; + } + } + /** + * .cmvr.api.JointPositionCommand joints = 4; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder> + getJointsFieldBuilder() { + if (jointsBuilder_ == null) { + jointsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.JointPositionCommand, cmvr.api.ArmCommand.JointPositionCommand.Builder, cmvr.api.ArmCommand.JointPositionCommandOrBuilder>( + getJoints(), + getParentForChildren(), + isClean()); + joints_ = null; + } + return jointsBuilder_; + } + @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.ComputeForwardKinematics.Request) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ComputeForwardKinematics.Request) + private static final cmvr.api.ArmCommand.ComputeForwardKinematics.Request DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ComputeForwardKinematics.Request(); + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Request getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + public interface ResponseOrBuilder extends + // @@protoc_insertion_point(interface_extends:cmvr.api.ComputeForwardKinematics.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(); + + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + boolean hasMatrix(); + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix(); + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder(); + } + /** + * Protobuf type {@code cmvr.api.ComputeForwardKinematics.Response} + */ + public static final class Response extends + com.google.protobuf.GeneratedMessageV3 implements + // @@protoc_insertion_point(message_implements:cmvr.api.ComputeForwardKinematics.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.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.Response.class, cmvr.api.ArmCommand.ComputeForwardKinematics.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(); + } + + public static final int MATRIX_FIELD_NUMBER = 2; + private cmvr.api.ArmCommand.TransformMatrix4x4 matrix_; + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + @java.lang.Override + public boolean hasMatrix() { + return matrix_ != null; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix() { + return matrix_ == null ? cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + @java.lang.Override + public cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder() { + return getMatrix(); + } + + 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()); + } + if (matrix_ != null) { + output.writeMessage(2, getMatrix()); + } + 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 (matrix_ != null) { + size += com.google.protobuf.CodedOutputStream + .computeMessageSize(2, getMatrix()); + } + 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.ArmCommand.ComputeForwardKinematics.Response)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ComputeForwardKinematics.Response other = (cmvr.api.ArmCommand.ComputeForwardKinematics.Response) obj; + + if (hasHeader() != other.hasHeader()) return false; + if (hasHeader()) { + if (!getHeader() + .equals(other.getHeader())) return false; + } + if (hasMatrix() != other.hasMatrix()) return false; + if (hasMatrix()) { + if (!getMatrix() + .equals(other.getMatrix())) 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 (hasMatrix()) { + hash = (37 * hash) + MATRIX_FIELD_NUMBER; + hash = (53 * hash) + getMatrix().hashCode(); + } + hash = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Response parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Response parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Response parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Response parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.Response parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Response parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.Response parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.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.ComputeForwardKinematics.Response} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ComputeForwardKinematics.Response) + cmvr.api.ArmCommand.ComputeForwardKinematics.ResponseOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Response_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.Response.class, cmvr.api.ArmCommand.ComputeForwardKinematics.Response.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ComputeForwardKinematics.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; + } + if (matrixBuilder_ == null) { + matrix_ = null; + } else { + matrix_ = null; + matrixBuilder_ = null; + } + return this; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.Descriptor + getDescriptorForType() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Response getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ComputeForwardKinematics.Response.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Response build() { + cmvr.api.ArmCommand.ComputeForwardKinematics.Response result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics.Response buildPartial() { + cmvr.api.ArmCommand.ComputeForwardKinematics.Response result = new cmvr.api.ArmCommand.ComputeForwardKinematics.Response(this); + if (headerBuilder_ == null) { + result.header_ = header_; + } else { + result.header_ = headerBuilder_.build(); + } + if (matrixBuilder_ == null) { + result.matrix_ = matrix_; + } else { + result.matrix_ = matrixBuilder_.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.ArmCommand.ComputeForwardKinematics.Response) { + return mergeFrom((cmvr.api.ArmCommand.ComputeForwardKinematics.Response)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ComputeForwardKinematics.Response other) { + if (other == cmvr.api.ArmCommand.ComputeForwardKinematics.Response.getDefaultInstance()) return this; + if (other.hasHeader()) { + mergeHeader(other.getHeader()); + } + if (other.hasMatrix()) { + mergeMatrix(other.getMatrix()); + } + 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: { + input.readMessage( + getMatrixFieldBuilder().getBuilder(), + extensionRegistry); + + 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 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 cmvr.api.ArmCommand.TransformMatrix4x4 matrix_; + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder> matrixBuilder_; + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return Whether the matrix field is set. + */ + public boolean hasMatrix() { + return matrixBuilder_ != null || matrix_ != null; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + * @return The matrix. + */ + public cmvr.api.ArmCommand.TransformMatrix4x4 getMatrix() { + if (matrixBuilder_ == null) { + return matrix_ == null ? cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } else { + return matrixBuilder_.getMessage(); + } + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder setMatrix(cmvr.api.ArmCommand.TransformMatrix4x4 value) { + if (matrixBuilder_ == null) { + if (value == null) { + throw new NullPointerException(); + } + matrix_ = value; + onChanged(); + } else { + matrixBuilder_.setMessage(value); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder setMatrix( + cmvr.api.ArmCommand.TransformMatrix4x4.Builder builderForValue) { + if (matrixBuilder_ == null) { + matrix_ = builderForValue.build(); + onChanged(); + } else { + matrixBuilder_.setMessage(builderForValue.build()); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder mergeMatrix(cmvr.api.ArmCommand.TransformMatrix4x4 value) { + if (matrixBuilder_ == null) { + if (matrix_ != null) { + matrix_ = + cmvr.api.ArmCommand.TransformMatrix4x4.newBuilder(matrix_).mergeFrom(value).buildPartial(); + } else { + matrix_ = value; + } + onChanged(); + } else { + matrixBuilder_.mergeFrom(value); + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public Builder clearMatrix() { + if (matrixBuilder_ == null) { + matrix_ = null; + onChanged(); + } else { + matrix_ = null; + matrixBuilder_ = null; + } + + return this; + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public cmvr.api.ArmCommand.TransformMatrix4x4.Builder getMatrixBuilder() { + + onChanged(); + return getMatrixFieldBuilder().getBuilder(); + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + public cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder getMatrixOrBuilder() { + if (matrixBuilder_ != null) { + return matrixBuilder_.getMessageOrBuilder(); + } else { + return matrix_ == null ? + cmvr.api.ArmCommand.TransformMatrix4x4.getDefaultInstance() : matrix_; + } + } + /** + * .cmvr.api.TransformMatrix4x4 matrix = 2; + */ + private com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder> + getMatrixFieldBuilder() { + if (matrixBuilder_ == null) { + matrixBuilder_ = new com.google.protobuf.SingleFieldBuilderV3< + cmvr.api.ArmCommand.TransformMatrix4x4, cmvr.api.ArmCommand.TransformMatrix4x4.Builder, cmvr.api.ArmCommand.TransformMatrix4x4OrBuilder>( + getMatrix(), + getParentForChildren(), + isClean()); + matrix_ = null; + } + return matrixBuilder_; + } + @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.ComputeForwardKinematics.Response) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ComputeForwardKinematics.Response) + private static final cmvr.api.ArmCommand.ComputeForwardKinematics.Response DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ComputeForwardKinematics.Response(); + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.ComputeForwardKinematics.