From 84f3453188660f60852b61e81e59fa457d62f0b3 Mon Sep 17 00:00:00 2001 From: Nick-palmar <66019522+Nick-palmar@users.noreply.github.com> Date: Tue, 27 Jun 2023 20:35:10 -0400 Subject: [PATCH 01/31] User/nico-colin-keyon-andrew/can_drivetrain Drivetrain ros2 control code for rover --------- Co-authored-by: ColinToft Co-authored-by: Andrew Zhao Co-authored-by: Keyon Jerome --- .../.gitignore | 3 + .../urdf/drivetrain.macro.xacro | 9 +- .../urdf/drivetrain.ros2control.xacro | 12 +- .../uwrt_mars_rover_drivetrain_hw/.gitignore | 3 + .../CMakeLists.txt | 2 + .../config/drivetrain_controllers.yaml | 2 +- ...rover_drivetrain_hw_actuator_interface.hpp | 34 +- .../launch/drivetrain.launch.py | 5 +- .../uwrt_mars_rover_drivetrain_hw/package.xml | 2 + ...rover_drivetrain_hw_actuator_interface.cpp | 109 +- uwrt_mars_rover_utilities/.gitignore | 3 + uwrt_mars_rover_utilities/CMakeLists.txt | 85 + .../uwrt_mars_rover_utilities/uwrt_can.h | 204 + .../uwrt_mars_rover_can.h | 6681 +++++++++++++++++ .../uwrt_mars_rover_can_enums.h | 940 +++ .../uwrt_mars_rover_can_wrapper.h | 14 + .../uwrt_mars_rover_utilities/uwrt_params.h | 61 + uwrt_mars_rover_utilities/package.xml | 20 + .../uwrt_mars_rover_can_wrapper.cpp | 3682 +++++++++ uwrt_mars_rover_utilities/src/uwrt_can.cpp | 156 + .../src/uwrt_can_test_node.cpp | 125 + uwrt_mars_rover_utilities/src/uwrt_params.cpp | 33 + 22 files changed, 12147 insertions(+), 38 deletions(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/.gitignore create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/.gitignore create mode 100644 uwrt_mars_rover_utilities/.gitignore create mode 100644 uwrt_mars_rover_utilities/CMakeLists.txt create mode 100644 uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_can.h create mode 100644 uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can.h create mode 100644 uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_enums.h create mode 100644 uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_wrapper.h create mode 100644 uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_params.h create mode 100644 uwrt_mars_rover_utilities/package.xml create mode 100644 uwrt_mars_rover_utilities/src/hw_bridge_files/uwrt_mars_rover_can_wrapper.cpp create mode 100644 uwrt_mars_rover_utilities/src/uwrt_can.cpp create mode 100644 uwrt_mars_rover_utilities/src/uwrt_can_test_node.cpp create mode 100644 uwrt_mars_rover_utilities/src/uwrt_params.cpp diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/.gitignore b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/.gitignore new file mode 100644 index 00000000..29cad580 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/.gitignore @@ -0,0 +1,3 @@ +build/ +install/ +log/ \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro index b47b9017..bf94a90b 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro @@ -64,11 +64,14 @@ - + + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface - + ${can_id_prop} + @@ -77,7 +80,7 @@ - + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro index f9123693..2fa6841d 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro @@ -4,12 +4,12 @@ - - - - - - + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/.gitignore b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/.gitignore new file mode 100644 index 00000000..29cad580 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/.gitignore @@ -0,0 +1,3 @@ +build/ +install/ +log/ \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/CMakeLists.txt b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/CMakeLists.txt index c534ba61..bc9ff2a7 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/CMakeLists.txt +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/CMakeLists.txt @@ -12,6 +12,7 @@ find_package(pluginlib REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_lifecycle REQUIRED) find_package(transmission_interface REQUIRED) +find_package(uwrt_mars_rover_utilities REQUIRED) add_library( ${PROJECT_NAME} @@ -38,6 +39,7 @@ ament_target_dependencies( rclcpp rclcpp_lifecycle transmission_interface + uwrt_mars_rover_utilities ) # Causes the visibility macros to use dllexport rather than dllimport, diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml index f397bc8d..f61b24d4 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml @@ -38,7 +38,7 @@ differential_drivetrain_controller: cmd_vel_timeout: 0.2 # seconds. min cmd_vel publish rate is 5Hz publish_limited_velocity: true - use_stamped_vel: true + use_stamped_vel: false # FIXME (npalmar): chaneg back to true velocity_rolling_window_size: 10 # Velocity and acceleration limits diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp index 48b738b5..b063f62e 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp @@ -12,8 +12,10 @@ #include "rclcpp/macros.hpp" #include "rclcpp/rclcpp.hpp" #include "transmission_interface/simple_transmission.hpp" +#include "uwrt_mars_rover_utilities/uwrt_can.h" #include "uwrt_mars_rover_drivetrain_hw/visibility_control.hpp" + using LifecyleNodeCallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; namespace uwrt_mars_rover_drivetrain_hw { @@ -24,6 +26,8 @@ class UWRTMarsRoverDrivetrainHWActuatorInterface : public hardware_interface::Ac UWRT_MARS_ROVER_DRIVETRAIN_HW_PUBLIC UWRTMarsRoverDrivetrainHWActuatorInterface(); + // TODO (npalmar): implement the on_error method to turn off wheel velocities when killing node + UWRT_MARS_ROVER_DRIVETRAIN_HW_PUBLIC LifecyleNodeCallbackReturn on_init(const hardware_interface::HardwareInfo& actuator_info) override; @@ -55,16 +59,40 @@ class UWRTMarsRoverDrivetrainHWActuatorInterface : public hardware_interface::Ac std::vector export_command_interfaces() override; protected: + uint32_t get_arbitration_id(uint8_t can_id, uint32_t cmd_id) + { + return can_id << 5 | cmd_id; + } + + struct TwoFloats { + float a, b; + }; + + static constexpr uint32_t get_encoder_estimates_cmd_ {0x009}; + static constexpr uint32_t set_input_vel_cmd_ {0x00d}; + + uint32_t can_id_; // get the can ID as a parameter in the urdf hardware description + std::string can_interface_{ "can0" }; + + // combine can Id and cmd in the variables below for easier access using get_arbitration_id + uint32_t get_encoder_estimates_id_; + uint32_t set_input_vel_id_; + double actuator_state_position_; double actuator_state_velocity_; - double actuator_state_iq_current_; - double joint_velocity_command_; + // double actuator_state_iq_current_; + double motor_velocity_; rclcpp::Logger logger_; // UWRTMarsRoverDrivetrainHWActuatorInterface defines the following structure in URDF static constexpr unsigned int NUM_JOINTS{1}; static constexpr unsigned int NUM_COMMAND_INTERFACES{1}; - static constexpr unsigned int NUM_STATE_INTERFACES{3}; + static constexpr unsigned int NUM_STATE_INTERFACES{2}; + + // TODO (npalmar): probably remove current stuff from here + // static constexpr uint32_t actuator_state_iq_current_address_ {0x014}; + + uwrt_mars_rover_utilities::UWRTCANWrapper drivetrain_can_wrapper_; }; } // namespace uwrt_mars_rover_drivetrain_hw diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py index 42ab5500..a387e2be 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py @@ -43,6 +43,9 @@ def generate_launch_description(): executable='robot_state_publisher', output='both', parameters=[robot_description], + remappings=[ + ("/differential_drivetrain_controller/cmd_vel_unstamped", "/cmd_vel"), + ], )] joint_state_broadcaster_spawner = Node( @@ -71,7 +74,7 @@ def generate_launch_description(): drivetrain_controller_spawner = Node( package='controller_manager', executable='spawner', - arguments=['differential_drivetrain_controller', '-c', '/controller_manager'], + arguments=['differential_drivetrain_controller', "--controller-manager", '/controller_manager'], ) nodes += [RegisterEventHandler( event_handler=OnProcessExit( diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml index f2c5259c..108b925b 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml @@ -19,6 +19,8 @@ rclcpp rclcpp_lifecycle transmission_interface + + uwrt_mars_rover_utilities controller_manager diff_drive_controller diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp index ae3c5af1..fce1087f 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp @@ -8,7 +8,7 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_init( const hardware_interface::HardwareInfo& actuator_info) { logger_ = rclcpp::get_logger(actuator_info.name); - RCLCPP_DEBUG(logger_, "Drivetrain Actuator Initializing..."); + RCLCPP_INFO(logger_, "Drivetrain Actuator Initializing..."); if (hardware_interface::ActuatorInterface::on_init(actuator_info) != LifecyleNodeCallbackReturn::SUCCESS) { return LifecyleNodeCallbackReturn::ERROR; @@ -51,12 +51,12 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_init( // Init states and commands to nan actuator_state_position_ = std::numeric_limits::quiet_NaN(); actuator_state_velocity_ = std::numeric_limits::quiet_NaN(); - actuator_state_iq_current_ = std::numeric_limits::quiet_NaN(); - joint_velocity_command_ = std::numeric_limits::quiet_NaN(); - - // TODO: init transmissions - // TODO: init can library - + // actuator_state_iq_current_ = std::numeric_limits::quiet_NaN(); + motor_velocity_ = std::numeric_limits::quiet_NaN(); + + // TODO (npalmar): ensure there are no problems with 6 can wrappers that have the same name + drivetrain_can_wrapper_ = uwrt_mars_rover_utilities::UWRTCANWrapper("drivetrain_can", can_interface_, false); + RCLCPP_DEBUG(logger_, "Drivetrain Actuator Initialized Successfully"); return LifecyleNodeCallbackReturn::SUCCESS; } @@ -68,10 +68,9 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_cleanu // Reset state and command data to nan actuator_state_position_ = std::numeric_limits::quiet_NaN(); actuator_state_velocity_ = std::numeric_limits::quiet_NaN(); - actuator_state_iq_current_ = std::numeric_limits::quiet_NaN(); - joint_velocity_command_ = std::numeric_limits::quiet_NaN(); + // actuator_state_iq_current_ = std::numeric_limits::quiet_NaN(); + motor_velocity_ = std::numeric_limits::quiet_NaN(); - // TODO: re-init or reset can library to init state RCLCPP_INFO(logger_, "Drivetrain Actuator Cleaned Up Successfully"); return LifecyleNodeCallbackReturn::SUCCESS; } @@ -80,7 +79,7 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_config const rclcpp_lifecycle::State& /*previous_state*/) { RCLCPP_INFO(logger_, "Drivetrain Actuator Configuring ..."); - joint_velocity_command_ = 0.0; + motor_velocity_ = 0.0; // Prevent diff_drive_controller from using nan values if (std::isnan(actuator_state_position_)) { @@ -89,13 +88,24 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_config if (std::isnan(actuator_state_velocity_)) { actuator_state_velocity_ = 0.0; } - if (std::isnan(actuator_state_iq_current_)) { - actuator_state_iq_current_ = 0.0; - } + // if (std::isnan(actuator_state_iq_current_)) { + // actuator_state_iq_current_ = 0.0; + // } // TODO: enable can library to start receiving data for state interfaces and non-movement command interfaces. consider // existing state data and non-movement command data as stale + // get the can_id parameter + can_id_ = std::stoi(info_.hardware_parameters["can_id"]); + + RCLCPP_INFO_STREAM(logger_, "Drivetrain Actuator got CAN ID " << can_id_ << " with CAN interface " << can_interface_); + + get_encoder_estimates_id_ = get_arbitration_id(can_id_, get_encoder_estimates_cmd_); + set_input_vel_id_ = get_arbitration_id(can_id_, set_input_vel_cmd_); + + std::vector addresses {get_encoder_estimates_id_, set_input_vel_id_}; + drivetrain_can_wrapper_.init(addresses); + RCLCPP_INFO(logger_, "Drivetrain Actuator Configured Successfully"); return LifecyleNodeCallbackReturn::SUCCESS; } @@ -104,11 +114,15 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_deacti const rclcpp_lifecycle::State& /*previous_state*/) { RCLCPP_INFO(logger_, "Drivetrain Actuator Deactivating..."); - joint_velocity_command_ = 0.0; + motor_velocity_ = 0.0; - // TODO: enable can library to start receiving data for state interfaces and non-movement command interfaces. consider + // enable can library to start receiving data for state interfaces and non-movement command interfaces. consider // existing state data and non-movement command data as stale + // assume that can_id is staying the same, no need to read again + std::vector addresses {get_encoder_estimates_id_, set_input_vel_id_}; + drivetrain_can_wrapper_.init(addresses); + RCLCPP_INFO(logger_, "Drivetrain Actuator Deactivated Successfully"); return LifecyleNodeCallbackReturn::SUCCESS; } @@ -119,6 +133,18 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_shutdo // TODO: Null out CAN lib object? + // zero out the velocities to the wheels before shutting down + if (drivetrain_can_wrapper_.writeToID(0.0, set_input_vel_id_)) + { + RCLCPP_INFO_STREAM(logger_, "Successfully set 0 velocity for shutting down on can_id " << can_id_); + } + else + { + // TODO (npalmar): do something else in case of sending an error + RCLCPP_INFO_STREAM(logger_, "Error: Failed to set 0 velocity when exiting on can_id " << can_id_); + } + + RCLCPP_INFO(logger_, "Drivetrain Actuator Shut Down Successfully"); return LifecyleNodeCallbackReturn::SUCCESS; } @@ -134,10 +160,34 @@ LifecyleNodeCallbackReturn UWRTMarsRoverDrivetrainHWActuatorInterface::on_activa hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read() { RCLCPP_DEBUG(logger_, "Drivetrain Actuator Reading..."); + TwoFloats encoder_readings; + drivetrain_can_wrapper_.getLatestFromID(encoder_readings, get_encoder_estimates_id_); + + // Sketchy, not tested yet, copy this into two floats + // std::memcpy(&actuator_state_position, &encoderEstimates, sizeof(actuator_state_position)); + // std::memcpy(&actuator_state_velocity, &encoderEstimates[4], sizeof(actuator_state_velocity)); + // TODO (npalmar): confirm the order of reading is correct (might be backwards) + + // ignore garbage if we get garbage (seems to work well) + if (encoder_readings.a > 0.1) + { + actuator_state_position_ = (double) encoder_readings.a; + } + if (encoder_readings.b > 0.1) + { + actuator_state_velocity_ = (double) encoder_readings.b; + } + + // TwoFloats iq_current; + // drivetrain_can_wrapper_.getLatestFromID(iq_current, actuator_state_iq_current_address_); + // TODO (by Colin) I think we want the last 4 bytes (measured IQ) on the above line, that should be read into float + // std::memcpy(&actuator_state_iq_current, &iq_current[4], sizeof(actuator_state_iq_current)); + // actuator_state_iq_current_ = (double) iq_current.b; + RCLCPP_DEBUG_STREAM(logger_, "Actuator Position: " << actuator_state_position_ - << " Actuator Velocity: " << actuator_state_velocity_ - << " Actuator IQ Current: " << actuator_state_iq_current_); - // TODO: read from CAN + << " Actuator Velocity: " << actuator_state_velocity_); + // << " Actuator IQ Current: " << actuator_state_iq_current_); + RCLCPP_DEBUG(logger_, "Drivetrain Actuator Read Successfully..."); return hardware_interface::return_type::OK; @@ -146,8 +196,19 @@ hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::write() { RCLCPP_DEBUG(logger_, "Drivetrain Actuator Writing..."); - RCLCPP_DEBUG_STREAM(logger_, "Joint Velocity: " << joint_velocity_command_); - // TODO: write to CAN + // RCLCPP_INFO_STREAM(logger_, "Joint Velocity: " << motor_velocity_); + + // Write to float because velocity should be 4 bytes + if (drivetrain_can_wrapper_.writeToID((float) motor_velocity_, set_input_vel_id_)) + { + RCLCPP_DEBUG_STREAM(logger_, "Successfully sent joint velocity of " << motor_velocity_ << " for CAN_id " << can_id_); + } + else + { + // TODO (npalmar): do something else in case of sending an error + RCLCPP_ERROR_STREAM(logger_, "Failed to send joint velocity for CAN_id" << can_id_); + } + RCLCPP_DEBUG(logger_, "Drivetrain Actuator Written Successfully..."); return hardware_interface::return_type::OK; @@ -159,8 +220,8 @@ std::vector UWRTMarsRoverDrivetrainHWActuato info_.joints[0].name, hardware_interface::HW_IF_POSITION, &actuator_state_position_)); state_interfaces_list.emplace_back(hardware_interface::StateInterface( info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &actuator_state_velocity_)); - state_interfaces_list.emplace_back( - hardware_interface::StateInterface(info_.joints[0].name, "iq_current", &actuator_state_iq_current_)); + // state_interfaces_list.emplace_back( + // hardware_interface::StateInterface(info_.joints[0].name, "iq_current", &actuator_state_iq_current_)); return state_interfaces_list; } @@ -168,7 +229,7 @@ std::vector UWRTMarsRoverDrivetrainHWActuatorInterface::export_command_interfaces() { std::vector command_interfaces_list; command_interfaces_list.emplace_back(hardware_interface::CommandInterface( - info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &joint_velocity_command_)); + info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &motor_velocity_)); return command_interfaces_list; } diff --git a/uwrt_mars_rover_utilities/.gitignore b/uwrt_mars_rover_utilities/.gitignore new file mode 100644 index 00000000..29cad580 --- /dev/null +++ b/uwrt_mars_rover_utilities/.gitignore @@ -0,0 +1,3 @@ +build/ +install/ +log/ \ No newline at end of file diff --git a/uwrt_mars_rover_utilities/CMakeLists.txt b/uwrt_mars_rover_utilities/CMakeLists.txt new file mode 100644 index 00000000..132b2a5f --- /dev/null +++ b/uwrt_mars_rover_utilities/CMakeLists.txt @@ -0,0 +1,85 @@ +cmake_minimum_required(VERSION 3.8) +project(uwrt_mars_rover_utilities) + +if (NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 20) +endif () + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(std_msgs REQUIRED) + +include_directories(include) + +add_library(${PROJECT_NAME} SHARED + src/uwrt_can.cpp + #src/uwrt_params.cpp +) + +ament_target_dependencies(${PROJECT_NAME} + rclcpp + std_msgs + rclcpp_components +) + + +add_executable(uwrt_can_test_node src/uwrt_can_test_node.cpp src/uwrt_can.cpp) +ament_target_dependencies(uwrt_can_test_node + rclcpp + std_msgs + rclcpp_components +) + +install( + DIRECTORY include/ + DESTINATION include +) + +# install( +# DIRECTORY include/uwrt_mars_rover_utilities/ +# DESTINATION include +# ) + +# note (npalmar) +# colin changed the part below to this bc it wasn't updating for him (however this didn't build for me): +# RUNTIME DESTINATION lib/${PROJECT_NAME} +# ARCHIVE DESTINATION lib/${PROJECT_NAME} +# LIBRARY DESTINATION lib/${PROJECT_NAME} + + +install(TARGETS ${PROJECT_NAME} + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +install(TARGETS uwrt_can_test_node + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +ament_export_libraries( + ${PROJECT_NAME} + # uwrt-mars-rover-hw-bridge +) + + +ament_export_include_directories( + include + # include/uwrt_mars_rover_utilities +) + + + +ament_export_dependencies( + rclcpp + std_msgs + rclcpp_components +) + + +ament_package() diff --git a/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_can.h b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_can.h new file mode 100644 index 00000000..7ee38991 --- /dev/null +++ b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_can.h @@ -0,0 +1,204 @@ +#pragma once + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +// #include "uwrt_params.h" +#include "rclcpp/logger.hpp" + +namespace uwrt_mars_rover_utilities { + +class UWRTCANWrapper { + public: + explicit UWRTCANWrapper(): UWRTCANWrapper("uwrt_can", "can0", false, 1) {} + + explicit UWRTCANWrapper( + std::string name, std::string interface_name, bool rcv_big_endian, + int thread_sleep_millis = 10); // NOLINT(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers) + + explicit UWRTCANWrapper(const UWRTCANWrapper &to_copy) = delete; + // NOLINTNEXTLINE(performance-noexcept-move-constructor, bugprone-exception-escape) + explicit UWRTCANWrapper(UWRTCANWrapper &&to_move); + + ~UWRTCANWrapper(); + + UWRTCANWrapper &operator=(const UWRTCANWrapper &to_copy) = delete; + // NOLINTNEXTLINE(performance-noexcept-move-constructor,bugprone-exception-escape) + UWRTCANWrapper &operator=(UWRTCANWrapper &&to_move); + + void init(const std::vector &ids); + + private: + // description name for this wrapper + std::string name_; + + // ROS2 logger variable for ROS2 errors + rclcpp::Logger logger_; + + // variables needed for can socket + std::string interface_name_; + int socket_handle_{}; + struct sockaddr_can sock_addr_ {}; + struct ifreq ifr_ {}; + + // variables for wrapper + bool initialized_{false}; + int rcv_endianness_{__BYTE_ORDER__}; + std::thread read_thread_; + volatile bool read_thread_running_{}; + std::map recv_map_; + std::timed_mutex recv_map_mtx_; + std::chrono::milliseconds thread_sleep_millis_{}; + static constexpr std::chrono::milliseconds MUTEX_LOCK_TIMEOUT{1}; + + // variables needed for can send & acknowledge function + static constexpr int MAX_TRIES = 5; + static constexpr int RATE = 10; + + // read function to be run in the thread + void readSocketTask(); + + + // function to get swap endianness + template + T correctEndianness(const T &data) { + // if endianness is the same, just return the data back + if (rcv_endianness_ == __BYTE_ORDER__) { + return data; + } + + // if not, we need to swap endianess + T swapped_data; + auto swapped_ptr = + reinterpret_cast(&swapped_data); // NOLINT(cppcoreguidelines-pro-type-reinterpret-cast) + auto original_ptr = + reinterpret_cast(&data); // NOLINT(cppcoreguidelines-pro-type-reinterpret-cast) + for (int i = 0; i < sizeof(T); i++) { + // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic) + std::memcpy(&swapped_ptr[i], &original_ptr[sizeof(T) - 1 - i], 1); + } + return swapped_data; + } + + public: + // these two function definitions need to be in header because they use + // templates (good one c++ 11) + template + bool getLatestFromID(T &data, uint32_t id) { + // make sure we have been initialized + if (!initialized_) { + RCLCPP_ERROR_STREAM(logger_, "Please initialize CAN wrapper before using it"); + } + + // check that we have new data to read at specified id + if (!recv_map_mtx_.try_lock_for(MUTEX_LOCK_TIMEOUT)) { + RCLCPP_ERROR_STREAM(logger_, "Timed out while trying to lock read mutex"); + } + auto it = recv_map_.find((canid_t)id); + if (it == recv_map_.end()) { + recv_map_mtx_.unlock(); + return false; + } + + // read and delete new data at specified id + struct can_frame frame = recv_map_[id]; + recv_map_.erase((canid_t)id); + recv_map_mtx_.unlock(); + + // extract data from frame + if (frame.can_dlc != sizeof(T)) { + RCLCPP_ERROR_STREAM(logger_, "Mismatch of size between recieved and requested data"); + } + std::memcpy(&data, frame.data, sizeof(T)); + data = correctEndianness(data); + return true; + } + + template + bool writeToID(T data, uint32_t id) { + // make sure we have been initialized + if (!initialized_) { + RCLCPP_ERROR_STREAM(logger_, "Please initialize CAN wrapper before using it"); + } + + // make sure data isn't too big + if (sizeof(T) > CAN_MAX_DLEN) { + RCLCPP_ERROR_STREAM(logger_, "Size of this data structure is too big"); + } + + // construct data frame + struct can_frame frame {}; + frame.can_id = (canid_t)id; + frame.can_dlc = sizeof(T); + data = correctEndianness(data); + std::memcpy(frame.data, &data, sizeof(T)); + + int bytes_sent = send(socket_handle_, &frame, sizeof(struct can_frame), 0); + + return bytes_sent == sizeof(struct can_frame); + } + + template + bool writeToIDwithAck(T data, uint32_t id) { + // check socket has been initialized + if (!initialized_) { + RCLCPP_ERROR_STREAM(logger_, "Please intialize CAN wrapper before using it"); + } + + // makes sure data is not too big + if (sizeof(T) > CAN_MAX_DLEN) { + RCLCPP_ERROR_STREAM(logger_, "Size of this data structure is too big"); + } + + // construct data frame + struct can_frame frame {}; + frame.can_id = (canid_t)id; + frame.can_dlc = sizeof(T); + data = correctEndianness(data); + std::memcpy(frame.data, &data, sizeof(T)); + + // send data over can bus + int bytes_sent = send(socket_handle_, &frame, sizeof(struct can_frame), MSG_DONTWAIT); + + // error checking + if (bytes_sent != sizeof(struct can_frame)) { + RCLCPP_ERROR_STREAM(logger_, "CAN MESSAGE FAILED TO SEND"); + return false; + } + + // wait for one second then receive can frame + std::this_thread::sleep_for(std::chrono::seconds(1)); + + int attempts{0}; // number of tries executed for reading from socket + rclcpp::WallRate loop_rate{RATE}; // loop rate + int bytes_recv{}; // holds the number of bytes received from can bus + struct can_frame recv_frame {}; // empty can frame to be filled + + do { + // recv can frame from can bus - non-blocking + bytes_recv = recv(socket_handle_, &recv_frame, sizeof(struct can_frame), MSG_DONTWAIT); + attempts++; + loop_rate.sleep(); + } while (rclcpp::ok() && attempts < MAX_TRIES && bytes_recv != sizeof(struct can_frame)); + + // check if message was successfully received by firmware + if (bytes_recv == sizeof(struct can_frame)) { + RCLCPP_INFO_STREAM(logger_, "MESSAGE SENT TO FW SUCCESSFULLY"); + return true; + } + + RCLCPP_ERROR_STREAM(logger_, "FW MESSAGE FAILED TO LOAD"); + return false; + } +}; + +} // namespace uwrt_mars_rover_utils diff --git a/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can.h b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can.h new file mode 100644 index 00000000..0ca416b1 --- /dev/null +++ b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can.h @@ -0,0 +1,6681 @@ +/** + * The MIT License (MIT) + * + * Copyright (c) 2018-2019 Erik Moqvist + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +/** + * This file was generated by cantools version 37.0.3 Thu Feb 3 12:34:29 2022. + */ + +#ifndef UWRT_MARS_ROVER_CAN_H +#define UWRT_MARS_ROVER_CAN_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +#ifndef EINVAL +#define EINVAL 22 +#endif + +/* Frame ids. */ +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_FRAME_ID (0x621u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_FRAME_ID (0x622u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_FRAME_ID (0x623u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_FRAME_ID (0x624u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_FRAME_ID (0x625u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_FRAME_ID (0x640u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_FRAME_ID (0x641u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_FRAME_ID (0x642u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_FRAME_ID (0x643u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_FRAME_ID (0x644u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_FRAME_ID (0x645u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_FRAME_ID (0x646u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_FRAME_ID (0x660u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_FRAME_ID (0x661u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_FRAME_ID (0x662u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_FRAME_ID (0x663u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_FRAME_ID (0x680u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_FRAME_ID (0x681u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_FRAME_ID (0x682u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_FRAME_ID (0x683u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_FRAME_ID (0x684u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_FRAME_ID (0x6a0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_FRAME_ID (0x6a1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_FRAME_ID (0x6a2u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_FRAME_ID (0x6a3u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_FRAME_ID (0x6c0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_FRAME_ID (0x6c1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_FRAME_ID (0x6c2u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_FRAME_ID (0x6c3u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_FRAME_ID (0x6e0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_FRAME_ID (0x700u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_FRAME_ID (0x701u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_FRAME_ID (0x702u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_FRAME_ID (0x703u) +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_FRAME_ID (0x720u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_FRAME_ID (0x721u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_FRAME_ID (0x722u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_FRAME_ID (0x723u) + +/* Frame lengths in bytes. */ +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_LENGTH (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_LENGTH (7u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_LENGTH (4u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_LENGTH (32u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_LENGTH (5u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_LENGTH (6u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_LENGTH (2u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_LENGTH (4u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_LENGTH (5u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_LENGTH (6u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_LENGTH (8u) +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_LENGTH (4u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_LENGTH (1u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_LENGTH (1u) + +/* Extended or standard frame types. */ +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_IS_EXTENDED (0) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_IS_EXTENDED (0) + +/* Frame cycle times in milliseconds. */ + +/* Signal choices. */ +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_TURNTABLE_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_TURNTABLE_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_TURNTABLE_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_TURNTABLE_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_TURNTABLE_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_SHOULDER_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_SHOULDER_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_SHOULDER_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_SHOULDER_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_SHOULDER_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_ELBOW_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_ELBOW_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_ELBOW_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_ELBOW_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_ELBOW_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_LEFT_WRIST_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_LEFT_WRIST_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_LEFT_WRIST_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_LEFT_WRIST_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_LEFT_WRIST_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_RIGHT_WRIST_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_RIGHT_WRIST_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_RIGHT_WRIST_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_RIGHT_WRIST_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_RIGHT_WRIST_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_CLAW_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_CLAW_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_CLAW_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_CLAW_CONTROL_MODE_CURRENT_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_ARM_CLAW_CONTROL_MODE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_TURNTABLE_POSITION_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_SHOULDER_POSITION_SNA_CHOICE (1023u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_ELBOW_POSITION_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_LEFT_WRIST_POSITION_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_RIGHT_WRIST_POSITION_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_CLAW_POSITION_SNA_CHOICE (127) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_ARM_SET_TOOL_TIP_POSITION_SNA_CHOICE (127u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_TURNTABLE_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_SHOULDER_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_ELBOW_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_LEFT_WRIST_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_RIGHT_WRIST_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_ARM_SET_CLAW_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_TURNTABLE_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_SHOULDER_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_ELBOW_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_LEFT_WRIST_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_RIGHT_WRIST_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_ARM_SET_CLAW_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_TURNTABLE_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_SHOULDER_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_ELBOW_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_LEFT_WRIST_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_RIGHT_WRIST_CHOICE (4u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_CLAW_CHOICE (5u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PIDID_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PID_PROPORTIONAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PID_INTEGRAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PID_DERIVATIVE_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_ARM_JOINT_PID_DEADZONE_SNA_CHOICE (8191u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_TURNTABLE_POSITION_SNA_CHOICE (4095) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_SHOULDER_POSITION_SNA_CHOICE (4095u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_ELBOW_POSITION_SNA_CHOICE (4095) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_LEFT_WRIST_POSITION_SNA_CHOICE (255) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_RIGHT_WRIST_POSITION_SNA_CHOICE (255) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_ARM_REPORT_CLAW_POSITION_SNA_CHOICE (255) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_TURNTABLE_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_SHOULDER_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_ELBOW_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_LEFT_WRIST_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_RIGHT_WRIST_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_ARM_REPORT_CLAW_ANGULAR_VELOCITY_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_TURNTABLE_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_SHOULDER_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_ELBOW_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_LEFT_WRIST_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_RIGHT_WRIST_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_ARM_REPORT_CLAW_CURRENT_SNA_CHOICE (1023) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_TURNTABLE_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_SHOULDER_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_ELBOW_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_CURRENT_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_CURRENT_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_ARM_CLAW_CURRENT_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_ARM_ACK_ARM_RESET_ACK_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_ARM_ACK_ARM_SET_CONTROL_MODE_ACK_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_ARM_ACK_ARM_SET_JOINT_PID_PARAMS_ACK_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_ARM_ACK_CAN_BUS_SWITCH_ACK_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_ARM_ACK_SNA_CHOICE (255u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_TURNTABLE_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_SHOULDER_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_ELBOW_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_LEFT_WRIST_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_RIGHT_WRIST_CHOICE (4u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_CLAW_CHOICE (5u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_SAFETY_CHECK_JOINT_ID_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_CURRENT_CHECK_OFF_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_CURRENT_CHECK_ON_CHOICE (1u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_ANGULAR_VELOCITY_CHECK_OFF_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_ANGULAR_VELOCITY_CHECK_ON_CHOICE (1u) + +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_LIMIT_SWITCH_CHECK_OFF_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_ARM_JOINT_LIMIT_SWITCH_CHECK_ON_CHOICE (1u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_GENEVA_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_GENEVA_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_GENEVA_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_GENEVA_CONTROL_MODE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_ELEVATOR_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_ELEVATOR_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_ELEVATOR_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_SCIENCE_ELEVATOR_CONTROL_MODE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_SCIENCE_SET_GENEVA_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_SCIENCE_SET_ELEVATOR_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_SCIENCE_SET_COVER_POSITION_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_SCIENCE_SET_SHOVEL_POSITION_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_SCIENCE_SET_GENEVA_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_SCIENCE_SET_ELEVATOR_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PIDID_GENEVA_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PIDID_ELEVATOR_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PIDID_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PID_PROPORTIONAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PID_INTEGRAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PID_DERIVATIVE_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_SCIENCE_JOINT_PID_DEADZONE_SNA_CHOICE (8191u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_SCIENCE_REPORT_GENEVA_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_SCIENCE_REPORT_ELEVATOR_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_SCIENCE_REPORT_GENEVA_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_SCIENCE_REPORT_ELEVATOR_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_SCIENCE_MOISTURE_DATA_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_SCIENCE_TEMPERATURE_DATA_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_GENEVA_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_GENEVA_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_GENEVA_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_ELEVATOR_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_ELEVATOR_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_ELEVATOR_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_MOISTURE_SENSOR_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_MOISTURE_SENSOR_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_SCIENCE_MOISTURE_SENSOR_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_SCIENCE_ACK_SCIENCE_SET_CONTROL_MODE_ACK_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_SCIENCE_ACK_SCIENCE_SET_JOINT_PID_PARAMS_ACK_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_SCIENCE_ACK_CAN_BUS_SWITCH_ACK_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_SCIENCE_ACK_SNA_CHOICE (255u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_GIMBAL_PAN_CONTROL_MODE_OPEN_LOOP_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_GIMBAL_PAN_CONTROL_MODE_POSITION_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_GIMBAL_PAN_CONTROL_MODE_VELOCITY_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_GIMBAL_PAN_CONTROL_MODE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_GIMBAL_SET_PAN_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_GIMBAL_SET_PITCH_POSITION_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_GIMBAL_SET_ROLL_POSITION_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_GIMBAL_SET_PAN_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PIDID_PAN_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PIDID_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PID_PROPORTIONAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PID_INTEGRAL_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PID_DERIVATIVE_GAIN_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_GIMBAL_JOINT_PID_DEADZONE_SNA_CHOICE (8191u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_GIMBAL_REPORT_PAN_POSITION_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_GIMBAL_REPORT_PAN_ANGULAR_VELOCITY_SNA_CHOICE (32767) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_GIMBAL_PAN_ENCODER_STATE_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_GIMBAL_PAN_ENCODER_STATE_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_GIMBAL_PAN_ENCODER_STATE_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_GIMBAL_ACK_GIMBAL_SET_CONTROL_MODE_ACK_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_GIMBAL_ACK_GIMBAL_SET_JOINT_PID_PARAMS_ACK_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_GIMBAL_ACK_CAN_BUS_SWITCH_ACK_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_GIMBAL_ACK_SNA_CHOICE (255u) + +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_PDB_LED_MATRIX_STATE_SOLID_RED_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_PDB_LED_MATRIX_STATE_SOLID_BLUE_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_PDB_LED_MATRIX_STATE_FLASHING_GREEN_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_PDB_LED_MATRIX_STATE_FALSE_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_PDB_LED_MATRIX_STATE_SNA_CHOICE (7u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_PDB_ULTRASONIC_SENSOR1_DATA_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_PDB_ULTRASONIC_SENSOR2_DATA_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_PDB_ULTRASONIC_SENSOR3_DATA_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_PDB_ULTRASONIC_SENSOR4_DATA_SNA_CHOICE (65535u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_JETSON_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_JETSON_STATUS_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_JETSON_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_ARM_POWER_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_ARM_POWER_STATUS_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_ARM_POWER_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_SCIENCE_POWER_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_SCIENCE_POWER_STATUS_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_SCIENCE_POWER_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_GIMBAL_POWER_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_GIMBAL_POWER_STATUS_FAULT_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_GIMBAL_POWER_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_VBAT_RAIL_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_VBAT_RAIL_STATUS_OVERVOLTAGE_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_VBAT_RAIL_STATUS_UNDERVOLTAGE_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_VBAT_RAIL_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_17_V_RAIL_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_17_V_RAIL_STATUS_OVERVOLTAGE_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_17_V_RAIL_STATUS_UNDERVOLTAGE_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_17_V_RAIL_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_5_V_RAIL_STATUS_OPERATIONAL_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_5_V_RAIL_STATUS_OVERVOLTAGE_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_5_V_RAIL_STATUS_UNDERVOLTAGE_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_PDB_5_V_RAIL_STATUS_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_PDB_ACK_PDB_SET_LED_MATRIX_ACK_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_PDB_ACK_CAN_BUS_SWITCH_ACK_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_PDB_ACK_SNA_CHOICE (255u) + +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_COMMON_CAN_BUS_ID_CAN_BUS_1_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_COMMON_CAN_BUS_ID_CAN_BUS_2_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_COMMON_CAN_BUS_ID_SNA_CHOICE (3u) + +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_0_CHOICE (0u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_1_CHOICE (1u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_2_CHOICE (2u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_3_CHOICE (3u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_4_CHOICE (4u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_5_CHOICE (5u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_6_CHOICE (6u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_DEBUG_VALUE_7_CHOICE (7u) +#define UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_COMMON_DEBUG_SIGNAL3_SNA_CHOICE (255u) + +/** + * Signals in message ARM_setControlMode. + * + * Set control mode for arm joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_control_mode_t { + /** + * Arm turntable control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_turntable_control_mode; + + /** + * Arm shoulder control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_shoulder_control_mode; + + /** + * Arm elbow control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_elbow_control_mode; + + /** + * Arm left wrist control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_left_wrist_control_mode; + + /** + * Arm right wrist control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_right_wrist_control_mode; + + /** + * Arm claw control mode + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_claw_control_mode; +}; + +/** + * Signals in message ARM_setJointPosition. + * + * Set position data for arm joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_joint_position_t { + /** + * Arm set turntable position data + * + * Range: -511.0000000000000045543672014..511.0000000000000045543672014 (-1.5708..1.5708 rad) + * Scale: 0.003073972602739726 + * Offset: 0.0 + */ + int16_t arm_set_turntable_position; + + /** + * Arm set shoulder position data + * + * Range: 0..1022.000000000000064607157522 (0.0..3.14159 rad) + * Scale: 0.0030739628180039137 + * Offset: 0.0 + */ + uint16_t arm_set_shoulder_position; + + /** + * Arm set elbow position data + * + * Range: -511.0000000000000045543672014..511.0000000000000045543672014 (-1.5708..1.5708 rad) + * Scale: 0.003073972602739726 + * Offset: 0.0 + */ + int16_t arm_set_elbow_position; + + /** + * Arm set left wrist position data + * + * Range: -511.0000000000000045543672014..511.0000000000000045543672014 (-1.5708..1.5708 rad) + * Scale: 0.003073972602739726 + * Offset: 0.0 + */ + int16_t arm_set_left_wrist_position; + + /** + * Arm set right wrist position data + * + * Range: -511.0000000000000045543672014..511.0000000000000045543672014 (-1.5708..1.5708 rad) + * Scale: 0.003073972602739726 + * Offset: 0.0 + */ + int16_t arm_set_right_wrist_position; + + /** + * Arm set claw position data + * + * Range: -63.00000000000000842245989305..63.00000000000000842245989305 (-1.5708..1.5708 rad) + * Scale: 0.02493333333333333 + * Offset: 0.0 + */ + int8_t arm_set_claw_position; + + /** + * Arm set tool tip position data + * + * Range: 0..125.9999999999999911764425020 (0..3.14159 rad) + * Scale: 0.02493325396825397 + * Offset: 0 + */ + uint8_t arm_set_tool_tip_position; +}; + +/** + * Signals in message ARM_setJointAngularVelocity. + * + * Set velocity data for arm joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_joint_angular_velocity_t { + /** + * Arm set turntable angular velocity + * + * Range: -510.9999999999999951455000000..510.9999999999999951455000000 (-0.6..0.6 rad/s) + * Scale: 0.0011741682974559687 + * Offset: 0.0 + */ + int16_t arm_set_turntable_angular_velocity; + + /** + * Arm set shoulder angular velocity + * + * Range: -510.9999999999999690334000000..510.9999999999999690334000000 (-0.05..0.05 rad/s) + * Scale: 9.784735812133073e-05 + * Offset: 0.0 + */ + int16_t arm_set_shoulder_angular_velocity; + + /** + * Arm set elbow angular velocity + * + * Range: -510.9999999999999806387777778..510.9999999999999806387777778 (-1.8..1.8 rad/s) + * Scale: 0.0035225048923679062 + * Offset: 0.0 + */ + int16_t arm_set_elbow_angular_velocity; + + /** + * Arm set left wrist angular velocity + * + * Range: -510.9999999999999933066197183..510.9999999999999933066197183 (-7.1..7.1 rad/s) + * Scale: 0.013894324853228963 + * Offset: 0.0 + */ + int16_t arm_set_left_wrist_angular_velocity; + + /** + * Arm set right wrist angular velocity + * + * Range: -510.9999999999999933066197183..510.9999999999999933066197183 (-7.1..7.1 rad/s) + * Scale: 0.013894324853228963 + * Offset: 0.0 + */ + int16_t arm_set_right_wrist_angular_velocity; + + /** + * Arm set claw angular velocity + * + * Range: -511.0000000000000386656666667..511.0000000000000386656666667 (-30.0..30.0 rad/s) + * Scale: 0.05870841487279843 + * Offset: 0.0 + */ + int16_t arm_set_claw_angular_velocity; +}; + +/** + * Signals in message ARM_setJointCurrent. + * + * Set current data for arm joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_joint_current_t { + /** + * Arm set turntable current + * + * Range: -511.0000000000000370233962264..511.0000000000000370233962264 (-53.0..53.0 A) + * Scale: 0.10371819960861056 + * Offset: 0.0 + */ + int16_t arm_set_turntable_current; + + /** + * Arm set shoulder current + * + * Range: -511.0000000000000212576000000..511.0000000000000212576000000 (-5.0..5.0 A) + * Scale: 0.009784735812133072 + * Offset: 0.0 + */ + int16_t arm_set_shoulder_current; + + /** + * Arm set elbow current + * + * Range: -511.0000000000000212576000000..511.0000000000000212576000000 (-25.0..25.0 A) + * Scale: 0.04892367906066536 + * Offset: 0.0 + */ + int16_t arm_set_elbow_current; + + /** + * Arm set left wrist current + * + * Range: -511.0000000000000307529090909..511.0000000000000307529090909 (-5.5..5.5 A) + * Scale: 0.010763209393346379 + * Offset: 0.0 + */ + int16_t arm_set_left_wrist_current; + + /** + * Arm set right wrist current + * + * Range: -511.0000000000000307529090909..511.0000000000000307529090909 (-5.5..5.5 A) + * Scale: 0.010763209393346379 + * Offset: 0.0 + */ + int16_t arm_set_right_wrist_current; + + /** + * Arm set claw current + * + * Range: -511.0000000000000386656666667..511.0000000000000386656666667 (-3.0..3.0 A) + * Scale: 0.005870841487279843 + * Offset: 0.0 + */ + int16_t arm_set_claw_current; +}; + +/** + * Signals in message ARM_setJointPIDParams. + * + * Set arm joint PID parameters + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_joint_pid_params_t { + /** + * Arm joint ID + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_joint_pidid; + + /** + * Arm joint PID proportional gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t arm_joint_pid_proportional_gain; + + /** + * Arm joint PID integral gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t arm_joint_pid_integral_gain; + + /** + * Arm joint PID derivative gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t arm_joint_pid_derivative_gain; + + /** + * Arm joint PID deadzone + * + * Range: 0..8190.000000000000008190000000 (0.0..100.0 -) + * Scale: 0.01221001221001221 + * Offset: 0.0 + */ + uint16_t arm_joint_pid_deadzone; +}; + +/** + * Signals in message ARM_reportJointPosition. + * + * Arm report joint position data + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_joint_position_t { + /** + * Arm turntable position + * + * Range: -2047.000000000000059293672014..2047.000000000000059293672014 (-1.5708..1.5708 rad) + * Scale: 0.0007673668783585735 + * Offset: 0.0 + */ + int16_t arm_report_turntable_position; + + /** + * Arm shoulder position + * + * Range: 0..4093.999999999999817296719177 (0.0..3.14159 rad) + * Scale: 0.0007673644357596483 + * Offset: 0.0 + */ + uint16_t arm_report_shoulder_position; + + /** + * Arm elbow position + * + * Range: -2047.000000000000059293672014..2047.000000000000059293672014 (-1.5708..1.5708 rad) + * Scale: 0.0007673668783585735 + * Offset: 0.0 + */ + int16_t arm_report_elbow_position; + + /** + * Arm left wrist position + * + * Range: -127.0000000000000001617010441..127.0000000000000001617010441 (-1.5708..1.5708 rad) + * Scale: 0.012368503937007874 + * Offset: 0.0 + */ + int8_t arm_report_left_wrist_position; + + /** + * Arm right wrist position + * + * Range: -127.0000000000000001617010441..127.0000000000000001617010441 (-1.5708..1.5708 rad) + * Scale: 0.012368503937007874 + * Offset: 0.0 + */ + int8_t arm_report_right_wrist_position; + + /** + * Arm claw position + * + * Range: -127.0000000000000001617010441..127.0000000000000001617010441 (-1.5708..1.5708 rad) + * Scale: 0.012368503937007874 + * Offset: 0.0 + */ + int8_t arm_report_claw_position; +}; + +/** + * Signals in message ARM_reportJointAngularVelocity. + * + * Arm report joint angular velocity data + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_joint_angular_velocity_t { + /** + * Arm turntable angular velocity + * + * Range: -510.9999999999999951455000000..510.9999999999999951455000000 (-0.6..0.6 rad) + * Scale: 0.0011741682974559687 + * Offset: 0.0 + */ + int16_t arm_report_turntable_angular_velocity; + + /** + * Arm shoulder angular velocity + * + * Range: -510.9999999999999690334000000..510.9999999999999690334000000 (-0.05..0.05 rad) + * Scale: 9.784735812133073e-05 + * Offset: 0.0 + */ + int16_t arm_report_shoulder_angular_velocity; + + /** + * Arm elbow angular velocity + * + * Range: -510.9999999999999806387777778..510.9999999999999806387777778 (-1.8..1.8 rad) + * Scale: 0.0035225048923679062 + * Offset: 0.0 + */ + int16_t arm_report_elbow_angular_velocity; + + /** + * Arm left wrist angular velocity + * + * Range: -510.9999999999999933066197183..510.9999999999999933066197183 (-7.1..7.1 rad) + * Scale: 0.013894324853228963 + * Offset: 0.0 + */ + int16_t arm_report_left_wrist_angular_velocity; + + /** + * Arm right wrist angular velocity + * + * Range: -510.9999999999999933066197183..510.9999999999999933066197183 (-7.1..7.1 rad) + * Scale: 0.013894324853228963 + * Offset: 0.0 + */ + int16_t arm_report_right_wrist_angular_velocity; + + /** + * Arm claw angular velocity + * + * Range: -511.0000000000000386656666667..511.0000000000000386656666667 (-30.0..30.0 rad) + * Scale: 0.05870841487279843 + * Offset: 0.0 + */ + int16_t arm_report_claw_angular_velocity; +}; + +/** + * Signals in message ARM_reportJointCurrent. + * + * Arm report joint angular current + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_joint_current_t { + /** + * Arm turntable current + * + * Range: -511.0000000000000370233962264..511.0000000000000370233962264 (-53.0..53.0 rad) + * Scale: 0.10371819960861056 + * Offset: 0.0 + */ + int16_t arm_report_turntable_current; + + /** + * Arm shoulder current + * + * Range: -511.0000000000000212576000000..511.0000000000000212576000000 (-5.0..5.0 rad) + * Scale: 0.009784735812133072 + * Offset: 0.0 + */ + int16_t arm_report_shoulder_current; + + /** + * Arm elbow current + * + * Range: -511.0000000000000212576000000..511.0000000000000212576000000 (-25.0..25.0 rad) + * Scale: 0.04892367906066536 + * Offset: 0.0 + */ + int16_t arm_report_elbow_current; + + /** + * Arm left wrist current + * + * Range: -511.0000000000000307529090909..511.0000000000000307529090909 (-5.5..5.5 rad) + * Scale: 0.010763209393346379 + * Offset: 0.0 + */ + int16_t arm_report_left_wrist_current; + + /** + * Arm right wrist current + * + * Range: -511.0000000000000307529090909..511.0000000000000307529090909 (-5.5..5.5 rad) + * Scale: 0.010763209393346379 + * Offset: 0.0 + */ + int16_t arm_report_right_wrist_current; + + /** + * Arm claw current + * + * Range: -511.0000000000000386656666667..511.0000000000000386656666667 (-3.0..3.0 rad) + * Scale: 0.005870841487279843 + * Offset: 0.0 + */ + int16_t arm_report_claw_current; +}; + +/** + * Signals in message ARM_reportFaults. + * + * Arm fault conditions + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_faults_t { + /** + * Arm turntable encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_turntable_encoder_state; + + /** + * Arm turntable current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_turntable_current_sensor_state; + + /** + * Arm shoulder encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_shoulder_encoder_state; + + /** + * Arm shoulder current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_shoulder_current_sensor_state; + + /** + * Arm elbow encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_elbow_encoder_state; + + /** + * Arm elbow current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_elbow_current_sensor_state; + + /** + * Arm left wrist encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_left_wrist_encoder_state; + + /** + * Arm left wrist current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_left_wrist_current_sensor_state; + + /** + * Arm right wrist encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_right_wrist_encoder_state; + + /** + * Arm shoulder current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_right_wrist_current_sensor_state; + + /** + * Arm claw encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_claw_encoder_state; + + /** + * Arm claw current sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_claw_current_sensor_state; + + /** + * Arm number of CAN RX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t arm_num_canrx_faults; + + /** + * Arm number of CAN TX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t arm_num_cantx_faults; +}; + +/** + * Signals in message ARM_reportACK. + * + * Arm report ACKs to one-shot commands + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_ack_t { + /** + * Arm ACKs + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_ack; +}; + +/** + * Signals in message ARM_reportDiagnostics. + * + * Arm report diagnostic information + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_report_diagnostics_t { + /** + * Arm report number of streamed CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t arm_report_num_streamed_msgs_received; + + /** + * Arm report number of one-shot CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t arm_report_num_one_shot_msgs_received; +}; + +/** + * Signals in message ARM_setJointSafetyCheck. + * + * Set current limit, angular velocity limit, and limit switch safety checks for an arm joint + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_arm_set_joint_safety_check_t { + /** + * The joint ID + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_safety_check_joint_id; + + /** + * Whether or not to activate current check for this joint + * + * Range: 0..0 (0.0..0.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_joint_current_check; + + /** + * Whether or not to activate angular velocity check for this joint + * + * Range: 0..0 (0.0..0.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_joint_angular_velocity_check; + + /** + * Whether or not to activate limit switch check for this joint + * + * Range: 0..0 (0.0..0.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t arm_joint_limit_switch_check; +}; + +/** + * Signals in message SCIENCE_setControlMode. + * + * Set control mode for science joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_set_control_mode_t { + /** + * Science geneva mechanism control mode + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_geneva_control_mode; + + /** + * Science elevator control mode + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_elevator_control_mode; +}; + +/** + * Signals in message SCIENCE_setJointPosition. + * + * Science set joint position + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_set_joint_position_t { + /** + * Set science geneva mechanism position + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_set_geneva_position; + + /** + * Set science elevator position + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_set_elevator_position; + + /** + * Set science cover position + * + * Range: 0..65533.99999999999955484466146 (0.0..3.14159 rad) + * Scale: 4.793832209234901e-05 + * Offset: 0.0 + */ + uint16_t science_set_cover_position; + + /** + * Set science shovel position + * + * Range: 0..65533.99999999999955484466146 (0.0..3.14159 rad) + * Scale: 4.793832209234901e-05 + * Offset: 0.0 + */ + uint16_t science_set_shovel_position; +}; + +/** + * Signals in message SCIENCE_setJointAngularVelocity. + * + * Science set joint angular velocity + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_set_joint_angular_velocity_t { + /** + * Science set geneva mechanism angular velocity + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad/s) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_set_geneva_angular_velocity; + + /** + * Science set elevator angular velocity + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad/s) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_set_elevator_angular_velocity; +}; + +/** + * Signals in message SCIENCE_setJointPIDParams. + * + * Set science joint PID parameters + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_set_joint_pid_params_t { + /** + * Science joint ID + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_joint_pidid; + + /** + * Science joint PID proportional gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t science_joint_pid_proportional_gain; + + /** + * Science joint PID integral gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t science_joint_pid_integral_gain; + + /** + * Science joint PID derivative gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t science_joint_pid_derivative_gain; + + /** + * Science joint PID deadzone + * + * Range: 0..8190.000000000000008190000000 (0.0..100.0 -) + * Scale: 0.01221001221001221 + * Offset: 0.0 + */ + uint16_t science_joint_pid_deadzone; +}; + +/** + * Signals in message SCIENCE_reportJointData. + * + * Science report joint positions and angular velocities + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_report_joint_data_t { + /** + * Science report geneva mechanism position + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_report_geneva_position; + + /** + * Science report elevator position + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_report_elevator_position; + + /** + * Science report geneva mechanism angular velocity + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad/s) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_report_geneva_angular_velocity; + + /** + * Science report elevator angular velocity + * + * Range: -32767.00000000000246637209000..32767.00000000000246637209000 (-10.0..10.0 rad/s) + * Scale: 0.0003051850947599719 + * Offset: 0.0 + */ + int16_t science_report_elevator_angular_velocity; +}; + +/** + * Signals in message SCIENCE_reportSensorData. + * + * Science report sensor data + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_report_sensor_data_t { + /** + * Science moisture sensor data + * + * Range: 0..65534.00000000000063803902400 (0.0..100.0 -) + * Scale: 0.0015259254737998596 + * Offset: 0.0 + */ + uint16_t science_moisture_data; + + /** + * Science temperature sensor data + * + * Range: -32767.00000000000031901951200..32767.00000000000031901951200 (-50.0..100.0 Celsius) + * Scale: 0.0022888882106997894 + * Offset: 25.0 + */ + int16_t science_temperature_data; +}; + +/** + * Signals in message SCIENCE_reportFaults. + * + * Science fault conditions + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_report_faults_t { + /** + * Science geneva mechanism encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_geneva_encoder_state; + + /** + * Science elevator encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_elevator_encoder_state; + + /** + * Science moisture sensor state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_moisture_sensor_state; + + /** + * Science number of CAN RX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t