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; + } + + @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.ArmCommand.ComputeForwardKinematics)) { + return super.equals(obj); + } + cmvr.api.ArmCommand.ComputeForwardKinematics other = (cmvr.api.ArmCommand.ComputeForwardKinematics) obj; + + 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 = (29 * hash) + getUnknownFields().hashCode(); + memoizedHashCode = hash; + return hash; + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics parseFrom( + java.nio.ByteBuffer data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics parseFrom( + java.nio.ByteBuffer data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics parseFrom( + com.google.protobuf.ByteString data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics 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.ArmCommand.ComputeForwardKinematics parseFrom(byte[] data) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics parseFrom( + byte[] data, + com.google.protobuf.ExtensionRegistryLite extensionRegistry) + throws com.google.protobuf.InvalidProtocolBufferException { + return PARSER.parseFrom(data, extensionRegistry); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics parseFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics 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.ArmCommand.ComputeForwardKinematics parseDelimitedFrom(java.io.InputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseDelimitedWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics 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.ArmCommand.ComputeForwardKinematics parseFrom( + com.google.protobuf.CodedInputStream input) + throws java.io.IOException { + return com.google.protobuf.GeneratedMessageV3 + .parseWithIOException(PARSER, input); + } + public static cmvr.api.ArmCommand.ComputeForwardKinematics 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.ArmCommand.ComputeForwardKinematics 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.ComputeForwardKinematics} + */ + public static final class Builder extends + com.google.protobuf.GeneratedMessageV3.Builder implements + // @@protoc_insertion_point(builder_implements:cmvr.api.ComputeForwardKinematics) + cmvr.api.ArmCommand.ComputeForwardKinematicsOrBuilder { + public static final com.google.protobuf.Descriptors.Descriptor + getDescriptor() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_descriptor; + } + + @java.lang.Override + protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internalGetFieldAccessorTable() { + return cmvr.api.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_fieldAccessorTable + .ensureFieldAccessorsInitialized( + cmvr.api.ArmCommand.ComputeForwardKinematics.class, cmvr.api.ArmCommand.ComputeForwardKinematics.Builder.class); + } + + // Construct using cmvr.api.ArmCommand.ComputeForwardKinematics.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.ArmCommand.internal_static_cmvr_api_ComputeForwardKinematics_descriptor; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics getDefaultInstanceForType() { + return cmvr.api.ArmCommand.ComputeForwardKinematics.getDefaultInstance(); + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics build() { + cmvr.api.ArmCommand.ComputeForwardKinematics result = buildPartial(); + if (!result.isInitialized()) { + throw newUninitializedMessageException(result); + } + return result; + } + + @java.lang.Override + public cmvr.api.ArmCommand.ComputeForwardKinematics buildPartial() { + cmvr.api.ArmCommand.ComputeForwardKinematics result = new cmvr.api.ArmCommand.ComputeForwardKinematics(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.ArmCommand.ComputeForwardKinematics) { + return mergeFrom((cmvr.api.ArmCommand.ComputeForwardKinematics)other); + } else { + super.mergeFrom(other); + return this; + } + } + + public Builder mergeFrom(cmvr.api.ArmCommand.ComputeForwardKinematics other) { + if (other == cmvr.api.ArmCommand.ComputeForwardKinematics.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.ComputeForwardKinematics) + } + + // @@protoc_insertion_point(class_scope:cmvr.api.ComputeForwardKinematics) + private static final cmvr.api.ArmCommand.ComputeForwardKinematics DEFAULT_INSTANCE; + static { + DEFAULT_INSTANCE = new cmvr.api.ArmCommand.ComputeForwardKinematics(); + } + + public static cmvr.api.ArmCommand.ComputeForwardKinematics getDefaultInstance() { + return DEFAULT_INSTANCE; + } + + private static final com.google.protobuf.Parser + PARSER = new com.google.protobuf.AbstractParser() { + @java.lang.Override + public ComputeForwardKinematics 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.ArmCommand.ComputeForwardKinematics getDefaultInstanceForType() { + return DEFAULT_INSTANCE; + } + + } + + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_JointPositionCommand_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_JointPositionCommand_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_JointVelocityCommand_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_JointVelocityCommand_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MotionOptions_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MotionOptions_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_CartesianPose_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_CartesianPose_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_CartesianVelocity_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_CartesianVelocity_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_TransformMatrix4x4_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_TransformMatrix4x4_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveJ_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveJ_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveJ_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveJ_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveL_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveL_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveL_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveL_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_MoveL_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_MoveL_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedJ_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedJ_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedJ_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedJ_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedL_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedL_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedL_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_SpeedL_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ServoJ_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ServoJ_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ServoJ_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ServoJ_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ServoJ_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ServoJ_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_JointState_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_JointState_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_JointRequest_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_JointRequest_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_JointResponse_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_JointResponse_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPose_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPose_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPose_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPose_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPose_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPose_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_CalibrateZeroQ_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_CalibrateZeroQ_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_CalibrateZeroQ_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_CalibrateZeroQ_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPoseMatrix_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPoseMatrix_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPoseMatrix_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPoseMatrix_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_GetPoseMatrix_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_GetPoseMatrix_Response_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ComputeForwardKinematics_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ComputeForwardKinematics_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ComputeForwardKinematics_Request_fieldAccessorTable; + private static final com.google.protobuf.Descriptors.Descriptor + internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor; + private static final + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable + internal_static_cmvr_api_ComputeForwardKinematics_Response_fieldAccessorTable; + + public static com.google.protobuf.Descriptors.FileDescriptor + getDescriptor() { + return descriptor; + } + private static com.google.protobuf.Descriptors.FileDescriptor + descriptor; + static { + java.lang.String[] descriptorData = { + "\n\032cmvr/api/arm_command.proto\022\010cmvr.api\032\025" + + "cmvr/api/common.proto\"(\n\024JointPositionCo" + + "mmand\022\020\n\010position\030\001 \003(\001\"(\n\024JointVelocity" + + "Command\022\020\n\010velocity\030\001 \003(\001\"\220\001\n\rMotionOpti" + + "ons\022\020\n\010velocity\030\001 \001(\001\022\024\n\014acceleration\030\002 " + + "\001(\001\022\024\n\014blend_radius\030\003 \001(\001\022\014\n\004jerk\030\004 \001(\001\022" + + "\035\n\025joint_velocity_limits\030\005 \003(\001\022\024\n\014asynch" + + "ronous\030\006 \001(\010\"T\n\rCartesianPose\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\"[\n\021CartesianVelocity\022" + + "\n\n\002vx\030\001 \001(\001\022\n\n\002vy\030\002 \001(\001\022\n\n\002vz\030\003 \001(\001\022\n\n\002w" + + "x\030\004 \001(\001\022\n\n\002wy\030\005 \001(\001\022\n\n\002wz\030\006 \001(\001\"\344\001\n\022Tran" + + "sformMatrix4x4\022\013\n\003m00\030\001 \001(\001\022\013\n\003m01\030\002 \001(\001" + + "\022\013\n\003m02\030\003 \001(\001\022\013\n\003m03\030\004 \001(\001\022\013\n\003m10\030\005 \001(\001\022" + + "\013\n\003m11\030\006 \001(\001\022\013\n\003m12\030\007 \001(\001\022\013\n\003m13\030\010 \001(\001\022\013" + + "\n\003m20\030\t \001(\001\022\013\n\003m21\030\n \001(\001\022\013\n\003m22\030\013 \001(\001\022\013\n" + + "\003m23\030\014 \001(\001\022\013\n\003m30\030\r \001(\001\022\013\n\003m31\030\016 \001(\001\022\013\n\003" + + "m32\030\017 \001(\001\022\013\n\003m33\030\020 \001(\001\"\334\001\n\005MoveJ\032\224\001\n\007Req" + + "uest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandH" + + "eader.Request\022.\n\006target\030\002 \001(\0132\036.cmvr.api" + + ".JointPositionCommand\022(\n\007options\030\003 \001(\0132\027" + + ".cmvr.api.MotionOptions\032<\n\010Response\0220\n\006h" + + "eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" + + "dback\"\374\001\n\005MoveL\032\264\001\n\007Request\022/\n\006header\030\001 " + + "\001(\0132\037.cmvr.api.CommandHeader.Request\022\'\n\006" + + "target\030\002 \001(\0132\027.cmvr.api.CartesianPose\022(\n" + + "\007options\030\003 \001(\0132\027.cmvr.api.MotionOptions\022" + + "%\n\005frame\030\004 \001(\0162\026.cmvr.api.ArmFrameType\032<" + + "\n\010Response\0220\n\006header\030\001 \001(\0132 .cmvr.api.Co" + + "mmandHeader.Feedback\"\335\001\n\006SpeedJ\032\224\001\n\007Requ" + + "est\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHe" + + "ader.Request\0220\n\010velocity\030\002 \001(\0132\036.cmvr.ap" + + "i.JointVelocityCommand\022\024\n\014acceleration\030\003" + + " \001(\001\022\020\n\010duration\030\004 \001(\001\032<\n\010Response\0220\n\006he" + + "ader\030\001 \001(\0132 .cmvr.api.CommandHeader.Feed" + + "back\"\201\002\n\006SpeedL\032\270\001\n\007Request\022/\n\006header\030\001 " + + "\001(\0132\037.cmvr.api.CommandHeader.Request\022-\n\010" + + "velocity\030\002 \001(\0132\033.cmvr.api.CartesianVeloc" + + "ity\022\024\n\014acceleration\030\003 \001(\001\022\020\n\010duration\030\004 " + + "\001(\001\022%\n\005frame\030\005 \001(\0162\026.cmvr.api.ArmFrameTy" + + "pe\032<\n\010Response\0220\n\006header\030\001 \001(\0132 .cmvr.ap" + + "i.CommandHeader.Feedback\"\262\001\n\006ServoJ\032j\n\007R" + + "equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" + + "dHeader.Request\022.\n\006target\030\002 \001(\0132\036.cmvr.a" + + "pi.JointPositionCommand\032<\n\010Response\0220\n\006h" + + "eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" + + "dback\"a\n\nJointState\022\014\n\004name\030\001 \003(\t\022\020\n\010pos" + + "ition\030\002 \003(\001\022\020\n\010velocity\030\003 \003(\001\022\016\n\006effort\030" + + "\004 \003(\001\022\021\n\ttimestamp\030\005 \001(\001\"?\n\014JointRequest" + + "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" + + "r.Request\"f\n\rJointResponse\0220\n\006header\030\001 \001" + + "(\0132 .cmvr.api.CommandHeader.Feedback\022#\n\005" + + "state\030\002 \001(\0132\024.cmvr.api.JointState\"\316\001\n\007Ge" + + "tPose\032^\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr." + + "api.CommandHeader.Request\022\021\n\tbase_link\030\002" + + " \001(\t\022\017\n\007ee_link\030\003 \001(\t\032c\n\010Response\0220\n\006hea" + + "der\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedb" + + "ack\022%\n\004pose\030\002 \001(\0132\027.cmvr.api.CartesianPo" + + "se\"\236\001\n\016CalibrateZeroQ\032N\n\007Request\022/\n\006head" + + "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" + + "t\022\022\n\njoint_name\030\002 \001(\t\032<\n\010Response\0220\n\006hea" + + "der\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedb" + + "ack\"\333\001\n\rGetPoseMatrix\032^\n\007Request\022/\n\006head" + + "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" + + "t\022\021\n\tbase_link\030\002 \001(\t\022\017\n\007ee_link\030\003 \001(\t\032j\n" + + "\010Response\0220\n\006header\030\001 \001(\0132 .cmvr.api.Com" + + "mandHeader.Feedback\022,\n\006matrix\030\002 \001(\0132\034.cm" + + "vr.api.TransformMatrix4x4\"\227\002\n\030ComputeFor" + + "wardKinematics\032\216\001\n\007Request\022/\n\006header\030\001 \001" + + "(\0132\037.cmvr.api.CommandHeader.Request\022\021\n\tb" + + "ase_link\030\002 \001(\t\022\017\n\007ee_link\030\003 \001(\t\022.\n\006joint" + + "s\030\004 \001(\0132\036.cmvr.api.JointPositionCommand\032" + + "j\n\010Response\0220\n\006header\030\001 \001(\0132 .cmvr.api.C" + + "ommandHeader.Feedback\022,\n\006matrix\030\002 \001(\0132\034." + + "cmvr.api.TransformMatrix4x4*_\n\014ArmFrameT" + + "ype\022\022\n\016ARM_FRAME_BASE\020\000\022\022\n\016ARM_FRAME_TOO" + + "L\020\001\022\023\n\017ARM_FRAME_WORLD\020\002\022\022\n\016ARM_FRAME_US" + + "ER\020\003b\006proto3" + }; + descriptor = com.google.protobuf.Descriptors.FileDescriptor + .internalBuildGeneratedFileFrom(descriptorData, + new com.google.protobuf.Descriptors.FileDescriptor[] { + cmvr.api.Common.getDescriptor(), + }); + internal_static_cmvr_api_JointPositionCommand_descriptor = + getDescriptor().getMessageTypes().get(0); + internal_static_cmvr_api_JointPositionCommand_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_JointPositionCommand_descriptor, + new java.lang.String[] { "Position", }); + internal_static_cmvr_api_JointVelocityCommand_descriptor = + getDescriptor().getMessageTypes().get(1); + internal_static_cmvr_api_JointVelocityCommand_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_JointVelocityCommand_descriptor, + new java.lang.String[] { "Velocity", }); + internal_static_cmvr_api_MotionOptions_descriptor = + getDescriptor().getMessageTypes().get(2); + internal_static_cmvr_api_MotionOptions_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_MotionOptions_descriptor, + new java.lang.String[] { "Velocity", "Acceleration", "BlendRadius", "Jerk", "JointVelocityLimits", "Asynchronous", }); + internal_static_cmvr_api_CartesianPose_descriptor = + getDescriptor().getMessageTypes().get(3); + internal_static_cmvr_api_CartesianPose_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_CartesianPose_descriptor, + new java.lang.String[] { "X", "Y", "Z", "Rx", "Ry", "Rz", }); + internal_static_cmvr_api_CartesianVelocity_descriptor = + getDescriptor().getMessageTypes().get(4); + internal_static_cmvr_api_CartesianVelocity_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_CartesianVelocity_descriptor, + new java.lang.String[] { "Vx", "Vy", "Vz", "Wx", "Wy", "Wz", }); + internal_static_cmvr_api_TransformMatrix4x4_descriptor = + getDescriptor().getMessageTypes().get(5); + internal_static_cmvr_api_TransformMatrix4x4_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_TransformMatrix4x4_descriptor, + new java.lang.String[] { "M00", "M01", "M02", "M03", "M10", "M11", "M12", "M13", "M20", "M21", "M22", "M23", "M30", "M31", "M32", "M33", }); + internal_static_cmvr_api_MoveJ_descriptor = + getDescriptor().getMessageTypes().get(6); + 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", "Target", "Options", }); + 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(7); + 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", "Target", "Options", "Frame", }); + 