science_num_canrx_faults; + + /** + * Science number of CAN TX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t science_num_cantx_faults; +}; + +/** + * Signals in message SCIENCE_reportACK. + * + * Science report ACKs to one-shot commands + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_report_ack_t { + /** + * Science ACKs + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t science_ack; +}; + +/** + * Signals in message SCIENCE_reportDiagnostics. + * + * Science report diagnostic information + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_science_report_diagnostics_t { + /** + * Science report number of streamed CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t science_report_num_streamed_msgs_received; + + /** + * Science report number of one-shot CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t science_report_num_one_shot_msgs_received; +}; + +/** + * Signals in message GIMBAL_setControlMode. + * + * Set control mode for gimbal joints + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_set_control_mode_t { + /** + * Gimbal pan control mode + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t gimbal_pan_control_mode; +}; + +/** + * Signals in message GIMBAL_setJointPosition. + * + * Gimbal set joint position + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_set_joint_position_t { + /** + * Gimbal set pan position + * + * Range: -32767.00000000000067691160833..32767.00000000000067691160833 (-12.0..12.0 rad) + * Scale: 0.0003662221137119663 + * Offset: 0.0 + */ + int16_t gimbal_set_pan_position; + + /** + * Gimbal set pitch position + * + * Range: 0..65533.99999999999955484466146 (0.0..3.14159 rad) + * Scale: 4.793832209234901e-05 + * Offset: 0.0 + */ + uint16_t gimbal_set_pitch_position; + + /** + * Gimbal set roll position + * + * Range: 0..65533.99999999999955484466146 (0.0..3.14159 rad) + * Scale: 4.793832209234901e-05 + * Offset: 0.0 + */ + uint16_t gimbal_set_roll_position; +}; + +/** + * Signals in message GIMBAL_setJointAngularVelocity. + * + * Gimbal set joint angular velocity + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_t { + /** + * Gimbal set pan angular velocity + * + * Range: -32767.00000000000067691160833..32767.00000000000067691160833 (-6.0..6.0 rad/s) + * Scale: 0.00018311105685598315 + * Offset: 0.0 + */ + int16_t gimbal_set_pan_angular_velocity; +}; + +/** + * Signals in message GIMBAL_setJointPIDParams. + * + * Set gimbal joint PID parameters + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_set_joint_pid_params_t { + /** + * Gimbal joint ID + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t gimbal_joint_pidid; + + /** + * Gimbal joint PID proportional gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t gimbal_joint_pid_proportional_gain; + + /** + * Gimbal joint PID integral gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t gimbal_joint_pid_integral_gain; + + /** + * Gimbal joint PID derivative gain + * + * Range: 0..65534.00000000000493274418000 (0.0..10000.0 -) + * Scale: 0.15259254737998595 + * Offset: 0.0 + */ + uint16_t gimbal_joint_pid_derivative_gain; + + /** + * Gimbal joint PID deadzone + * + * Range: 0..8190.000000000000008190000000 (0.0..100.0 -) + * Scale: 0.01221001221001221 + * Offset: 0.0 + */ + uint16_t gimbal_joint_pid_deadzone; +}; + +/** + * Signals in message GIMBAL_reportJointData. + * + * Gimbal report joint data + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_report_joint_data_t { + /** + * Gimbal report pan position + * + * Range: -32767.00000000000067691160833..32767.00000000000067691160833 (-12.0..12.0 rad) + * Scale: 0.0003662221137119663 + * Offset: 0.0 + */ + int16_t gimbal_report_pan_position; + + /** + * Gimbal report pan angular velocity + * + * Range: -32767.00000000000067691160833..32767.00000000000067691160833 (-6.0..6.0 rad/s) + * Scale: 0.00018311105685598315 + * Offset: 0.0 + */ + int16_t gimbal_report_pan_angular_velocity; +}; + +/** + * Signals in message GIMBAL_reportFaults. + * + * Gimbal fault conditions + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_report_faults_t { + /** + * Gimbal pan encoder state + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t gimbal_pan_encoder_state; + + /** + * Gimbal number of CAN RX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t gimbal_num_canrx_faults; + + /** + * Gimbal number of CAN TX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t gimbal_num_cantx_faults; +}; + +/** + * Signals in message GIMBAL_reportACK. + * + * Gimbal report ACKs to one-shot commands + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_report_ack_t { + /** + * Gimbal ACKs + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t gimbal_ack; +}; + +/** + * Signals in message GIMBAL_reportDiagnostics. + * + * Gimbal report diagnostic information + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_gimbal_report_diagnostics_t { + /** + * Gimbal report number of streamed CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t gimbal_report_num_streamed_msgs_received; + + /** + * Gimbal report number of one-shot CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t gimbal_report_num_one_shot_msgs_received; +}; + +/** + * Signals in message PDB_setLEDMatrix. + * + * PDB set LED matrix state + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_pdb_set_led_matrix_t { + /** + * PDB LED matrix state + * + * Range: 0..6 (0.0..6.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_led_matrix_state; +}; + +/** + * Signals in message PDB_reportSensorData. + * + * PDB report sensor data + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_pdb_report_sensor_data_t { + /** + * PDB ultrasonic sensor 1 data + * + * Range: 0..65534.00000000000063803902400 (0.0..500.0 m) + * Scale: 0.007629627368999298 + * Offset: 0.0 + */ + uint16_t pdb_ultrasonic_sensor1_data; + + /** + * PDB ultrasonic sensor 2 data + * + * Range: 0..65534.00000000000063803902400 (0.0..500.0 m) + * Scale: 0.007629627368999298 + * Offset: 0.0 + */ + uint16_t pdb_ultrasonic_sensor2_data; + + /** + * PDB ultrasonic sensor 3 data + * + * Range: 0..65534.00000000000063803902400 (0.0..500.0 m) + * Scale: 0.007629627368999298 + * Offset: 0.0 + */ + uint16_t pdb_ultrasonic_sensor3_data; + + /** + * PDB ultrasonic sensor 4 data + * + * Range: 0..65534.00000000000063803902400 (0.0..500.0 m) + * Scale: 0.007629627368999298 + * Offset: 0.0 + */ + uint16_t pdb_ultrasonic_sensor4_data; +}; + +/** + * Signals in message PDB_reportFaults. + * + * PDB report fault conditions + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_pdb_report_faults_t { + /** + * PDB Jetson power status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_jetson_status; + + /** + * PDB arm power status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_arm_power_status; + + /** + * PDB science power status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_science_power_status; + + /** + * PDB gmibal power status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_gimbal_power_status; + + /** + * PDB VBAT rail status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_vbat_rail_status; + + /** + * PDB 17V rail status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_17_v_rail_status; + + /** + * PDB 5V rail status + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_5_v_rail_status; + + /** + * PDB number of CAN RX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t pdb_num_canrx_faults; + + /** + * PDB number of CAN TX faults + * + * Range: 0..65534 (0.0..65534.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint16_t pdb_num_cantx_faults; +}; + +/** + * Signals in message PDB_reportACK. + * + * PDB report ACKs to one-shot commands + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_pdb_report_ack_t { + /** + * PDB ACKs + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t pdb_ack; +}; + +/** + * Signals in message PDB_reportDiagnostics. + * + * PDB report diagnostic information + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_pdb_report_diagnostics_t { + /** + * PDB report number of streamed CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t pdb_report_num_streamed_msgs_received; + + /** + * PDB report number of one-shot CAN messages received + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t pdb_report_num_one_shot_msgs_received; +}; + +/** + * Signals in message COMMON_switchCANBus. + * + * Notifies all boards to switch to the specified CAN bus in the dual-bus system + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_common_switch_can_bus_t { + /** + * CAN bus ID + * + * Range: 0..2 (0.0..2.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t common_can_bus_id; +}; + +/** + * Signals in message COMMON_debugMessage1. + * + * CAN message for debugging or placeholder purposes + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_common_debug_message1_t { + /** + * CAN debug signal + * + * Range: 0..4294967294 (0.0..4294967294.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint32_t common_debug_signal1; +}; + +/** + * Signals in message COMMON_debugMessage2. + * + * CAN message for debugging or placeholder purposes + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_common_debug_message2_t { + /** + * CAN debug signal + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t common_debug_signal2; +}; + +/** + * Signals in message COMMON_debugMessage3. + * + * CAN message for debugging or placeholder purposes + * + * All signal values are as on the CAN bus. + */ +struct uwrt_mars_rover_can_common_debug_message3_t { + /** + * CAN debug signal + * + * Range: 0..254 (0.0..254.0 -) + * Scale: 1.0 + * Offset: 0.0 + */ + uint8_t common_debug_signal3; +}; + +/** + * Pack message ARM_setControlMode. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_control_mode_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_arm_set_control_mode_t *src_p, + size_t size); + +/** + * Unpack message ARM_setControlMode. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_control_mode_unpack(struct uwrt_mars_rover_can_arm_set_control_mode_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_turntable_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_turntable_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_turntable_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_shoulder_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_shoulder_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_shoulder_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_elbow_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_elbow_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_elbow_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_left_wrist_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_left_wrist_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_left_wrist_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_right_wrist_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_right_wrist_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_right_wrist_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_control_mode_arm_claw_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_control_mode_arm_claw_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_control_mode_arm_claw_control_mode_is_in_range(uint8_t value); + +/** + * Pack message ARM_setJointPosition. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_position_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_arm_set_joint_position_t *src_p, + size_t size); + +/** + * Unpack message ARM_setJointPosition. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_position_unpack(struct uwrt_mars_rover_can_arm_set_joint_position_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_turntable_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_turntable_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_turntable_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_shoulder_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_shoulder_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_shoulder_position_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_elbow_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_elbow_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_elbow_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_left_wrist_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_left_wrist_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_left_wrist_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_right_wrist_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_right_wrist_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_right_wrist_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int8_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_claw_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_claw_position_decode(int8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_claw_position_is_in_range(int8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_position_arm_set_tool_tip_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_position_arm_set_tool_tip_position_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_position_arm_set_tool_tip_position_is_in_range(uint8_t value); + +/** + * Pack message ARM_setJointAngularVelocity. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_angular_velocity_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_set_joint_angular_velocity_t *src_p, size_t size); + +/** + * Unpack message ARM_setJointAngularVelocity. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_angular_velocity_unpack( + struct uwrt_mars_rover_can_arm_set_joint_angular_velocity_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_turntable_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_turntable_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_turntable_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_shoulder_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_shoulder_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_shoulder_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_elbow_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_elbow_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_elbow_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_left_wrist_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_left_wrist_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_left_wrist_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_right_wrist_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_right_wrist_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_right_wrist_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_claw_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_claw_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_claw_angular_velocity_is_in_range(int16_t value); + +/** + * Pack message ARM_setJointCurrent. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_current_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_arm_set_joint_current_t *src_p, + size_t size); + +/** + * Unpack message ARM_setJointCurrent. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_current_unpack(struct uwrt_mars_rover_can_arm_set_joint_current_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_turntable_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_turntable_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_turntable_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_shoulder_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_shoulder_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_shoulder_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_elbow_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_elbow_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_elbow_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_left_wrist_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_left_wrist_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_left_wrist_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_right_wrist_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_right_wrist_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_right_wrist_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_set_joint_current_arm_set_claw_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_current_arm_set_claw_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_current_arm_set_claw_current_is_in_range(int16_t value); + +/** + * Pack message ARM_setJointPIDParams. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_pid_params_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_set_joint_pid_params_t *src_p, size_t size); + +/** + * Unpack message ARM_setJointPIDParams. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_pid_params_unpack(struct uwrt_mars_rover_can_arm_set_joint_pid_params_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pidid_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pidid_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pidid_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_proportional_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_proportional_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_proportional_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_integral_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_integral_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_integral_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_derivative_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_derivative_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_derivative_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_deadzone_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_deadzone_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_deadzone_is_in_range(uint16_t value); + +/** + * Pack message ARM_reportJointPosition. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_position_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_report_joint_position_t *src_p, size_t size); + +/** + * Unpack message ARM_reportJointPosition. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_position_unpack(struct uwrt_mars_rover_can_arm_report_joint_position_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_turntable_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_turntable_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_turntable_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_shoulder_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_shoulder_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_shoulder_position_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_elbow_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_elbow_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_elbow_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int8_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_left_wrist_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_left_wrist_position_decode(int8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_left_wrist_position_is_in_range(int8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int8_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_right_wrist_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_right_wrist_position_decode(int8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_right_wrist_position_is_in_range(int8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int8_t uwrt_mars_rover_can_arm_report_joint_position_arm_report_claw_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_position_arm_report_claw_position_decode(int8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_position_arm_report_claw_position_is_in_range(int8_t value); + +/** + * Pack message ARM_reportJointAngularVelocity. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_angular_velocity_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_report_joint_angular_velocity_t *src_p, size_t size); + +/** + * Unpack message ARM_reportJointAngularVelocity. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_angular_velocity_unpack( + struct uwrt_mars_rover_can_arm_report_joint_angular_velocity_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_turntable_angular_velocity_encode( + double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_turntable_angular_velocity_decode( + int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_turntable_angular_velocity_is_in_range( + int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_shoulder_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_shoulder_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_shoulder_angular_velocity_is_in_range( + int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_elbow_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_elbow_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_elbow_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_left_wrist_angular_velocity_encode( + double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_left_wrist_angular_velocity_decode( + int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_left_wrist_angular_velocity_is_in_range( + int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_right_wrist_angular_velocity_encode( + double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_right_wrist_angular_velocity_decode( + int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_right_wrist_angular_velocity_is_in_range( + int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_claw_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_claw_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_claw_angular_velocity_is_in_range(int16_t value); + +/** + * Pack message ARM_reportJointCurrent. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_current_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_report_joint_current_t *src_p, size_t size); + +/** + * Unpack message ARM_reportJointCurrent. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_joint_current_unpack(struct uwrt_mars_rover_can_arm_report_joint_current_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_turntable_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_turntable_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_turntable_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_shoulder_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_shoulder_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_shoulder_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_elbow_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_elbow_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_elbow_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_left_wrist_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_left_wrist_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_left_wrist_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_right_wrist_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_right_wrist_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_right_wrist_current_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_arm_report_joint_current_arm_report_claw_current_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_joint_current_arm_report_claw_current_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_joint_current_arm_report_claw_current_is_in_range(int16_t value); + +/** + * Pack message ARM_reportFaults. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_faults_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_arm_report_faults_t *src_p, + size_t size); + +/** + * Unpack message ARM_reportFaults. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_faults_unpack(struct uwrt_mars_rover_can_arm_report_faults_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_turntable_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_turntable_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_turntable_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_turntable_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_turntable_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_turntable_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_shoulder_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_shoulder_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_shoulder_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_shoulder_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_shoulder_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_shoulder_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_elbow_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_elbow_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_elbow_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_elbow_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_elbow_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_elbow_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_claw_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_claw_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_claw_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_faults_arm_claw_current_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_claw_current_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_claw_current_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_report_faults_arm_num_canrx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_num_canrx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_num_canrx_faults_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_arm_report_faults_arm_num_cantx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_faults_arm_num_cantx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_faults_arm_num_cantx_faults_is_in_range(uint16_t value); + +/** + * Pack message ARM_reportACK. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_ack_pack(uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_report_ack_t *src_p, + size_t size); + +/** + * Unpack message ARM_reportACK. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_ack_unpack(struct uwrt_mars_rover_can_arm_report_ack_t *dst_p, const uint8_t *src_p, + size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_report_ack_arm_ack_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_ack_arm_ack_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_ack_arm_ack_is_in_range(uint8_t value); + +/** + * Pack message ARM_reportDiagnostics. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_report_diagnostics_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_arm_report_diagnostics_t *src_p, + size_t size); + +/** + * Unpack message ARM_reportDiagnostics. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_report_diagnostics_unpack(struct uwrt_mars_rover_can_arm_report_diagnostics_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_streamed_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_streamed_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_streamed_msgs_received_is_in_range(uint32_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_one_shot_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_one_shot_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_one_shot_msgs_received_is_in_range(uint32_t value); + +/** + * Pack message ARM_setJointSafetyCheck. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_safety_check_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_arm_set_joint_safety_check_t *src_p, size_t size); + +/** + * Unpack message ARM_setJointSafetyCheck. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_arm_set_joint_safety_check_unpack( + struct uwrt_mars_rover_can_arm_set_joint_safety_check_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_safety_check_arm_safety_check_joint_id_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_safety_check_arm_safety_check_joint_id_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_safety_check_arm_safety_check_joint_id_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_current_check_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_current_check_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_current_check_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_angular_velocity_check_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_angular_velocity_check_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_angular_velocity_check_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_limit_switch_check_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_limit_switch_check_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_limit_switch_check_is_in_range(uint8_t value); + +/** + * Pack message SCIENCE_setControlMode. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_set_control_mode_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_set_control_mode_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_setControlMode. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_set_control_mode_unpack(struct uwrt_mars_rover_can_science_set_control_mode_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_set_control_mode_science_geneva_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_control_mode_science_geneva_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_control_mode_science_geneva_control_mode_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_set_control_mode_science_elevator_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_control_mode_science_elevator_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_control_mode_science_elevator_control_mode_is_in_range(uint8_t value); + +/** + * Pack message SCIENCE_setJointPosition. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_position_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_set_joint_position_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_setJointPosition. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_position_unpack( + struct uwrt_mars_rover_can_science_set_joint_position_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_set_joint_position_science_set_geneva_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_position_science_set_geneva_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_position_science_set_geneva_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_set_joint_position_science_set_elevator_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_position_science_set_elevator_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_position_science_set_elevator_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_position_science_set_cover_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_position_science_set_cover_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_position_science_set_cover_position_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_position_science_set_shovel_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_position_science_set_shovel_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_position_science_set_shovel_position_is_in_range(uint16_t value); + +/** + * Pack message SCIENCE_setJointAngularVelocity. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_angular_velocity_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_set_joint_angular_velocity_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_setJointAngularVelocity. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_angular_velocity_unpack( + struct uwrt_mars_rover_can_science_set_joint_angular_velocity_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_geneva_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_geneva_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_geneva_angular_velocity_is_in_range( + int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_elevator_angular_velocity_encode( + double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_elevator_angular_velocity_decode( + int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_elevator_angular_velocity_is_in_range( + int16_t value); + +/** + * Pack message SCIENCE_setJointPIDParams. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_pid_params_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_set_joint_pid_params_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_setJointPIDParams. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_set_joint_pid_params_unpack( + struct uwrt_mars_rover_can_science_set_joint_pid_params_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pidid_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pidid_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pidid_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_proportional_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_proportional_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_proportional_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_integral_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_integral_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_integral_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_derivative_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_derivative_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_derivative_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_deadzone_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_deadzone_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_deadzone_is_in_range(uint16_t value); + +/** + * Pack message SCIENCE_reportJointData. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_report_joint_data_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_report_joint_data_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_reportJointData. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_report_joint_data_unpack(struct uwrt_mars_rover_can_science_report_joint_data_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_angular_velocity_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_angular_velocity_is_in_range(int16_t value); + +/** + * Pack message SCIENCE_reportSensorData. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_report_sensor_data_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_report_sensor_data_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_reportSensorData. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_report_sensor_data_unpack( + struct uwrt_mars_rover_can_science_report_sensor_data_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_report_sensor_data_science_moisture_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_sensor_data_science_moisture_data_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_sensor_data_science_moisture_data_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_science_report_sensor_data_science_temperature_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_sensor_data_science_temperature_data_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_sensor_data_science_temperature_data_is_in_range(int16_t value); + +/** + * Pack message SCIENCE_reportFaults. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_report_faults_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_science_report_faults_t *src_p, + size_t size); + +/** + * Unpack message SCIENCE_reportFaults. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_report_faults_unpack(struct uwrt_mars_rover_can_science_report_faults_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_report_faults_science_geneva_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_faults_science_geneva_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_faults_science_geneva_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_report_faults_science_elevator_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_faults_science_elevator_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_faults_science_elevator_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_report_faults_science_moisture_sensor_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_faults_science_moisture_sensor_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_faults_science_moisture_sensor_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_report_faults_science_num_canrx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_faults_science_num_canrx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_faults_science_num_canrx_faults_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_science_report_faults_science_num_cantx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_faults_science_num_cantx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_faults_science_num_cantx_faults_is_in_range(uint16_t value); + +/** + * Pack message SCIENCE_reportACK. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_report_ack_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_science_report_ack_t *src_p, + size_t size); + +/** + * Unpack message SCIENCE_reportACK. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_report_ack_unpack(struct uwrt_mars_rover_can_science_report_ack_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_science_report_ack_science_ack_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_ack_science_ack_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_ack_science_ack_is_in_range(uint8_t value); + +/** + * Pack message SCIENCE_reportDiagnostics. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_science_report_diagnostics_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_science_report_diagnostics_t *src_p, size_t size); + +/** + * Unpack message SCIENCE_reportDiagnostics. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_science_report_diagnostics_unpack( + struct uwrt_mars_rover_can_science_report_diagnostics_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_science_report_diagnostics_science_report_num_streamed_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_diagnostics_science_report_num_streamed_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_diagnostics_science_report_num_streamed_msgs_received_is_in_range( + uint32_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_science_report_diagnostics_science_report_num_one_shot_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_science_report_diagnostics_science_report_num_one_shot_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_science_report_diagnostics_science_report_num_one_shot_msgs_received_is_in_range( + uint32_t value); + +/** + * Pack message GIMBAL_setControlMode. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_control_mode_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_gimbal_set_control_mode_t *src_p, + size_t size); + +/** + * Unpack message GIMBAL_setControlMode. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_control_mode_unpack(struct uwrt_mars_rover_can_gimbal_set_control_mode_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_gimbal_set_control_mode_gimbal_pan_control_mode_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_control_mode_gimbal_pan_control_mode_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_control_mode_gimbal_pan_control_mode_is_in_range(uint8_t value); + +/** + * Pack message GIMBAL_setJointPosition. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_position_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_gimbal_set_joint_position_t *src_p, size_t size); + +/** + * Unpack message GIMBAL_setJointPosition. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_position_unpack(struct uwrt_mars_rover_can_gimbal_set_joint_position_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pan_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pan_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pan_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pitch_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pitch_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pitch_position_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_roll_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_roll_position_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_roll_position_is_in_range(uint16_t value); + +/** + * Pack message GIMBAL_setJointAngularVelocity. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_t *src_p, size_t size); + +/** + * Unpack message GIMBAL_setJointAngularVelocity. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_unpack( + struct uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_gimbal_set_pan_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_gimbal_set_pan_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_gimbal_set_pan_angular_velocity_is_in_range(int16_t value); + +/** + * Pack message GIMBAL_setJointPIDParams. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_pid_params_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_gimbal_set_joint_pid_params_t *src_p, size_t size); + +/** + * Unpack message GIMBAL_setJointPIDParams. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_set_joint_pid_params_unpack( + struct uwrt_mars_rover_can_gimbal_set_joint_pid_params_t *dst_p, const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pidid_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pidid_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pidid_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_proportional_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_proportional_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_proportional_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_integral_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_integral_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_integral_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_derivative_gain_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_derivative_gain_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_derivative_gain_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_deadzone_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_deadzone_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_deadzone_is_in_range(uint16_t value); + +/** + * Pack message GIMBAL_reportJointData. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_joint_data_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_gimbal_report_joint_data_t *src_p, size_t size); + +/** + * Unpack message GIMBAL_reportJointData. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_joint_data_unpack(struct uwrt_mars_rover_can_gimbal_report_joint_data_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_position_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_position_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_position_is_in_range(int16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +int16_t uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_angular_velocity_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_angular_velocity_decode(int16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_angular_velocity_is_in_range(int16_t value); + +/** + * Pack message GIMBAL_reportFaults. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_faults_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_gimbal_report_faults_t *src_p, + size_t size); + +/** + * Unpack message GIMBAL_reportFaults. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_faults_unpack(struct uwrt_mars_rover_can_gimbal_report_faults_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_gimbal_report_faults_gimbal_pan_encoder_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_faults_gimbal_pan_encoder_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_faults_gimbal_pan_encoder_state_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_canrx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_canrx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_canrx_faults_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_cantx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_cantx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_cantx_faults_is_in_range(uint16_t value); + +/** + * Pack message GIMBAL_reportACK. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_ack_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_gimbal_report_ack_t *src_p, + size_t size); + +/** + * Unpack message GIMBAL_reportACK. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_ack_unpack(struct uwrt_mars_rover_can_gimbal_report_ack_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_gimbal_report_ack_gimbal_ack_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_ack_gimbal_ack_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_ack_gimbal_ack_is_in_range(uint8_t value); + +/** + * Pack message GIMBAL_reportDiagnostics. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_diagnostics_pack( + uint8_t *dst_p, const struct uwrt_mars_rover_can_gimbal_report_diagnostics_t *src_p, size_t size); + +/** + * Unpack message GIMBAL_reportDiagnostics. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_gimbal_report_diagnostics_unpack(struct uwrt_mars_rover_can_gimbal_report_diagnostics_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_streamed_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_streamed_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_streamed_msgs_received_is_in_range(uint32_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_one_shot_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_one_shot_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_one_shot_msgs_received_is_in_range(uint32_t value); + +/** + * Pack message PDB_setLEDMatrix. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_pdb_set_led_matrix_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_pdb_set_led_matrix_t *src_p, + size_t size); + +/** + * Unpack message PDB_setLEDMatrix. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_pdb_set_led_matrix_unpack(struct uwrt_mars_rover_can_pdb_set_led_matrix_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_set_led_matrix_pdb_led_matrix_state_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_set_led_matrix_pdb_led_matrix_state_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_set_led_matrix_pdb_led_matrix_state_is_in_range(uint8_t value); + +/** + * Pack message PDB_reportSensorData. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_sensor_data_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_pdb_report_sensor_data_t *src_p, + size_t size); + +/** + * Unpack message PDB_reportSensorData. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_sensor_data_unpack(struct uwrt_mars_rover_can_pdb_report_sensor_data_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor1_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor1_data_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor1_data_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor2_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor2_data_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor2_data_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor3_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor3_data_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor3_data_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor4_data_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor4_data_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor4_data_is_in_range(uint16_t value); + +/** + * Pack message PDB_reportFaults. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_faults_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_pdb_report_faults_t *src_p, + size_t size); + +/** + * Unpack message PDB_reportFaults. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_faults_unpack(struct uwrt_mars_rover_can_pdb_report_faults_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_jetson_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_jetson_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_jetson_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_arm_power_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_arm_power_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_arm_power_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_science_power_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_science_power_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_science_power_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_gimbal_power_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_gimbal_power_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_gimbal_power_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_vbat_rail_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_vbat_rail_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_vbat_rail_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_17_v_rail_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_17_v_rail_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_17_v_rail_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_faults_pdb_5_v_rail_status_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_5_v_rail_status_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_5_v_rail_status_is_in_range(uint8_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_faults_pdb_num_canrx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_num_canrx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_num_canrx_faults_is_in_range(uint16_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint16_t uwrt_mars_rover_can_pdb_report_faults_pdb_num_cantx_faults_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_faults_pdb_num_cantx_faults_decode(uint16_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_faults_pdb_num_cantx_faults_is_in_range(uint16_t value); + +/** + * Pack message PDB_reportACK. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_ack_pack(uint8_t *dst_p, const struct uwrt_mars_rover_can_pdb_report_ack_t *src_p, + size_t size); + +/** + * Unpack message PDB_reportACK. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_ack_unpack(struct uwrt_mars_rover_can_pdb_report_ack_t *dst_p, const uint8_t *src_p, + size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_pdb_report_ack_pdb_ack_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_ack_pdb_ack_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_ack_pdb_ack_is_in_range(uint8_t value); + +/** + * Pack message PDB_reportDiagnostics. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_diagnostics_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_pdb_report_diagnostics_t *src_p, + size_t size); + +/** + * Unpack message PDB_reportDiagnostics. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_pdb_report_diagnostics_unpack(struct uwrt_mars_rover_can_pdb_report_diagnostics_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_streamed_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_streamed_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_streamed_msgs_received_is_in_range(uint32_t value); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_one_shot_msgs_received_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_one_shot_msgs_received_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_one_shot_msgs_received_is_in_range(uint32_t value); + +/** + * Pack message COMMON_switchCANBus. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_common_switch_can_bus_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_common_switch_can_bus_t *src_p, + size_t size); + +/** + * Unpack message COMMON_switchCANBus. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_common_switch_can_bus_unpack(struct uwrt_mars_rover_can_common_switch_can_bus_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_common_switch_can_bus_common_can_bus_id_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_common_switch_can_bus_common_can_bus_id_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_common_switch_can_bus_common_can_bus_id_is_in_range(uint8_t value); + +/** + * Pack message COMMON_debugMessage1. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message1_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_common_debug_message1_t *src_p, + size_t size); + +/** + * Unpack message COMMON_debugMessage1. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message1_unpack(struct uwrt_mars_rover_can_common_debug_message1_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint32_t uwrt_mars_rover_can_common_debug_message1_common_debug_signal1_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_common_debug_message1_common_debug_signal1_decode(uint32_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_common_debug_message1_common_debug_signal1_is_in_range(uint32_t value); + +/** + * Pack message COMMON_debugMessage2. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message2_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_common_debug_message2_t *src_p, + size_t size); + +/** + * Unpack message COMMON_debugMessage2. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message2_unpack(struct uwrt_mars_rover_can_common_debug_message2_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_common_debug_message2_common_debug_signal2_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_common_debug_message2_common_debug_signal2_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_common_debug_message2_common_debug_signal2_is_in_range(uint8_t value); + +/** + * Pack message COMMON_debugMessage3. + * + * @param[out] dst_p Buffer to pack the message into. + * @param[in] src_p Data to pack. + * @param[in] size Size of dst_p. + * + * @return Size of packed data, or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message3_pack(uint8_t *dst_p, + const struct uwrt_mars_rover_can_common_debug_message3_t *src_p, + size_t size); + +/** + * Unpack message COMMON_debugMessage3. + * + * @param[out] dst_p Object to unpack the message into. + * @param[in] src_p Message to unpack. + * @param[in] size Size of src_p. + * + * @return zero(0) or negative error code. + */ +int uwrt_mars_rover_can_common_debug_message3_unpack(struct uwrt_mars_rover_can_common_debug_message3_t *dst_p, + const uint8_t *src_p, size_t size); + +/** + * Encode given signal by applying scaling and offset. + * + * @param[in] value Signal to encode. + * + * @return Encoded signal. + */ +uint8_t uwrt_mars_rover_can_common_debug_message3_common_debug_signal3_encode(double value); + +/** + * Decode given signal by applying scaling and offset. + * + * @param[in] value Signal to decode. + * + * @return Decoded signal. + */ +double uwrt_mars_rover_can_common_debug_message3_common_debug_signal3_decode(uint8_t value); + +/** + * Check that given signal is in allowed range. + * + * @param[in] value Signal to check. + * + * @return true if in range, false otherwise. + */ +bool uwrt_mars_rover_can_common_debug_message3_common_debug_signal3_is_in_range(uint8_t value); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_enums.h b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_enums.h new file mode 100644 index 00000000..39116331 --- /dev/null +++ b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_enums.h @@ -0,0 +1,940 @@ +// AUTO-GENERATED FILE. DO NOT MODIFY. GENERATED BY scripts/generate_can_enums.py + +#pragma once + +namespace HWBRIDGE { + +constexpr uint32_t ROVER_CANBUS_FREQUENCY_HZ = 1000000; +constexpr uint16_t ROVER_CANID_FILTER_MASK = 0x7E0; // Use bits 5:10 for addressing, bits 0:4 for message type + +typedef double CANSignalValue_t; // Generalize all signal values as double + +typedef struct { + uint8_t raw[8]; +} CANMsgData_t; + +enum class CANBUSID { + CANBUS1, + CANBUS2, +}; + +enum class CANFILTER { + ARM_RX_FILTER = 0x620, + ARM_TX_FILTER = 0x640, + SCIENCE_RX_FILTER = 0x660, + SCIENCE_TX_FILTER = 0x680, + GIMBAL_RX_FILTER = 0x6A0, + GIMBAL_TX_FILTER = 0x6C0, + PDB_RX_FILTER = 0x6E0, + PDB_TX_FILTER = 0x700, + COMMON_FILTER = 0x720, + NO_MESSAGES = 0x7E0, + +}; + +enum class CANID { + // Roboteq CAN IDs + TPDO1 = 0x181, + RPDO1 = 0x201, + TPDO2 = 0x281, + RPDO2 = 0x301, + TPDO3 = 0x381, + RPDO3 = 0x401, + TPDO4 = 0x481, + RPDO4 = 0x501, + SDO_RESPONSE = 0x581, + SDO_CMD_QUERY = 0x601, + + // Rover boards CAN IDs + ARM_SET_CONTROL_MODE = 0x621, + ARM_SET_JOINT_POSITION = 0x622, + ARM_SET_JOINT_ANGULAR_VELOCITY = 0x623, + ARM_SET_JOINT_CURRENT = 0x624, + ARM_SET_JOINT_PID_PARAMS = 0x625, + ARM_REPORT_JOINT_POSITION = 0x640, + ARM_REPORT_JOINT_ANGULAR_VELOCITY = 0x641, + ARM_REPORT_JOINT_CURRENT = 0x642, + ARM_REPORT_FAULTS = 0x643, + ARM_REPORT_ACK = 0x644, + ARM_REPORT_DIAGNOSTICS = 0x645, + ARM_SET_JOINT_SAFETY_CHECK = 0x646, + SCIENCE_SET_CONTROL_MODE = 0x660, + SCIENCE_SET_JOINT_POSITION = 0x661, + SCIENCE_SET_JOINT_ANGULAR_VELOCITY = 0x662, + SCIENCE_SET_JOINT_PID_PARAMS = 0x663, + SCIENCE_REPORT_JOINT_DATA = 0x680, + SCIENCE_REPORT_SENSOR_DATA = 0x681, + SCIENCE_REPORT_FAULTS = 0x682, + SCIENCE_REPORT_ACK = 0x683, + SCIENCE_REPORT_DIAGNOSTICS = 0x684, + GIMBAL_SET_CONTROL_MODE = 0x6A0, + GIMBAL_SET_JOINT_POSITION = 0x6A1, + GIMBAL_SET_JOINT_ANGULAR_VELOCITY = 0x6A2, + GIMBAL_SET_JOINT_PID_PARAMS = 0x6A3, + GIMBAL_REPORT_JOINT_DATA = 0x6C0, + GIMBAL_REPORT_FAULTS = 0x6C1, + GIMBAL_REPORT_ACK = 0x6C2, + GIMBAL_REPORT_DIAGNOSTICS = 0x6C3, + PDB_SET_LED_MATRIX = 0x6E0, + PDB_REPORT_SENSOR_DATA = 0x700, + PDB_REPORT_FAULTS = 0x701, + PDB_REPORT_ACK = 0x702, + PDB_REPORT_DIAGNOSTICS = 0x703, + COMMON_SWITCH_CAN_BUS = 0x720, + COMMON_DEBUG_MESSAGE1 = 0x721, + COMMON_DEBUG_MESSAGE2 = 0x722, + COMMON_DEBUG_MESSAGE3 = 0x723, + +}; + +enum class CANSIGNAL { + ARM_ACK, + ARM_CLAW_CONTROL_MODE, + ARM_CLAW_CURRENT_SENSOR_STATE, + ARM_CLAW_ENCODER_STATE, + ARM_ELBOW_CONTROL_MODE, + ARM_ELBOW_CURRENT_SENSOR_STATE, + ARM_ELBOW_ENCODER_STATE, + ARM_JOINT_ANGULAR_VELOCITY_CHECK, + ARM_JOINT_CURRENT_CHECK, + ARM_JOINT_LIMIT_SWITCH_CHECK, + ARM_JOINT_PIDID, + ARM_JOINT_PID_DEADZONE, + ARM_JOINT_PID_DERIVATIVE_GAIN, + ARM_JOINT_PID_INTEGRAL_GAIN, + ARM_JOINT_PID_PROPORTIONAL_GAIN, + ARM_LEFT_WRIST_CONTROL_MODE, + ARM_LEFT_WRIST_CURRENT_SENSOR_STATE, + ARM_LEFT_WRIST_ENCODER_STATE, + ARM_NUM_CANRX_FAULTS, + ARM_NUM_CANTX_FAULTS, + ARM_REPORT_CLAW_ANGULAR_VELOCITY, + ARM_REPORT_CLAW_CURRENT, + ARM_REPORT_CLAW_POSITION, + ARM_REPORT_ELBOW_ANGULAR_VELOCITY, + ARM_REPORT_ELBOW_CURRENT, + ARM_REPORT_ELBOW_POSITION, + ARM_REPORT_LEFT_WRIST_ANGULAR_VELOCITY, + ARM_REPORT_LEFT_WRIST_CURRENT, + ARM_REPORT_LEFT_WRIST_POSITION, + ARM_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED, + ARM_REPORT_NUM_STREAMED_MSGS_RECEIVED, + ARM_REPORT_RIGHT_WRIST_ANGULAR_VELOCITY, + ARM_REPORT_RIGHT_WRIST_CURRENT, + ARM_REPORT_RIGHT_WRIST_POSITION, + ARM_REPORT_SHOULDER_ANGULAR_VELOCITY, + ARM_REPORT_SHOULDER_CURRENT, + ARM_REPORT_SHOULDER_POSITION, + ARM_REPORT_TURNTABLE_ANGULAR_VELOCITY, + ARM_REPORT_TURNTABLE_CURRENT, + ARM_REPORT_TURNTABLE_POSITION, + ARM_RIGHT_WRIST_CONTROL_MODE, + ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE, + ARM_RIGHT_WRIST_ENCODER_STATE, + ARM_SAFETY_CHECK_JOINT_ID, + ARM_SET_CLAW_ANGULAR_VELOCITY, + ARM_SET_CLAW_CURRENT, + ARM_SET_CLAW_POSITION, + ARM_SET_ELBOW_ANGULAR_VELOCITY, + ARM_SET_ELBOW_CURRENT, + ARM_SET_ELBOW_POSITION, + ARM_SET_LEFT_WRIST_ANGULAR_VELOCITY, + ARM_SET_LEFT_WRIST_CURRENT, + ARM_SET_LEFT_WRIST_POSITION, + ARM_SET_RIGHT_WRIST_ANGULAR_VELOCITY, + ARM_SET_RIGHT_WRIST_CURRENT, + ARM_SET_RIGHT_WRIST_POSITION, + ARM_SET_SHOULDER_ANGULAR_VELOCITY, + ARM_SET_SHOULDER_CURRENT, + ARM_SET_SHOULDER_POSITION, + ARM_SET_TOOL_TIP_POSITION, + ARM_SET_TURNTABLE_ANGULAR_VELOCITY, + ARM_SET_TURNTABLE_CURRENT, + ARM_SET_TURNTABLE_POSITION, + ARM_SHOULDER_CONTROL_MODE, + ARM_SHOULDER_CURRENT_SENSOR_STATE, + ARM_SHOULDER_ENCODER_STATE, + ARM_TURNTABLE_CONTROL_MODE, + ARM_TURNTABLE_CURRENT_SENSOR_STATE, + ARM_TURNTABLE_ENCODER_STATE, + COMMON_CAN_BUS_ID, + COMMON_DEBUG_SIGNAL1, + COMMON_DEBUG_SIGNAL2, + COMMON_DEBUG_SIGNAL3, + GIMBAL_ACK, + GIMBAL_JOINT_PIDID, + GIMBAL_JOINT_PID_DEADZONE, + GIMBAL_JOINT_PID_DERIVATIVE_GAIN, + GIMBAL_JOINT_PID_INTEGRAL_GAIN, + GIMBAL_JOINT_PID_PROPORTIONAL_GAIN, + GIMBAL_NUM_CANRX_FAULTS, + GIMBAL_NUM_CANTX_FAULTS, + GIMBAL_PAN_CONTROL_MODE, + GIMBAL_PAN_ENCODER_STATE, + GIMBAL_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED, + GIMBAL_REPORT_NUM_STREAMED_MSGS_RECEIVED, + GIMBAL_REPORT_PAN_ANGULAR_VELOCITY, + GIMBAL_REPORT_PAN_POSITION, + GIMBAL_SET_PAN_ANGULAR_VELOCITY, + GIMBAL_SET_PAN_POSITION, + GIMBAL_SET_PITCH_POSITION, + GIMBAL_SET_ROLL_POSITION, + PDB_17_V_RAIL_STATUS, + PDB_5_V_RAIL_STATUS, + PDB_ACK, + PDB_ARM_POWER_STATUS, + PDB_GIMBAL_POWER_STATUS, + PDB_JETSON_STATUS, + PDB_LED_MATRIX_STATE, + PDB_NUM_CANRX_FAULTS, + PDB_NUM_CANTX_FAULTS, + PDB_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED, + PDB_REPORT_NUM_STREAMED_MSGS_RECEIVED, + PDB_SCIENCE_POWER_STATUS, + PDB_ULTRASONIC_SENSOR1_DATA, + PDB_ULTRASONIC_SENSOR2_DATA, + PDB_ULTRASONIC_SENSOR3_DATA, + PDB_ULTRASONIC_SENSOR4_DATA, + PDB_VBAT_RAIL_STATUS, + SCIENCE_ACK, + SCIENCE_ELEVATOR_CONTROL_MODE, + SCIENCE_ELEVATOR_ENCODER_STATE, + SCIENCE_GENEVA_CONTROL_MODE, + SCIENCE_GENEVA_ENCODER_STATE, + SCIENCE_JOINT_PIDID, + SCIENCE_JOINT_PID_DEADZONE, + SCIENCE_JOINT_PID_DERIVATIVE_GAIN, + SCIENCE_JOINT_PID_INTEGRAL_GAIN, + SCIENCE_JOINT_PID_PROPORTIONAL_GAIN, + SCIENCE_MOISTURE_DATA, + SCIENCE_MOISTURE_SENSOR_STATE, + SCIENCE_NUM_CANRX_FAULTS, + SCIENCE_NUM_CANTX_FAULTS, + SCIENCE_REPORT_ELEVATOR_ANGULAR_VELOCITY, + SCIENCE_REPORT_ELEVATOR_POSITION, + SCIENCE_REPORT_GENEVA_ANGULAR_VELOCITY, + SCIENCE_REPORT_GENEVA_POSITION, + SCIENCE_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED, + SCIENCE_REPORT_NUM_STREAMED_MSGS_RECEIVED, + SCIENCE_SET_COVER_POSITION, + SCIENCE_SET_ELEVATOR_ANGULAR_VELOCITY, + SCIENCE_SET_ELEVATOR_POSITION, + SCIENCE_SET_GENEVA_ANGULAR_VELOCITY, + SCIENCE_SET_GENEVA_POSITION, + SCIENCE_SET_SHOVEL_POSITION, + SCIENCE_TEMPERATURE_DATA, + +}; + +enum class ARM_ACK_VALUES { + ARM_RESET_ACK = 0, + ARM_SET_CONTROL_MODE_ACK = 1, + ARM_SET_JOINT_PID_PARAMS_ACK = 2, + CAN_BUS_SWITCH_ACK = 3, + SNA = 255, + +}; + +enum class ARM_CLAW_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_CLAW_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_CLAW_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_ELBOW_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_ELBOW_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_ELBOW_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_JOINT_ANGULAR_VELOCITY_CHECK_VALUES { + CHECK_OFF = 0, + CHECK_ON = 1, + +}; + +enum class ARM_JOINT_CURRENT_CHECK_VALUES { + CHECK_OFF = 0, + CHECK_ON = 1, + +}; + +enum class ARM_JOINT_LIMIT_SWITCH_CHECK_VALUES { + CHECK_OFF = 0, + CHECK_ON = 1, + +}; + +enum class ARM_JOINT_PIDID_VALUES { + TURNTABLE = 0, + SHOULDER = 1, + ELBOW = 2, + LEFT_WRIST = 3, + RIGHT_WRIST = 4, + CLAW = 5, + SNA = 7, + +}; + +enum class ARM_JOINT_PID_DEADZONE_VALUES { + SNA = 8191, + +}; + +enum class ARM_JOINT_PID_DERIVATIVE_GAIN_VALUES { + SNA = 65535, + +}; + +enum class ARM_JOINT_PID_INTEGRAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class ARM_JOINT_PID_PROPORTIONAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class ARM_LEFT_WRIST_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_LEFT_WRIST_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_REPORT_CLAW_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_CLAW_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_CLAW_POSITION_VALUES { + SNA = 255, + +}; + +enum class ARM_REPORT_ELBOW_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_ELBOW_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_ELBOW_POSITION_VALUES { + SNA = 4095, + +}; + +enum class ARM_REPORT_LEFT_WRIST_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_LEFT_WRIST_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_LEFT_WRIST_POSITION_VALUES { + SNA = 255, + +}; + +enum class ARM_REPORT_RIGHT_WRIST_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_RIGHT_WRIST_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_RIGHT_WRIST_POSITION_VALUES { + SNA = 255, + +}; + +enum class ARM_REPORT_SHOULDER_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_SHOULDER_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_SHOULDER_POSITION_VALUES { + SNA = 4095, + +}; + +enum class ARM_REPORT_TURNTABLE_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_TURNTABLE_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_REPORT_TURNTABLE_POSITION_VALUES { + SNA = 4095, + +}; + +enum class ARM_RIGHT_WRIST_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_RIGHT_WRIST_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_SAFETY_CHECK_JOINT_ID_VALUES { + TURNTABLE = 0, + SHOULDER = 1, + ELBOW = 2, + LEFT_WRIST = 3, + RIGHT_WRIST = 4, + CLAW = 5, + SNA = 7, + +}; + +enum class