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(8); + 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", "Velocity", "Acceleration", "Duration", }); + 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(9); + 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", "Velocity", "Acceleration", "Duration", "Frame", }); + 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_ServoJ_descriptor = + getDescriptor().getMessageTypes().get(10); + internal_static_cmvr_api_ServoJ_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ServoJ_descriptor, + new java.lang.String[] { }); + internal_static_cmvr_api_ServoJ_Request_descriptor = + internal_static_cmvr_api_ServoJ_descriptor.getNestedTypes().get(0); + internal_static_cmvr_api_ServoJ_Request_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ServoJ_Request_descriptor, + new java.lang.String[] { "Header", "Target", }); + internal_static_cmvr_api_ServoJ_Response_descriptor = + internal_static_cmvr_api_ServoJ_descriptor.getNestedTypes().get(1); + internal_static_cmvr_api_ServoJ_Response_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ServoJ_Response_descriptor, + new java.lang.String[] { "Header", }); + internal_static_cmvr_api_JointState_descriptor = + getDescriptor().getMessageTypes().get(11); + 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_JointRequest_descriptor = + getDescriptor().getMessageTypes().get(12); + internal_static_cmvr_api_JointRequest_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_JointRequest_descriptor, + new java.lang.String[] { "Header", }); + internal_static_cmvr_api_JointResponse_descriptor = + getDescriptor().getMessageTypes().get(13); + 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_GetPose_descriptor = + getDescriptor().getMessageTypes().get(14); + internal_static_cmvr_api_GetPose_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPose_descriptor, + new java.lang.String[] { }); + internal_static_cmvr_api_GetPose_Request_descriptor = + internal_static_cmvr_api_GetPose_descriptor.getNestedTypes().get(0); + internal_static_cmvr_api_GetPose_Request_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPose_Request_descriptor, + new java.lang.String[] { "Header", "BaseLink", "EeLink", }); + internal_static_cmvr_api_GetPose_Response_descriptor = + internal_static_cmvr_api_GetPose_descriptor.getNestedTypes().get(1); + internal_static_cmvr_api_GetPose_Response_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPose_Response_descriptor, + new java.lang.String[] { "Header", "Pose", }); + internal_static_cmvr_api_CalibrateZeroQ_descriptor = + getDescriptor().getMessageTypes().get(15); + internal_static_cmvr_api_CalibrateZeroQ_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_CalibrateZeroQ_descriptor, + new java.lang.String[] { }); + internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor = + internal_static_cmvr_api_CalibrateZeroQ_descriptor.getNestedTypes().get(0); + internal_static_cmvr_api_CalibrateZeroQ_Request_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_CalibrateZeroQ_Request_descriptor, + new java.lang.String[] { "Header", "JointName", }); + internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor = + internal_static_cmvr_api_CalibrateZeroQ_descriptor.getNestedTypes().get(1); + internal_static_cmvr_api_CalibrateZeroQ_Response_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_CalibrateZeroQ_Response_descriptor, + new java.lang.String[] { "Header", }); + internal_static_cmvr_api_GetPoseMatrix_descriptor = + getDescriptor().getMessageTypes().get(16); + internal_static_cmvr_api_GetPoseMatrix_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPoseMatrix_descriptor, + new java.lang.String[] { }); + internal_static_cmvr_api_GetPoseMatrix_Request_descriptor = + internal_static_cmvr_api_GetPoseMatrix_descriptor.getNestedTypes().get(0); + internal_static_cmvr_api_GetPoseMatrix_Request_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPoseMatrix_Request_descriptor, + new java.lang.String[] { "Header", "BaseLink", "EeLink", }); + internal_static_cmvr_api_GetPoseMatrix_Response_descriptor = + internal_static_cmvr_api_GetPoseMatrix_descriptor.getNestedTypes().get(1); + internal_static_cmvr_api_GetPoseMatrix_Response_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_GetPoseMatrix_Response_descriptor, + new java.lang.String[] { "Header", "Matrix", }); + internal_static_cmvr_api_ComputeForwardKinematics_descriptor = + getDescriptor().getMessageTypes().get(17); + internal_static_cmvr_api_ComputeForwardKinematics_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ComputeForwardKinematics_descriptor, + new java.lang.String[] { }); + internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor = + internal_static_cmvr_api_ComputeForwardKinematics_descriptor.getNestedTypes().get(0); + internal_static_cmvr_api_ComputeForwardKinematics_Request_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ComputeForwardKinematics_Request_descriptor, + new java.lang.String[] { "Header", "BaseLink", "EeLink", "Joints", }); + internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor = + internal_static_cmvr_api_ComputeForwardKinematics_descriptor.getNestedTypes().get(1); + internal_static_cmvr_api_ComputeForwardKinematics_Response_fieldAccessorTable = new + com.google.protobuf.GeneratedMessageV3.FieldAccessorTable( + internal_static_cmvr_api_ComputeForwardKinematics_Response_descriptor, + new java.lang.String[] { "Header", "Matrix", }); + 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/ArmServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceGrpc.java new file mode 100644 index 0000000..17fc065 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceGrpc.java @@ -0,0 +1,1164 @@ +package cmvr.api; + +import static io.grpc.MethodDescriptor.generateFullMethodName; + +/** + */ +@javax.annotation.Generated( + value = "by gRPC proto compiler (version 1.52.0)", + comments = "Source: cmvr/api/arm_service.proto") +@io.grpc.stub.annotations.GrpcGenerated +public final class ArmServiceGrpc { + + private ArmServiceGrpc() {} + + public static final String SERVICE_NAME = "cmvr.api.ArmService"; + + // Static method descriptors that strictly reflect the proto. + private static volatile io.grpc.MethodDescriptor getTorqueOffMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "torqueOff", + requestType = cmvr.api.Common.CommandHeader.Request.class, + responseType = cmvr.api.Common.CommandHeader.Feedback.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getTorqueOffMethod() { + io.grpc.MethodDescriptor getTorqueOffMethod; + if ((getTorqueOffMethod = ArmServiceGrpc.getTorqueOffMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getTorqueOffMethod = ArmServiceGrpc.getTorqueOffMethod) == null) { + ArmServiceGrpc.getTorqueOffMethod = getTorqueOffMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("torqueOff")) + .build(); + } + } + } + return getTorqueOffMethod; + } + + private static volatile io.grpc.MethodDescriptor getTorqueOnMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "torqueOn", + requestType = cmvr.api.Common.CommandHeader.Request.class, + responseType = cmvr.api.Common.CommandHeader.Feedback.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getTorqueOnMethod() { + io.grpc.MethodDescriptor getTorqueOnMethod; + if ((getTorqueOnMethod = ArmServiceGrpc.getTorqueOnMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getTorqueOnMethod = ArmServiceGrpc.getTorqueOnMethod) == null) { + ArmServiceGrpc.getTorqueOnMethod = getTorqueOnMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("torqueOn")) + .build(); + } + } + } + return getTorqueOnMethod; + } + + private static volatile io.grpc.MethodDescriptor getMoveJMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "moveJ", + requestType = cmvr.api.ArmCommand.MoveJ.Request.class, + responseType = cmvr.api.ArmCommand.MoveJ.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getMoveJMethod() { + io.grpc.MethodDescriptor getMoveJMethod; + if ((getMoveJMethod = ArmServiceGrpc.getMoveJMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getMoveJMethod = ArmServiceGrpc.getMoveJMethod) == null) { + ArmServiceGrpc.getMoveJMethod = getMoveJMethod = + 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.ArmCommand.MoveJ.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.MoveJ.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("moveJ")) + .build(); + } + } + } + return getMoveJMethod; + } + + private static volatile io.grpc.MethodDescriptor getMoveLMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "moveL", + requestType = cmvr.api.ArmCommand.MoveL.Request.class, + responseType = cmvr.api.ArmCommand.MoveL.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getMoveLMethod() { + io.grpc.MethodDescriptor getMoveLMethod; + if ((getMoveLMethod = ArmServiceGrpc.getMoveLMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getMoveLMethod = ArmServiceGrpc.getMoveLMethod) == null) { + ArmServiceGrpc.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.ArmCommand.MoveL.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.MoveL.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("moveL")) + .build(); + } + } + } + return getMoveLMethod; + } + + private static volatile io.grpc.MethodDescriptor getSpeedJMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "speedJ", + requestType = cmvr.api.ArmCommand.SpeedJ.Request.class, + responseType = cmvr.api.ArmCommand.SpeedJ.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getSpeedJMethod() { + io.grpc.MethodDescriptor getSpeedJMethod; + if ((getSpeedJMethod = ArmServiceGrpc.getSpeedJMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getSpeedJMethod = ArmServiceGrpc.getSpeedJMethod) == null) { + ArmServiceGrpc.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.ArmCommand.SpeedJ.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.SpeedJ.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("speedJ")) + .build(); + } + } + } + return getSpeedJMethod; + } + + private static volatile io.grpc.MethodDescriptor getSpeedLMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "speedL", + requestType = cmvr.api.ArmCommand.SpeedL.Request.class, + responseType = cmvr.api.ArmCommand.SpeedL.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getSpeedLMethod() { + io.grpc.MethodDescriptor getSpeedLMethod; + if ((getSpeedLMethod = ArmServiceGrpc.getSpeedLMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getSpeedLMethod = ArmServiceGrpc.getSpeedLMethod) == null) { + ArmServiceGrpc.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.ArmCommand.SpeedL.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.SpeedL.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("speedL")) + .build(); + } + } + } + return getSpeedLMethod; + } + + private static volatile io.grpc.MethodDescriptor getServoJMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "servoJ", + requestType = cmvr.api.ArmCommand.ServoJ.Request.class, + responseType = cmvr.api.ArmCommand.ServoJ.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getServoJMethod() { + io.grpc.MethodDescriptor getServoJMethod; + if ((getServoJMethod = ArmServiceGrpc.getServoJMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getServoJMethod = ArmServiceGrpc.getServoJMethod) == null) { + ArmServiceGrpc.getServoJMethod = getServoJMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "servoJ")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.ServoJ.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.ServoJ.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("servoJ")) + .build(); + } + } + } + return getServoJMethod; + } + + private static volatile io.grpc.MethodDescriptor getStopMotionMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "stopMotion", + requestType = cmvr.api.Common.CommandHeader.Request.class, + responseType = cmvr.api.Common.CommandHeader.Feedback.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getStopMotionMethod() { + io.grpc.MethodDescriptor getStopMotionMethod; + if ((getStopMotionMethod = ArmServiceGrpc.getStopMotionMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getStopMotionMethod = ArmServiceGrpc.getStopMotionMethod) == null) { + ArmServiceGrpc.getStopMotionMethod = getStopMotionMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "stopMotion")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("stopMotion")) + .build(); + } + } + } + return getStopMotionMethod; + } + + private static volatile io.grpc.MethodDescriptor getGetJointStateMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "getJointState", + requestType = cmvr.api.ArmCommand.JointRequest.class, + responseType = cmvr.api.ArmCommand.JointResponse.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getGetJointStateMethod() { + io.grpc.MethodDescriptor getGetJointStateMethod; + if ((getGetJointStateMethod = ArmServiceGrpc.getGetJointStateMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getGetJointStateMethod = ArmServiceGrpc.getGetJointStateMethod) == null) { + ArmServiceGrpc.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.ArmCommand.JointRequest.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.JointResponse.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("getJointState")) + .build(); + } + } + } + return getGetJointStateMethod; + } + + private static volatile io.grpc.MethodDescriptor getGetPoseMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "getPose", + requestType = cmvr.api.ArmCommand.GetPose.Request.class, + responseType = cmvr.api.ArmCommand.GetPose.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getGetPoseMethod() { + io.grpc.MethodDescriptor getGetPoseMethod; + if ((getGetPoseMethod = ArmServiceGrpc.getGetPoseMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getGetPoseMethod = ArmServiceGrpc.getGetPoseMethod) == null) { + ArmServiceGrpc.getGetPoseMethod = getGetPoseMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getPose")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.GetPose.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.GetPose.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("getPose")) + .build(); + } + } + } + return getGetPoseMethod; + } + + private static volatile io.grpc.MethodDescriptor getCalibrateZeroQMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "calibrateZeroQ", + requestType = cmvr.api.ArmCommand.CalibrateZeroQ.Request.class, + responseType = cmvr.api.ArmCommand.CalibrateZeroQ.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getCalibrateZeroQMethod() { + io.grpc.MethodDescriptor getCalibrateZeroQMethod; + if ((getCalibrateZeroQMethod = ArmServiceGrpc.getCalibrateZeroQMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getCalibrateZeroQMethod = ArmServiceGrpc.getCalibrateZeroQMethod) == null) { + ArmServiceGrpc.getCalibrateZeroQMethod = getCalibrateZeroQMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "calibrateZeroQ")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.CalibrateZeroQ.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.CalibrateZeroQ.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("calibrateZeroQ")) + .build(); + } + } + } + return getCalibrateZeroQMethod; + } + + private static volatile io.grpc.MethodDescriptor getGetPoseMatrixMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "getPoseMatrix", + requestType = cmvr.api.ArmCommand.GetPoseMatrix.Request.class, + responseType = cmvr.api.ArmCommand.GetPoseMatrix.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getGetPoseMatrixMethod() { + io.grpc.MethodDescriptor getGetPoseMatrixMethod; + if ((getGetPoseMatrixMethod = ArmServiceGrpc.getGetPoseMatrixMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getGetPoseMatrixMethod = ArmServiceGrpc.getGetPoseMatrixMethod) == null) { + ArmServiceGrpc.getGetPoseMatrixMethod = getGetPoseMatrixMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getPoseMatrix")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.GetPoseMatrix.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.GetPoseMatrix.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("getPoseMatrix")) + .build(); + } + } + } + return getGetPoseMatrixMethod; + } + + private static volatile io.grpc.MethodDescriptor getComputeForwardKinematicsMethod; + + @io.grpc.stub.annotations.RpcMethod( + fullMethodName = SERVICE_NAME + '/' + "computeForwardKinematics", + requestType = cmvr.api.ArmCommand.ComputeForwardKinematics.Request.class, + responseType = cmvr.api.ArmCommand.ComputeForwardKinematics.Response.class, + methodType = io.grpc.MethodDescriptor.MethodType.UNARY) + public static io.grpc.MethodDescriptor getComputeForwardKinematicsMethod() { + io.grpc.MethodDescriptor getComputeForwardKinematicsMethod; + if ((getComputeForwardKinematicsMethod = ArmServiceGrpc.getComputeForwardKinematicsMethod) == null) { + synchronized (ArmServiceGrpc.class) { + if ((getComputeForwardKinematicsMethod = ArmServiceGrpc.getComputeForwardKinematicsMethod) == null) { + ArmServiceGrpc.getComputeForwardKinematicsMethod = getComputeForwardKinematicsMethod = + io.grpc.MethodDescriptor.newBuilder() + .setType(io.grpc.MethodDescriptor.MethodType.UNARY) + .setFullMethodName(generateFullMethodName(SERVICE_NAME, "computeForwardKinematics")) + .setSampledToLocalTracing(true) + .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.ComputeForwardKinematics.Request.getDefaultInstance())) + .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller( + cmvr.api.ArmCommand.ComputeForwardKinematics.Response.getDefaultInstance())) + .setSchemaDescriptor(new ArmServiceMethodDescriptorSupplier("computeForwardKinematics")) + .build(); + } + } + } + return getComputeForwardKinematicsMethod; + } + + /** + * Creates a new async stub that supports all call types for the service + */ + public static ArmServiceStub newStub(io.grpc.Channel channel) { + io.grpc.stub.AbstractStub.StubFactory factory = + new io.grpc.stub.AbstractStub.StubFactory() { + @java.lang.Override + public ArmServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceStub(channel, callOptions); + } + }; + return ArmServiceStub.newStub(factory, channel); + } + + /** + * Creates a new blocking-style stub that supports unary and streaming output calls on the service + */ + public static ArmServiceBlockingStub newBlockingStub( + io.grpc.Channel channel) { + io.grpc.stub.AbstractStub.StubFactory factory = + new io.grpc.stub.AbstractStub.StubFactory() { + @java.lang.Override + public ArmServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceBlockingStub(channel, callOptions); + } + }; + return ArmServiceBlockingStub.newStub(factory, channel); + } + + /** + * Creates a new ListenableFuture-style stub that supports unary calls on the service + */ + public static ArmServiceFutureStub newFutureStub( + io.grpc.Channel channel) { + io.grpc.stub.AbstractStub.StubFactory factory = + new io.grpc.stub.AbstractStub.StubFactory() { + @java.lang.Override + public ArmServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceFutureStub(channel, callOptions); + } + }; + return ArmServiceFutureStub.newStub(factory, channel); + } + + /** + */ + public static abstract class ArmServiceImplBase implements io.grpc.BindableService { + + /** + */ + public void torqueOff(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver); + } + + /** + */ + public void torqueOn(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver); + } + + /** + */ + public void moveJ(cmvr.api.ArmCommand.MoveJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver); + } + + /** + */ + public void moveL(cmvr.api.ArmCommand.MoveL.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver); + } + + /** + */ + public void speedJ(cmvr.api.ArmCommand.SpeedJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver); + } + + /** + */ + public void speedL(cmvr.api.ArmCommand.SpeedL.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver); + } + + /** + */ + public void servoJ(cmvr.api.ArmCommand.ServoJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getServoJMethod(), responseObserver); + } + + /** + */ + public void stopMotion(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getStopMotionMethod(), responseObserver); + } + + /** + */ + public void getJointState(cmvr.api.ArmCommand.JointRequest request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetJointStateMethod(), responseObserver); + } + + /** + */ + public void getPose(cmvr.api.ArmCommand.GetPose.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetPoseMethod(), responseObserver); + } + + /** + */ + public void calibrateZeroQ(cmvr.api.ArmCommand.CalibrateZeroQ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getCalibrateZeroQMethod(), responseObserver); + } + + /** + */ + public void getPoseMatrix(cmvr.api.ArmCommand.GetPoseMatrix.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetPoseMatrixMethod(), responseObserver); + } + + /** + */ + public void computeForwardKinematics(cmvr.api.ArmCommand.ComputeForwardKinematics.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getComputeForwardKinematicsMethod(), responseObserver); + } + + @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() { + return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor()) + .addMethod( + getTorqueOffMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.Common.CommandHeader.Request, + cmvr.api.Common.CommandHeader.Feedback>( + this, METHODID_TORQUE_OFF))) + .addMethod( + getTorqueOnMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.Common.CommandHeader.Request, + cmvr.api.Common.CommandHeader.Feedback>( + this, METHODID_TORQUE_ON))) + .addMethod( + getMoveJMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.MoveJ.Request, + cmvr.api.ArmCommand.MoveJ.Response>( + this, METHODID_MOVE_J))) + .addMethod( + getMoveLMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.MoveL.Request, + cmvr.api.ArmCommand.MoveL.Response>( + this, METHODID_MOVE_L))) + .addMethod( + getSpeedJMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.SpeedJ.Request, + cmvr.api.ArmCommand.SpeedJ.Response>( + this, METHODID_SPEED_J))) + .addMethod( + getSpeedLMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.SpeedL.Request, + cmvr.api.ArmCommand.SpeedL.Response>( + this, METHODID_SPEED_L))) + .addMethod( + getServoJMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.ServoJ.Request, + cmvr.api.ArmCommand.ServoJ.Response>( + this, METHODID_SERVO_J))) + .addMethod( + getStopMotionMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.Common.CommandHeader.Request, + cmvr.api.Common.CommandHeader.Feedback>( + this, METHODID_STOP_MOTION))) + .addMethod( + getGetJointStateMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.JointRequest, + cmvr.api.ArmCommand.JointResponse>( + this, METHODID_GET_JOINT_STATE))) + .addMethod( + getGetPoseMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.GetPose.Request, + cmvr.api.ArmCommand.GetPose.Response>( + this, METHODID_GET_POSE))) + .addMethod( + getCalibrateZeroQMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.CalibrateZeroQ.Request, + cmvr.api.ArmCommand.CalibrateZeroQ.Response>( + this, METHODID_CALIBRATE_ZERO_Q))) + .addMethod( + getGetPoseMatrixMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.GetPoseMatrix.Request, + cmvr.api.ArmCommand.GetPoseMatrix.Response>( + this, METHODID_GET_POSE_MATRIX))) + .addMethod( + getComputeForwardKinematicsMethod(), + io.grpc.stub.ServerCalls.asyncUnaryCall( + new MethodHandlers< + cmvr.api.ArmCommand.ComputeForwardKinematics.Request, + cmvr.api.ArmCommand.ComputeForwardKinematics.Response>( + this, METHODID_COMPUTE_FORWARD_KINEMATICS))) + .build(); + } + } + + /** + */ + public static final class ArmServiceStub extends io.grpc.stub.AbstractAsyncStub { + private ArmServiceStub( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + super(channel, callOptions); + } + + @java.lang.Override + protected ArmServiceStub build( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceStub(channel, callOptions); + } + + /** + */ + public void torqueOff(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void torqueOn(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void moveJ(cmvr.api.ArmCommand.MoveJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void moveL(cmvr.api.ArmCommand.MoveL.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getMoveLMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void speedJ(cmvr.api.ArmCommand.SpeedJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getSpeedJMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void speedL(cmvr.api.ArmCommand.SpeedL.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void servoJ(cmvr.api.ArmCommand.ServoJ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getServoJMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void stopMotion(cmvr.api.Common.CommandHeader.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getStopMotionMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void getJointState(cmvr.api.ArmCommand.JointRequest request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void getPose(cmvr.api.ArmCommand.GetPose.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getGetPoseMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void calibrateZeroQ(cmvr.api.ArmCommand.CalibrateZeroQ.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getCalibrateZeroQMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void getPoseMatrix(cmvr.api.ArmCommand.GetPoseMatrix.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getGetPoseMatrixMethod(), getCallOptions()), request, responseObserver); + } + + /** + */ + public void computeForwardKinematics(cmvr.api.ArmCommand.ComputeForwardKinematics.Request request, + io.grpc.stub.StreamObserver responseObserver) { + io.grpc.stub.ClientCalls.asyncUnaryCall( + getChannel().newCall(getComputeForwardKinematicsMethod(), getCallOptions()), request, responseObserver); + } + } + + /** + */ + public static final class ArmServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub { + private ArmServiceBlockingStub( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + super(channel, callOptions); + } + + @java.lang.Override + protected ArmServiceBlockingStub build( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceBlockingStub(channel, callOptions); + } + + /** + */ + public cmvr.api.Common.CommandHeader.Feedback torqueOff(cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getTorqueOffMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.Common.CommandHeader.Feedback torqueOn(cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getTorqueOnMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.MoveJ.Response moveJ(cmvr.api.ArmCommand.MoveJ.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getMoveJMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.MoveL.Response moveL(cmvr.api.ArmCommand.MoveL.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getMoveLMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.SpeedJ.Response speedJ(cmvr.api.ArmCommand.SpeedJ.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getSpeedJMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.SpeedL.Response speedL(cmvr.api.ArmCommand.SpeedL.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getSpeedLMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.ServoJ.Response servoJ(cmvr.api.ArmCommand.ServoJ.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getServoJMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.Common.CommandHeader.Feedback stopMotion(cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getStopMotionMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.JointResponse getJointState(cmvr.api.ArmCommand.JointRequest request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getGetJointStateMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.GetPose.Response getPose(cmvr.api.ArmCommand.GetPose.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getGetPoseMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(cmvr.api.ArmCommand.CalibrateZeroQ.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getCalibrateZeroQMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.GetPoseMatrix.Response getPoseMatrix(cmvr.api.ArmCommand.GetPoseMatrix.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getGetPoseMatrixMethod(), getCallOptions(), request); + } + + /** + */ + public cmvr.api.ArmCommand.ComputeForwardKinematics.Response computeForwardKinematics(cmvr.api.ArmCommand.ComputeForwardKinematics.Request request) { + return io.grpc.stub.ClientCalls.blockingUnaryCall( + getChannel(), getComputeForwardKinematicsMethod(), getCallOptions(), request); + } + } + + /** + */ + public static final class ArmServiceFutureStub extends io.grpc.stub.AbstractFutureStub { + private ArmServiceFutureStub( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + super(channel, callOptions); + } + + @java.lang.Override + protected ArmServiceFutureStub build( + io.grpc.Channel channel, io.grpc.CallOptions callOptions) { + return new ArmServiceFutureStub(channel, callOptions); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture torqueOff( + cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture torqueOn( + cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture moveJ( + cmvr.api.ArmCommand.MoveJ.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getMoveJMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture moveL( + cmvr.api.ArmCommand.MoveL.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getMoveLMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture speedJ( + cmvr.api.ArmCommand.SpeedJ.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getSpeedJMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture speedL( + cmvr.api.ArmCommand.SpeedL.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getSpeedLMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture servoJ( + cmvr.api.ArmCommand.ServoJ.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getServoJMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture stopMotion( + cmvr.api.Common.CommandHeader.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getStopMotionMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture getJointState( + cmvr.api.ArmCommand.JointRequest request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture getPose( + cmvr.api.ArmCommand.GetPose.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getGetPoseMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture calibrateZeroQ( + cmvr.api.ArmCommand.CalibrateZeroQ.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getCalibrateZeroQMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture getPoseMatrix( + cmvr.api.ArmCommand.GetPoseMatrix.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getGetPoseMatrixMethod(), getCallOptions()), request); + } + + /** + */ + public com.google.common.util.concurrent.ListenableFuture computeForwardKinematics( + cmvr.api.ArmCommand.ComputeForwardKinematics.Request request) { + return io.grpc.stub.ClientCalls.futureUnaryCall( + getChannel().newCall(getComputeForwardKinematicsMethod(), 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_SERVO_J = 6; + private static final int METHODID_STOP_MOTION = 7; + private static final int METHODID_GET_JOINT_STATE = 8; + private static final int METHODID_GET_POSE = 9; + private static final int METHODID_CALIBRATE_ZERO_Q = 10; + private static final int METHODID_GET_POSE_MATRIX = 11; + private static final int METHODID_COMPUTE_FORWARD_KINEMATICS = 12; + + private static final class MethodHandlers implements + io.grpc.stub.ServerCalls.UnaryMethod, + io.grpc.stub.ServerCalls.ServerStreamingMethod, + io.grpc.stub.ServerCalls.ClientStreamingMethod, + io.grpc.stub.ServerCalls.BidiStreamingMethod { + private final ArmServiceImplBase serviceImpl; + private final int methodId; + + MethodHandlers(ArmServiceImplBase serviceImpl, int methodId) { + this.serviceImpl = serviceImpl; + this.methodId = methodId; + } + + @java.lang.Override + @java.lang.SuppressWarnings("unchecked") + public void invoke(Req request, io.grpc.stub.StreamObserver responseObserver) { + switch (methodId) { + case METHODID_TORQUE_OFF: + serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_TORQUE_ON: + serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_MOVE_J: + serviceImpl.moveJ((cmvr.api.ArmCommand.MoveJ.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_MOVE_L: + serviceImpl.moveL((cmvr.api.ArmCommand.MoveL.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_SPEED_J: + serviceImpl.speedJ((cmvr.api.ArmCommand.SpeedJ.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_SPEED_L: + serviceImpl.speedL((cmvr.api.ArmCommand.SpeedL.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_SERVO_J: + serviceImpl.servoJ((cmvr.api.ArmCommand.ServoJ.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_STOP_MOTION: + serviceImpl.stopMotion((cmvr.api.Common.CommandHeader.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_GET_JOINT_STATE: + serviceImpl.getJointState((cmvr.api.ArmCommand.JointRequest) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_GET_POSE: + serviceImpl.getPose((cmvr.api.ArmCommand.GetPose.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_CALIBRATE_ZERO_Q: + serviceImpl.calibrateZeroQ((cmvr.api.ArmCommand.CalibrateZeroQ.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_GET_POSE_MATRIX: + serviceImpl.getPoseMatrix((cmvr.api.ArmCommand.GetPoseMatrix.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + case METHODID_COMPUTE_FORWARD_KINEMATICS: + serviceImpl.computeForwardKinematics((cmvr.api.ArmCommand.ComputeForwardKinematics.Request) request, + (io.grpc.stub.StreamObserver) responseObserver); + break; + default: + throw new AssertionError(); + } + } + + @java.lang.Override + @java.lang.SuppressWarnings("unchecked") + public io.grpc.stub.StreamObserver invoke( + io.grpc.stub.StreamObserver responseObserver) { + switch (methodId) { + default: + throw new AssertionError(); + } + } + } + + private static abstract class ArmServiceBaseDescriptorSupplier + implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier { + ArmServiceBaseDescriptorSupplier() {} + + @java.lang.Override + public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() { + return cmvr.api.ArmServiceOuterClass.getDescriptor(); + } + + @java.lang.Override + public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() { + return getFileDescriptor().findServiceByName("ArmService"); + } + } + + private static final class ArmServiceFileDescriptorSupplier + extends ArmServiceBaseDescriptorSupplier { + ArmServiceFileDescriptorSupplier() {} + } + + private static final class ArmServiceMethodDescriptorSupplier + extends ArmServiceBaseDescriptorSupplier + implements io.grpc.protobuf.ProtoMethodDescriptorSupplier { + private final String methodName; + + ArmServiceMethodDescriptorSupplier(String methodName) { + this.methodName = methodName; + } + + @java.lang.Override + public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() { + return getServiceDescriptor().findMethodByName(methodName); + } + } + + private static volatile io.grpc.ServiceDescriptor serviceDescriptor; + + public static io.grpc.ServiceDescriptor getServiceDescriptor() { + io.grpc.ServiceDescriptor result = serviceDescriptor; + if (result == null) { + synchronized (ArmServiceGrpc.class) { + result = serviceDescriptor; + if (result == null) { + serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME) + .setSchemaDescriptor(new ArmServiceFileDescriptorSupplier()) + .addMethod(getTorqueOffMethod()) + .addMethod(getTorqueOnMethod()) + .addMethod(getMoveJMethod()) + .addMethod(getMoveLMethod()) + .addMethod(getSpeedJMethod()) + .addMethod(getSpeedLMethod()) + .addMethod(getServoJMethod()) + .addMethod(getStopMotionMethod()) + .addMethod(getGetJointStateMethod()) + .addMethod(getGetPoseMethod()) + .addMethod(getCalibrateZeroQMethod()) + .addMethod(getGetPoseMatrixMethod()) + .addMethod(getComputeForwardKinematicsMethod()) + .build(); + } + } + } + return result; + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java new file mode 100644 index 0000000..9087b7a --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/ArmServiceOuterClass.java @@ -0,0 +1,66 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: cmvr/api/arm_service.proto + +package cmvr.api; + +public final class ArmServiceOuterClass { + private ArmServiceOuterClass() {} + 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\032cmvr/api/arm_service.proto\022\010cmvr.api\032\025" + + "cmvr/api/common.proto\032\032cmvr/api/arm_comm" + + "and.proto2\325\007\n\nArmService\022N\n\ttorqueOff\022\037." + + "cmvr.api.CommandHeader.Request\032 .cmvr.ap" + + "i.CommandHeader.Feedback\022M\n\010torqueOn\022\037.c" + + "mvr.api.CommandHeader.Request\032 .cmvr.api" + + ".CommandHeader.Feedback\022:\n\005moveJ\022\027.cmvr." + + "api.MoveJ.Request\032\030.cmvr.api.MoveJ.Respo" + + "nse\022:\n\005moveL\022\027.cmvr.api.MoveL.Request\032\030." + + "cmvr.api.MoveL.Response\022=\n\006speedJ\022\030.cmvr" + + ".api.SpeedJ.Request\032\031.cmvr.api.SpeedJ.Re" + + "sponse\022=\n\006speedL\022\030.cmvr.api.SpeedL.Reque" + + "st\032\031.cmvr.api.SpeedL.Response\022=\n\006servoJ\022" + + "\030.cmvr.api.ServoJ.Request\032\031.cmvr.api.Ser" + + "voJ.Response\022O\n\nstopMotion\022\037.cmvr.api.Co" + + "mmandHeader.Request\032 .cmvr.api.CommandHe" + + "ader.Feedback\022@\n\rgetJointState\022\026.cmvr.ap" + + "i.JointRequest\032\027.cmvr.api.JointResponse\022" + + "@\n\007getPose\022\031.cmvr.api.GetPose.Request\032\032." + + "cmvr.api.GetPose.Response\022U\n\016calibrateZe" + + "roQ\022 .cmvr.api.CalibrateZeroQ.Request\032!." + + "cmvr.api.CalibrateZeroQ.Response\022R\n\rgetP" + + "oseMatrix\022\037.cmvr.api.GetPoseMatrix.Reque" + + "st\032 .cmvr.api.GetPoseMatrix.Response\022s\n\030" + + "computeForwardKinematics\022*.cmvr.api.Comp" + + "uteForwardKinematics.Request\032+.cmvr.api." + + "ComputeForwardKinematics.Responseb\006proto" + + "3" + }; + descriptor = com.google.protobuf.Descriptors.FileDescriptor + .internalBuildGeneratedFileFrom(descriptorData, + new com.google.protobuf.Descriptors.FileDescriptor[] { + cmvr.api.Common.getDescriptor(), + cmvr.api.ArmCommand.getDescriptor(), + }); + cmvr.api.Common.getDescriptor(); + cmvr.api.ArmCommand.getDescriptor(); + } + + // @@protoc_insertion_point(outer_class_scope) +} diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java index f97b5ad..047db03 100644 --- a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java @@ -57,6 +57,8 @@ public enum ActionEnum { // ---------------机械臂--------------- TOUCH("EDGE", "TOUCH", "触控"), + // 末端运动 + ARM_MOVE_TO_POINT("EDGE", "ARM_MOVE_TO_POINT", "运动到指定点"), // --------------- 头部 --------------- BIO_HEAD_SPEAK_START("EDGE", "BIO_HEAD_SPEAK_START", "开始说话"), diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateService.java new file mode 100644 index 0000000..a03ece6 --- /dev/null +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateService.java @@ -0,0 +1,104 @@ +package com.cmvr.test.flow.runtime.operator.edge; + +import cmvr.api.ArmCommand; +import com.alibaba.fastjson2.JSONObject; +import com.cmvr.common.exception.GlobalException; +import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.service.EdgeArmService; +import com.cmvr.test.enums.ActionEnum; +import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage; +import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +/** + * 机械臂边缘操作服务 + * 处理机械臂相关的设备行为，如末端运动到指定位置 + * + * @author cmvr-iot + * @since 2026-07-01 + */ +@Slf4j +@Service +@RequiredArgsConstructor +public class EdgeArmOperateService implements EdgeOperateService { + + private final EdgeArmService edgeArmService; + + @Override + public boolean supports(ActionEnum action) { + return action.name().startsWith("ARM_"); + } + + @Override + public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) { + ActionEnum action = message.getAction(); + JSONObject inputParams = message.getInputParams(); + String terminalId = message.getTerminalId(); + + // 从输入参数中获取设备ID + String deviceId = inputParams.getString("deviceId"); + + if (deviceId == null || deviceId.isEmpty()) { + throw new GlobalException("设备ID(deviceId)不能为空"); + } + // 构建边缘端通用参数 + EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); + edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setDeviceId(deviceId); + + // 先调用开启力矩 + edgeArmService.torqueOn(edgeCommonVO); + + switch (action) { + case ARM_MOVE_TO_POINT: { + log.info("执行机械臂末端运动到指定点操作，设备ID: {}", deviceId); + + // 从输入参数中获取坐标信息 + Double x = inputParams.getDouble("x"); + Double y = inputParams.getDouble("y"); + Double z = inputParams.getDouble("z"); + Double rx = inputParams.getDouble("rx"); + Double ry = inputParams.getDouble("ry"); + Double rz = inputParams.getDouble("rz"); + String frame = inputParams.getString("frame"); + Double velocity = inputParams.getDouble("velocity"); + Double acceleration = inputParams.getDouble("acceleration"); + Double blendRadius = inputParams.getDouble("blendRadius"); + + // 参数验证 + if (x == null || y == null || z == null) { + throw new GlobalException("X、Y、Z坐标不能为空"); + } + if (rx == null || ry == null || rz == null) { + throw new GlobalException("RX、RY、RZ旋转角度不能为空"); + } + + // 直接调用边缘端机械臂服务执行笛卡尔空间直线运动 + ArmCommand.MoveL.Response result = edgeArmService.moveL( + edgeCommonVO, + x, + y, + z, + rx, + ry, + rz, + frame, + velocity, + acceleration, + blendRadius + ); + + log.info("机械臂末端运动任务下发成功"); + + break; + } + + default: + throw new GlobalException("不支持的机械臂操作类型: " + action); + } + + return TaskNodeExecuteResult.success(); + } +} diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java index 7373a2c..cafbd3d 100644 --- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java @@ -3,8 +3,8 @@ package com.cmvr.test.flow.runtime.operator.edge; import com.alibaba.fastjson2.JSON; import com.alibaba.fastjson2.JSONObject; import com.cmvr.common.exception.GlobalException; -import com.cmvr.edge.client.model.humanoid.EdgeMoveJVO; -import com.cmvr.edge.client.service.EdgeHumanoidRobotService; +import com.cmvr.edge.client.model.arm.EdgeArmMoveJVO; +import com.cmvr.edge.client.service.EdgeArmService; import com.cmvr.test.enums.ActionEnum; import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage; import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult; @@ -18,7 +18,7 @@ import org.springframework.stereotype.Service; @RequiredArgsConstructor public class EdgeTouchOperateService implements EdgeOperateService { - private final EdgeHumanoidRobotService edgeHumanoidRobotService; + private final EdgeArmService edgeArmService; @Override public boolean supports(ActionEnum action) { @@ -35,11 +35,19 @@ public class EdgeTouchOperateService implements EdgeOperateService { switch (action) { case TOUCH: { - EdgeMoveJVO edgeMoveJVO = JSON.parseObject(touchParams, EdgeMoveJVO.class); - edgeMoveJVO.setTerminalId(terminalId); - edgeMoveJVO.setDeviceId(deviceId); + EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class); + edgeArmMoveJVO.setTerminalId(terminalId); + edgeArmMoveJVO.setDeviceId(deviceId); - edgeHumanoidRobotService.moveJ(edgeMoveJVO); + edgeArmService.moveJ( + edgeArmMoveJVO, + edgeArmMoveJVO.getTarget(), + edgeArmMoveJVO.getVelocity(), + edgeArmMoveJVO.getAcceleration(), + edgeArmMoveJVO.getBlendRadius(), + edgeArmMoveJVO.getJointVelocityLimits(), + edgeArmMoveJVO.getAsynchronous() + ); break; } diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java index 1aeefbe..77fd304 100644 --- a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowiseActionService.java @@ -9,8 +9,8 @@ import com.cmvr.common.exception.GlobalException; import com.cmvr.common.utils.http.CallAPIUtil; import com.cmvr.common.utils.uuid.IdUtils; import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.service.EdgeArmService; import com.cmvr.edge.client.service.EdgeBioHeadService; -import com.cmvr.edge.client.service.EdgeHumanoidRobotService; import com.cmvr.test.enums.FlowiseActionEnum; import com.cmvr.test.flow.context.TaskContext; import com.cmvr.test.flow.context.TaskContextManager; @@ -36,7 +36,7 @@ import java.util.Map; public class FlowiseActionService { private final EdgeBioHeadService edgeBioHeadService; - private final EdgeHumanoidRobotService edgeHumanoidRobotService; + private final EdgeArmService edgeArmService; private final TaskContextManager taskContextManager; private final FlowControlService flowControlService; private final FlowTaskRuntimeService flowTaskRuntimeService;