ARM_SET_CLAW_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_CLAW_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_CLAW_POSITION_VALUES { + SNA = 127, + +}; + +enum class ARM_SET_ELBOW_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_ELBOW_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_ELBOW_POSITION_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_LEFT_WRIST_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_LEFT_WRIST_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_LEFT_WRIST_POSITION_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_RIGHT_WRIST_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_RIGHT_WRIST_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_RIGHT_WRIST_POSITION_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_SHOULDER_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_SHOULDER_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_SHOULDER_POSITION_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_TOOL_TIP_POSITION_VALUES { + SNA = 127, + +}; + +enum class ARM_SET_TURNTABLE_ANGULAR_VELOCITY_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_TURNTABLE_CURRENT_VALUES { + SNA = 1023, + +}; + +enum class ARM_SET_TURNTABLE_POSITION_VALUES { + SNA = 1023, + +}; + +enum class ARM_SHOULDER_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_SHOULDER_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_SHOULDER_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_TURNTABLE_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + CURRENT = 3, + SNA = 7, + +}; + +enum class ARM_TURNTABLE_CURRENT_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class ARM_TURNTABLE_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class COMMON_CAN_BUS_ID_VALUES { + CAN_BUS_1 = 0, + CAN_BUS_2 = 1, + SNA = 3, + +}; + +enum class COMMON_DEBUG_SIGNAL3_VALUES { + DEBUG_VALUE_0 = 0, + DEBUG_VALUE_1 = 1, + DEBUG_VALUE_2 = 2, + DEBUG_VALUE_3 = 3, + DEBUG_VALUE_4 = 4, + DEBUG_VALUE_5 = 5, + DEBUG_VALUE_6 = 6, + DEBUG_VALUE_7 = 7, + SNA = 255, + +}; + +enum class GIMBAL_ACK_VALUES { + GIMBAL_SET_CONTROL_MODE_ACK = 0, + GIMBAL_SET_JOINT_PID_PARAMS_ACK = 1, + CAN_BUS_SWITCH_ACK = 2, + SNA = 255, + +}; + +enum class GIMBAL_JOINT_PIDID_VALUES { + PAN = 0, + SNA = 7, + +}; + +enum class GIMBAL_JOINT_PID_DEADZONE_VALUES { + SNA = 8191, + +}; + +enum class GIMBAL_JOINT_PID_DERIVATIVE_GAIN_VALUES { + SNA = 65535, + +}; + +enum class GIMBAL_JOINT_PID_INTEGRAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class GIMBAL_JOINT_PID_PROPORTIONAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class GIMBAL_PAN_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + SNA = 3, + +}; + +enum class GIMBAL_PAN_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class GIMBAL_REPORT_PAN_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class GIMBAL_REPORT_PAN_POSITION_VALUES { + SNA = 32767, + +}; + +enum class GIMBAL_SET_PAN_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class GIMBAL_SET_PAN_POSITION_VALUES { + SNA = 32767, + +}; + +enum class GIMBAL_SET_PITCH_POSITION_VALUES { + SNA = 65535, + +}; + +enum class GIMBAL_SET_ROLL_POSITION_VALUES { + SNA = 65535, + +}; + +enum class PDB_17_V_RAIL_STATUS_VALUES { + OPERATIONAL = 0, + OVERVOLTAGE = 1, + UNDERVOLTAGE = 2, + SNA = 3, + +}; + +enum class PDB_5_V_RAIL_STATUS_VALUES { + OPERATIONAL = 0, + OVERVOLTAGE = 1, + UNDERVOLTAGE = 2, + SNA = 3, + +}; + +enum class PDB_ACK_VALUES { + PDB_SET_LED_MATRIX_ACK = 0, + CAN_BUS_SWITCH_ACK = 1, + SNA = 255, + +}; + +enum class PDB_ARM_POWER_STATUS_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class PDB_GIMBAL_POWER_STATUS_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class PDB_JETSON_STATUS_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class PDB_LED_MATRIX_STATE_VALUES { + SOLID_RED = 0, + SOLID_BLUE = 1, + FLASHING_GREEN = 2, + False = 3, + SNA = 7, + +}; + +enum class PDB_SCIENCE_POWER_STATUS_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class PDB_ULTRASONIC_SENSOR1_DATA_VALUES { + SNA = 65535, + +}; + +enum class PDB_ULTRASONIC_SENSOR2_DATA_VALUES { + SNA = 65535, + +}; + +enum class PDB_ULTRASONIC_SENSOR3_DATA_VALUES { + SNA = 65535, + +}; + +enum class PDB_ULTRASONIC_SENSOR4_DATA_VALUES { + SNA = 65535, + +}; + +enum class PDB_VBAT_RAIL_STATUS_VALUES { + OPERATIONAL = 0, + OVERVOLTAGE = 1, + UNDERVOLTAGE = 2, + SNA = 3, + +}; + +enum class SCIENCE_ACK_VALUES { + SCIENCE_SET_CONTROL_MODE_ACK = 0, + SCIENCE_SET_JOINT_PID_PARAMS_ACK = 1, + CAN_BUS_SWITCH_ACK = 2, + SNA = 255, + +}; + +enum class SCIENCE_ELEVATOR_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + SNA = 3, + +}; + +enum class SCIENCE_ELEVATOR_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class SCIENCE_GENEVA_CONTROL_MODE_VALUES { + OPEN_LOOP = 0, + POSITION = 1, + VELOCITY = 2, + SNA = 3, + +}; + +enum class SCIENCE_GENEVA_ENCODER_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class SCIENCE_JOINT_PIDID_VALUES { + GENEVA = 0, + ELEVATOR = 1, + SNA = 7, + +}; + +enum class SCIENCE_JOINT_PID_DEADZONE_VALUES { + SNA = 8191, + +}; + +enum class SCIENCE_JOINT_PID_DERIVATIVE_GAIN_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_JOINT_PID_INTEGRAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_JOINT_PID_PROPORTIONAL_GAIN_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_MOISTURE_DATA_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_MOISTURE_SENSOR_STATE_VALUES { + OPERATIONAL = 0, + FAULT = 1, + SNA = 3, + +}; + +enum class SCIENCE_REPORT_ELEVATOR_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_REPORT_ELEVATOR_POSITION_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_REPORT_GENEVA_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_REPORT_GENEVA_POSITION_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_SET_COVER_POSITION_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_SET_ELEVATOR_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_SET_ELEVATOR_POSITION_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_SET_GENEVA_ANGULAR_VELOCITY_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_SET_GENEVA_POSITION_VALUES { + SNA = 32767, + +}; + +enum class SCIENCE_SET_SHOVEL_POSITION_VALUES { + SNA = 65535, + +}; + +enum class SCIENCE_TEMPERATURE_DATA_VALUES { + SNA = 32767, + +}; + +} // namespace HWBRIDGE diff --git a/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_wrapper.h b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_wrapper.h new file mode 100644 index 00000000..4dbacc2d --- /dev/null +++ b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_mars_rover_can_wrapper.h @@ -0,0 +1,14 @@ +// AUTO-GENERATED FILE. DO NOT MODIFY. GENERATED BY scripts/generate_can_wrapper.py + +#pragma once + +#include "CANMsgMap.h" +#include "uwrt_mars_rover_can.h" +#include "uwrt_mars_rover_can_enums.h" + +namespace HWBRIDGE { + +bool packCANMsg(uint8_t* raw, HWBRIDGE::CANID msgID, const HWBRIDGE::CANMsgMap* msgMap, size_t& len); +bool unpackCANMsg(uint8_t* raw, HWBRIDGE::CANID msgID, HWBRIDGE::CANMsgMap* msgMap); + +} // namespace HWBRIDGE diff --git a/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_params.h b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_params.h new file mode 100644 index 00000000..f54cc496 --- /dev/null +++ b/uwrt_mars_rover_utilities/include/uwrt_mars_rover_utilities/uwrt_params.h @@ -0,0 +1,61 @@ +#pragma once +#include "rclcpp/rclcpp.hpp" + +#include + +namespace uwrt_mars_rover_utils { + + /** getParam - Retrieves a ROS parameter and provides a default value if there's a failure + * + * @tparam T The type of value to load from parameter server. Must be a type supported by XMLRPC. + * @param nh The nodehandle to use to do the parameter lookup + * @param param_name The name of the parameter to lookup + * @param default_value The default value to return if lookup fails + * @param logger_name The logger name to use with rosconsole log statements + * @return parameter from ROS parameter server, or default_value if parameter lookup fails + */ + template + T getParam(const ros::NodeHandle& nh, const std::string& logger_name, const std::string& param_name, + const T& default_value) { + T retrieved_param; + bool param_found = nh.param(param_name, retrieved_param, default_value); + + const std::string absolute_parameter_name = nh.resolveName(param_name); + + if (param_found) { + // getParam will usually be called in the init/constructor of nodes. Its useful to know what params are being used. + ROS_INFO_STREAM_NAMED( + logger_name, "Loaded \"" << retrieved_param << "\" from " << absolute_parameter_name << " on parameter server"); + } else { + ROS_WARN_STREAM_NAMED(logger_name, + absolute_parameter_name + << " could not be found and loaded from parameter server. Using default value of \"" + << default_value << "\""); + } + + return retrieved_param; + } + + /** getLoggerName - Determines a rosconsole logger name from a nodehandle. Uses the last part of a nodehandle's + * namespace. + * + * @example + * \code{.cpp} + * ros::NodeHandle nh("/a/b/c"); + * std::string logger_name = uwrt_mars_rover_utils::getLoggerName(nh); + * // logger_name is equal to "c" + * \endcode + * + * @param nh nodehandle to derive a logger name from + * @return derived logger name + */ + std::string getLoggerName(ros::NodeHandle& nh); + + /** getLoggerName - Determines a rosconsole logger name by using the executing node's name. This is the name passed to + * ros::init + * + * @return derived logger name + */ + std::string getLoggerName(); + +} // namespace uwrt_mars_rover_utils diff --git a/uwrt_mars_rover_utilities/package.xml b/uwrt_mars_rover_utilities/package.xml new file mode 100644 index 00000000..26208132 --- /dev/null +++ b/uwrt_mars_rover_utilities/package.xml @@ -0,0 +1,20 @@ + + + + uwrt_mars_rover_utilities + 0.0.0 + Package including common utilities for uwrt_mars_rover (CAN library, etc.) + Colin Toft + MIT + + ament_cmake + + ament_lint_auto + ament_lint_common + + rclcpp + + + ament_cmake + + diff --git a/uwrt_mars_rover_utilities/src/hw_bridge_files/uwrt_mars_rover_can_wrapper.cpp b/uwrt_mars_rover_utilities/src/hw_bridge_files/uwrt_mars_rover_can_wrapper.cpp new file mode 100644 index 00000000..e247ac9d --- /dev/null +++ b/uwrt_mars_rover_utilities/src/hw_bridge_files/uwrt_mars_rover_can_wrapper.cpp @@ -0,0 +1,3682 @@ +// AUTO-GENERATED FILE. DO NOT MODIFY. GENERATED BY scripts/generate_can_wrapper.py + +#include "uwrt_mars_rover_can_wrapper.h" + +using namespace HWBRIDGE; + +// --- Message packer function prototypes --- +static bool arm_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_set_joint_current_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_joint_current_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool arm_set_joint_safety_check_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_report_joint_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_report_sensor_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool science_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_report_joint_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool gimbal_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool pdb_set_led_matrix_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool pdb_report_sensor_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool pdb_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool pdb_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool pdb_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool common_switch_can_bus_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool common_debug_message1_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool common_debug_message2_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); +static bool common_debug_message3_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len); + +// -- Message unpacker function prototypes --- +static bool arm_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_set_joint_current_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_joint_current_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool arm_set_joint_safety_check_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_report_joint_data_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_report_sensor_data_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool science_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_report_joint_data_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool gimbal_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool pdb_set_led_matrix_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool pdb_report_sensor_data_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool pdb_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool pdb_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool pdb_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool common_switch_can_bus_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool common_debug_message1_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool common_debug_message2_unpacker(uint8_t* raw, CANMsgMap* msgMap); +static bool common_debug_message3_unpacker(uint8_t* raw, CANMsgMap* msgMap); + +bool HWBRIDGE::packCANMsg(uint8_t* raw, CANID msgID, const CANMsgMap* msgMap, size_t& len) { + switch (msgID) { + case CANID::ARM_SET_CONTROL_MODE: + return arm_set_control_mode_packer(raw, msgMap, len); + case CANID::ARM_SET_JOINT_POSITION: + return arm_set_joint_position_packer(raw, msgMap, len); + case CANID::ARM_SET_JOINT_ANGULAR_VELOCITY: + return arm_set_joint_angular_velocity_packer(raw, msgMap, len); + case CANID::ARM_SET_JOINT_CURRENT: + return arm_set_joint_current_packer(raw, msgMap, len); + case CANID::ARM_SET_JOINT_PID_PARAMS: + return arm_set_joint_pid_params_packer(raw, msgMap, len); + case CANID::ARM_REPORT_JOINT_POSITION: + return arm_report_joint_position_packer(raw, msgMap, len); + case CANID::ARM_REPORT_JOINT_ANGULAR_VELOCITY: + return arm_report_joint_angular_velocity_packer(raw, msgMap, len); + case CANID::ARM_REPORT_JOINT_CURRENT: + return arm_report_joint_current_packer(raw, msgMap, len); + case CANID::ARM_REPORT_FAULTS: + return arm_report_faults_packer(raw, msgMap, len); + case CANID::ARM_REPORT_ACK: + return arm_report_ack_packer(raw, msgMap, len); + case CANID::ARM_REPORT_DIAGNOSTICS: + return arm_report_diagnostics_packer(raw, msgMap, len); + case CANID::ARM_SET_JOINT_SAFETY_CHECK: + return arm_set_joint_safety_check_packer(raw, msgMap, len); + case CANID::SCIENCE_SET_CONTROL_MODE: + return science_set_control_mode_packer(raw, msgMap, len); + case CANID::SCIENCE_SET_JOINT_POSITION: + return science_set_joint_position_packer(raw, msgMap, len); + case CANID::SCIENCE_SET_JOINT_ANGULAR_VELOCITY: + return science_set_joint_angular_velocity_packer(raw, msgMap, len); + case CANID::SCIENCE_SET_JOINT_PID_PARAMS: + return science_set_joint_pid_params_packer(raw, msgMap, len); + case CANID::SCIENCE_REPORT_JOINT_DATA: + return science_report_joint_data_packer(raw, msgMap, len); + case CANID::SCIENCE_REPORT_SENSOR_DATA: + return science_report_sensor_data_packer(raw, msgMap, len); + case CANID::SCIENCE_REPORT_FAULTS: + return science_report_faults_packer(raw, msgMap, len); + case CANID::SCIENCE_REPORT_ACK: + return science_report_ack_packer(raw, msgMap, len); + case CANID::SCIENCE_REPORT_DIAGNOSTICS: + return science_report_diagnostics_packer(raw, msgMap, len); + case CANID::GIMBAL_SET_CONTROL_MODE: + return gimbal_set_control_mode_packer(raw, msgMap, len); + case CANID::GIMBAL_SET_JOINT_POSITION: + return gimbal_set_joint_position_packer(raw, msgMap, len); + case CANID::GIMBAL_SET_JOINT_ANGULAR_VELOCITY: + return gimbal_set_joint_angular_velocity_packer(raw, msgMap, len); + case CANID::GIMBAL_SET_JOINT_PID_PARAMS: + return gimbal_set_joint_pid_params_packer(raw, msgMap, len); + case CANID::GIMBAL_REPORT_JOINT_DATA: + return gimbal_report_joint_data_packer(raw, msgMap, len); + case CANID::GIMBAL_REPORT_FAULTS: + return gimbal_report_faults_packer(raw, msgMap, len); + case CANID::GIMBAL_REPORT_ACK: + return gimbal_report_ack_packer(raw, msgMap, len); + case CANID::GIMBAL_REPORT_DIAGNOSTICS: + return gimbal_report_diagnostics_packer(raw, msgMap, len); + case CANID::PDB_SET_LED_MATRIX: + return pdb_set_led_matrix_packer(raw, msgMap, len); + case CANID::PDB_REPORT_SENSOR_DATA: + return pdb_report_sensor_data_packer(raw, msgMap, len); + case CANID::PDB_REPORT_FAULTS: + return pdb_report_faults_packer(raw, msgMap, len); + case CANID::PDB_REPORT_ACK: + return pdb_report_ack_packer(raw, msgMap, len); + case CANID::PDB_REPORT_DIAGNOSTICS: + return pdb_report_diagnostics_packer(raw, msgMap, len); + case CANID::COMMON_SWITCH_CAN_BUS: + return common_switch_can_bus_packer(raw, msgMap, len); + case CANID::COMMON_DEBUG_MESSAGE1: + return common_debug_message1_packer(raw, msgMap, len); + case CANID::COMMON_DEBUG_MESSAGE2: + return common_debug_message2_packer(raw, msgMap, len); + case CANID::COMMON_DEBUG_MESSAGE3: + return common_debug_message3_packer(raw, msgMap, len); + + default: + return false; + } +} + +bool HWBRIDGE::unpackCANMsg(uint8_t* raw, CANID msgID, CANMsgMap* msgMap) { + switch (msgID) { + case CANID::ARM_SET_CONTROL_MODE: + return arm_set_control_mode_unpacker(raw, msgMap); + case CANID::ARM_SET_JOINT_POSITION: + return arm_set_joint_position_unpacker(raw, msgMap); + case CANID::ARM_SET_JOINT_ANGULAR_VELOCITY: + return arm_set_joint_angular_velocity_unpacker(raw, msgMap); + case CANID::ARM_SET_JOINT_CURRENT: + return arm_set_joint_current_unpacker(raw, msgMap); + case CANID::ARM_SET_JOINT_PID_PARAMS: + return arm_set_joint_pid_params_unpacker(raw, msgMap); + case CANID::ARM_REPORT_JOINT_POSITION: + return arm_report_joint_position_unpacker(raw, msgMap); + case CANID::ARM_REPORT_JOINT_ANGULAR_VELOCITY: + return arm_report_joint_angular_velocity_unpacker(raw, msgMap); + case CANID::ARM_REPORT_JOINT_CURRENT: + return arm_report_joint_current_unpacker(raw, msgMap); + case CANID::ARM_REPORT_FAULTS: + return arm_report_faults_unpacker(raw, msgMap); + case CANID::ARM_REPORT_ACK: + return arm_report_ack_unpacker(raw, msgMap); + case CANID::ARM_REPORT_DIAGNOSTICS: + return arm_report_diagnostics_unpacker(raw, msgMap); + case CANID::ARM_SET_JOINT_SAFETY_CHECK: + return arm_set_joint_safety_check_unpacker(raw, msgMap); + case CANID::SCIENCE_SET_CONTROL_MODE: + return science_set_control_mode_unpacker(raw, msgMap); + case CANID::SCIENCE_SET_JOINT_POSITION: + return science_set_joint_position_unpacker(raw, msgMap); + case CANID::SCIENCE_SET_JOINT_ANGULAR_VELOCITY: + return science_set_joint_angular_velocity_unpacker(raw, msgMap); + case CANID::SCIENCE_SET_JOINT_PID_PARAMS: + return science_set_joint_pid_params_unpacker(raw, msgMap); + case CANID::SCIENCE_REPORT_JOINT_DATA: + return science_report_joint_data_unpacker(raw, msgMap); + case CANID::SCIENCE_REPORT_SENSOR_DATA: + return science_report_sensor_data_unpacker(raw, msgMap); + case CANID::SCIENCE_REPORT_FAULTS: + return science_report_faults_unpacker(raw, msgMap); + case CANID::SCIENCE_REPORT_ACK: + return science_report_ack_unpacker(raw, msgMap); + case CANID::SCIENCE_REPORT_DIAGNOSTICS: + return science_report_diagnostics_unpacker(raw, msgMap); + case CANID::GIMBAL_SET_CONTROL_MODE: + return gimbal_set_control_mode_unpacker(raw, msgMap); + case CANID::GIMBAL_SET_JOINT_POSITION: + return gimbal_set_joint_position_unpacker(raw, msgMap); + case CANID::GIMBAL_SET_JOINT_ANGULAR_VELOCITY: + return gimbal_set_joint_angular_velocity_unpacker(raw, msgMap); + case CANID::GIMBAL_SET_JOINT_PID_PARAMS: + return gimbal_set_joint_pid_params_unpacker(raw, msgMap); + case CANID::GIMBAL_REPORT_JOINT_DATA: + return gimbal_report_joint_data_unpacker(raw, msgMap); + case CANID::GIMBAL_REPORT_FAULTS: + return gimbal_report_faults_unpacker(raw, msgMap); + case CANID::GIMBAL_REPORT_ACK: + return gimbal_report_ack_unpacker(raw, msgMap); + case CANID::GIMBAL_REPORT_DIAGNOSTICS: + return gimbal_report_diagnostics_unpacker(raw, msgMap); + case CANID::PDB_SET_LED_MATRIX: + return pdb_set_led_matrix_unpacker(raw, msgMap); + case CANID::PDB_REPORT_SENSOR_DATA: + return pdb_report_sensor_data_unpacker(raw, msgMap); + case CANID::PDB_REPORT_FAULTS: + return pdb_report_faults_unpacker(raw, msgMap); + case CANID::PDB_REPORT_ACK: + return pdb_report_ack_unpacker(raw, msgMap); + case CANID::PDB_REPORT_DIAGNOSTICS: + return pdb_report_diagnostics_unpacker(raw, msgMap); + case CANID::COMMON_SWITCH_CAN_BUS: + return common_switch_can_bus_unpacker(raw, msgMap); + case CANID::COMMON_DEBUG_MESSAGE1: + return common_debug_message1_unpacker(raw, msgMap); + case CANID::COMMON_DEBUG_MESSAGE2: + return common_debug_message2_unpacker(raw, msgMap); + case CANID::COMMON_DEBUG_MESSAGE3: + return common_debug_message3_unpacker(raw, msgMap); + + default: + return false; + } +} + +// ARM_setControlMode message packer +bool arm_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_arm_set_control_mode_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_TURNTABLE_CONTROL_MODE: + msgStruct.arm_turntable_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_turntable_control_mode_encode(signalValue); + break; + + case CANSIGNAL::ARM_SHOULDER_CONTROL_MODE: + msgStruct.arm_shoulder_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_shoulder_control_mode_encode(signalValue); + break; + + case CANSIGNAL::ARM_ELBOW_CONTROL_MODE: + msgStruct.arm_elbow_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_elbow_control_mode_encode(signalValue); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_CONTROL_MODE: + msgStruct.arm_left_wrist_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_left_wrist_control_mode_encode(signalValue); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_CONTROL_MODE: + msgStruct.arm_right_wrist_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_right_wrist_control_mode_encode(signalValue); + break; + + case CANSIGNAL::ARM_CLAW_CONTROL_MODE: + msgStruct.arm_claw_control_mode = + uwrt_mars_rover_can_arm_set_control_mode_arm_claw_control_mode_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_control_mode_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_LENGTH; + } + return success; +} + +// ARM_setControlMode message unpacker +bool arm_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_arm_set_control_mode_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_control_mode_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_ARM_SET_CONTROL_MODE_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_TURNTABLE_CONTROL_MODE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_turntable_control_mode_decode( + msgStruct.arm_turntable_control_mode)); + break; + + case CANSIGNAL::ARM_SHOULDER_CONTROL_MODE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_shoulder_control_mode_decode( + msgStruct.arm_shoulder_control_mode)); + break; + + case CANSIGNAL::ARM_ELBOW_CONTROL_MODE: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_elbow_control_mode_decode(msgStruct.arm_elbow_control_mode)); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_CONTROL_MODE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_left_wrist_control_mode_decode( + msgStruct.arm_left_wrist_control_mode)); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_CONTROL_MODE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_right_wrist_control_mode_decode( + msgStruct.arm_right_wrist_control_mode)); + break; + + case CANSIGNAL::ARM_CLAW_CONTROL_MODE: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_control_mode_arm_claw_control_mode_decode(msgStruct.arm_claw_control_mode)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_setJointPosition message packer +bool arm_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_arm_set_joint_position_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_POSITION: + msgStruct.arm_set_turntable_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_turntable_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_POSITION: + msgStruct.arm_set_shoulder_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_shoulder_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_ELBOW_POSITION: + msgStruct.arm_set_elbow_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_elbow_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_POSITION: + msgStruct.arm_set_left_wrist_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_left_wrist_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_POSITION: + msgStruct.arm_set_right_wrist_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_right_wrist_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_CLAW_POSITION: + msgStruct.arm_set_claw_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_claw_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_TOOL_TIP_POSITION: + msgStruct.arm_set_tool_tip_position = + uwrt_mars_rover_can_arm_set_joint_position_arm_set_tool_tip_position_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_joint_position_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_LENGTH; + } + return success; +} + +// ARM_setJointPosition message unpacker +bool arm_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_arm_set_joint_position_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_joint_position_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_POSITION_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_turntable_position_decode( + msgStruct.arm_set_turntable_position)); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_POSITION: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_shoulder_position_decode( + msgStruct.arm_set_shoulder_position)); + break; + + case CANSIGNAL::ARM_SET_ELBOW_POSITION: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_elbow_position_decode( + msgStruct.arm_set_elbow_position)); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_left_wrist_position_decode( + msgStruct.arm_set_left_wrist_position)); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_right_wrist_position_decode( + msgStruct.arm_set_right_wrist_position)); + break; + + case CANSIGNAL::ARM_SET_CLAW_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_claw_position_decode(msgStruct.arm_set_claw_position)); + break; + + case CANSIGNAL::ARM_SET_TOOL_TIP_POSITION: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_position_arm_set_tool_tip_position_decode( + msgStruct.arm_set_tool_tip_position)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_setJointAngularVelocity message packer +bool arm_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_arm_set_joint_angular_velocity_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_ANGULAR_VELOCITY: + msgStruct.arm_set_turntable_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_turntable_angular_velocity_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_ANGULAR_VELOCITY: + msgStruct.arm_set_shoulder_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_shoulder_angular_velocity_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_ELBOW_ANGULAR_VELOCITY: + msgStruct.arm_set_elbow_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_elbow_angular_velocity_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_ANGULAR_VELOCITY: + msgStruct.arm_set_left_wrist_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_left_wrist_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_ANGULAR_VELOCITY: + msgStruct.arm_set_right_wrist_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_right_wrist_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_SET_CLAW_ANGULAR_VELOCITY: + msgStruct.arm_set_claw_angular_velocity = + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_claw_angular_velocity_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_joint_angular_velocity_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_LENGTH; + } + return success; +} + +// ARM_setJointAngularVelocity message unpacker +bool arm_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_arm_set_joint_angular_velocity_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_joint_angular_velocity_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_turntable_angular_velocity_decode( + msgStruct.arm_set_turntable_angular_velocity)); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_shoulder_angular_velocity_decode( + msgStruct.arm_set_shoulder_angular_velocity)); + break; + + case CANSIGNAL::ARM_SET_ELBOW_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_elbow_angular_velocity_decode( + msgStruct.arm_set_elbow_angular_velocity)); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_left_wrist_angular_velocity_decode( + msgStruct.arm_set_left_wrist_angular_velocity)); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_right_wrist_angular_velocity_decode( + msgStruct.arm_set_right_wrist_angular_velocity)); + break; + + case CANSIGNAL::ARM_SET_CLAW_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_angular_velocity_arm_set_claw_angular_velocity_decode( + msgStruct.arm_set_claw_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_setJointCurrent message packer +bool arm_set_joint_current_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_JOINT_CURRENT; + struct uwrt_mars_rover_can_arm_set_joint_current_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_CURRENT: + msgStruct.arm_set_turntable_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_turntable_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_CURRENT: + msgStruct.arm_set_shoulder_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_shoulder_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_ELBOW_CURRENT: + msgStruct.arm_set_elbow_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_elbow_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_CURRENT: + msgStruct.arm_set_left_wrist_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_left_wrist_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_CURRENT: + msgStruct.arm_set_right_wrist_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_right_wrist_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_SET_CLAW_CURRENT: + msgStruct.arm_set_claw_current = + uwrt_mars_rover_can_arm_set_joint_current_arm_set_claw_current_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_joint_current_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_LENGTH; + } + return success; +} + +// ARM_setJointCurrent message unpacker +bool arm_set_joint_current_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_JOINT_CURRENT; + struct uwrt_mars_rover_can_arm_set_joint_current_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_joint_current_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_CURRENT_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_SET_TURNTABLE_CURRENT: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_turntable_current_decode( + msgStruct.arm_set_turntable_current)); + break; + + case CANSIGNAL::ARM_SET_SHOULDER_CURRENT: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_shoulder_current_decode( + msgStruct.arm_set_shoulder_current)); + break; + + case CANSIGNAL::ARM_SET_ELBOW_CURRENT: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_elbow_current_decode(msgStruct.arm_set_elbow_current)); + break; + + case CANSIGNAL::ARM_SET_LEFT_WRIST_CURRENT: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_left_wrist_current_decode( + msgStruct.arm_set_left_wrist_current)); + break; + + case CANSIGNAL::ARM_SET_RIGHT_WRIST_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_right_wrist_current_decode( + msgStruct.arm_set_right_wrist_current)); + break; + + case CANSIGNAL::ARM_SET_CLAW_CURRENT: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_current_arm_set_claw_current_decode(msgStruct.arm_set_claw_current)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_setJointPIDParams message packer +bool arm_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_arm_set_joint_pid_params_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_JOINT_PIDID: + msgStruct.arm_joint_pidid = uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pidid_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_PID_PROPORTIONAL_GAIN: + msgStruct.arm_joint_pid_proportional_gain = + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_proportional_gain_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_PID_INTEGRAL_GAIN: + msgStruct.arm_joint_pid_integral_gain = + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_integral_gain_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_PID_DERIVATIVE_GAIN: + msgStruct.arm_joint_pid_derivative_gain = + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_derivative_gain_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_PID_DEADZONE: + msgStruct.arm_joint_pid_deadzone = + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_deadzone_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_joint_pid_params_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_LENGTH; + } + return success; +} + +// ARM_setJointPIDParams message unpacker +bool arm_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_arm_set_joint_pid_params_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_joint_pid_params_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_PID_PARAMS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_JOINT_PIDID: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pidid_decode(msgStruct.arm_joint_pidid)); + break; + + case CANSIGNAL::ARM_JOINT_PID_PROPORTIONAL_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_proportional_gain_decode( + msgStruct.arm_joint_pid_proportional_gain)); + break; + + case CANSIGNAL::ARM_JOINT_PID_INTEGRAL_GAIN: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_integral_gain_decode( + msgStruct.arm_joint_pid_integral_gain)); + break; + + case CANSIGNAL::ARM_JOINT_PID_DERIVATIVE_GAIN: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_derivative_gain_decode( + msgStruct.arm_joint_pid_derivative_gain)); + break; + + case CANSIGNAL::ARM_JOINT_PID_DEADZONE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_pid_params_arm_joint_pid_deadzone_decode( + msgStruct.arm_joint_pid_deadzone)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportJointPosition message packer +bool arm_report_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_JOINT_POSITION; + struct uwrt_mars_rover_can_arm_report_joint_position_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_POSITION: + msgStruct.arm_report_turntable_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_turntable_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_POSITION: + msgStruct.arm_report_shoulder_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_shoulder_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_POSITION: + msgStruct.arm_report_elbow_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_elbow_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_POSITION: + msgStruct.arm_report_left_wrist_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_left_wrist_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_POSITION: + msgStruct.arm_report_right_wrist_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_right_wrist_position_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_POSITION: + msgStruct.arm_report_claw_position = + uwrt_mars_rover_can_arm_report_joint_position_arm_report_claw_position_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_report_joint_position_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_LENGTH; + } + return success; +} + +// ARM_reportJointPosition message unpacker +bool arm_report_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_JOINT_POSITION; + struct uwrt_mars_rover_can_arm_report_joint_position_t msgStruct; + + success = (uwrt_mars_rover_can_arm_report_joint_position_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_POSITION_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_turntable_position_decode( + msgStruct.arm_report_turntable_position)); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_shoulder_position_decode( + msgStruct.arm_report_shoulder_position)); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_elbow_position_decode( + msgStruct.arm_report_elbow_position)); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_left_wrist_position_decode( + msgStruct.arm_report_left_wrist_position)); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_right_wrist_position_decode( + msgStruct.arm_report_right_wrist_position)); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_position_arm_report_claw_position_decode( + msgStruct.arm_report_claw_position)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportJointAngularVelocity message packer +bool arm_report_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_arm_report_joint_angular_velocity_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_ANGULAR_VELOCITY: + msgStruct.arm_report_turntable_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_turntable_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_ANGULAR_VELOCITY: + msgStruct.arm_report_shoulder_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_shoulder_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_ANGULAR_VELOCITY: + msgStruct.arm_report_elbow_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_elbow_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_ANGULAR_VELOCITY: + msgStruct.arm_report_left_wrist_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_left_wrist_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_ANGULAR_VELOCITY: + msgStruct.arm_report_right_wrist_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_right_wrist_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_ANGULAR_VELOCITY: + msgStruct.arm_report_claw_angular_velocity = + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_claw_angular_velocity_encode( + signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_report_joint_angular_velocity_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_LENGTH; + } + return success; +} + +// ARM_reportJointAngularVelocity message unpacker +bool arm_report_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_arm_report_joint_angular_velocity_t msgStruct; + + success = (uwrt_mars_rover_can_arm_report_joint_angular_velocity_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_ANGULAR_VELOCITY_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_turntable_angular_velocity_decode( + msgStruct.arm_report_turntable_angular_velocity)); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_shoulder_angular_velocity_decode( + msgStruct.arm_report_shoulder_angular_velocity)); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_elbow_angular_velocity_decode( + msgStruct.arm_report_elbow_angular_velocity)); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_left_wrist_angular_velocity_decode( + msgStruct.arm_report_left_wrist_angular_velocity)); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_right_wrist_angular_velocity_decode( + msgStruct.arm_report_right_wrist_angular_velocity)); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_angular_velocity_arm_report_claw_angular_velocity_decode( + msgStruct.arm_report_claw_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportJointCurrent message packer +bool arm_report_joint_current_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_JOINT_CURRENT; + struct uwrt_mars_rover_can_arm_report_joint_current_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_CURRENT: + msgStruct.arm_report_turntable_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_turntable_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_CURRENT: + msgStruct.arm_report_shoulder_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_shoulder_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_CURRENT: + msgStruct.arm_report_elbow_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_elbow_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_CURRENT: + msgStruct.arm_report_left_wrist_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_left_wrist_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_CURRENT: + msgStruct.arm_report_right_wrist_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_right_wrist_current_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_CURRENT: + msgStruct.arm_report_claw_current = + uwrt_mars_rover_can_arm_report_joint_current_arm_report_claw_current_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_report_joint_current_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_LENGTH; + } + return success; +} + +// ARM_reportJointCurrent message unpacker +bool arm_report_joint_current_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_JOINT_CURRENT; + struct uwrt_mars_rover_can_arm_report_joint_current_t msgStruct; + + success = (uwrt_mars_rover_can_arm_report_joint_current_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_REPORT_JOINT_CURRENT_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_TURNTABLE_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_turntable_current_decode( + msgStruct.arm_report_turntable_current)); + break; + + case CANSIGNAL::ARM_REPORT_SHOULDER_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_shoulder_current_decode( + msgStruct.arm_report_shoulder_current)); + break; + + case CANSIGNAL::ARM_REPORT_ELBOW_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_elbow_current_decode( + msgStruct.arm_report_elbow_current)); + break; + + case CANSIGNAL::ARM_REPORT_LEFT_WRIST_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_left_wrist_current_decode( + msgStruct.arm_report_left_wrist_current)); + break; + + case CANSIGNAL::ARM_REPORT_RIGHT_WRIST_CURRENT: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_right_wrist_current_decode( + msgStruct.arm_report_right_wrist_current)); + break; + + case CANSIGNAL::ARM_REPORT_CLAW_CURRENT: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_joint_current_arm_report_claw_current_decode( + msgStruct.arm_report_claw_current)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportFaults message packer +bool arm_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_FAULTS; + struct uwrt_mars_rover_can_arm_report_faults_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_TURNTABLE_ENCODER_STATE: + msgStruct.arm_turntable_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_turntable_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_TURNTABLE_CURRENT_SENSOR_STATE: + msgStruct.arm_turntable_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_turntable_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_SHOULDER_ENCODER_STATE: + msgStruct.arm_shoulder_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_shoulder_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_SHOULDER_CURRENT_SENSOR_STATE: + msgStruct.arm_shoulder_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_shoulder_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_ELBOW_ENCODER_STATE: + msgStruct.arm_elbow_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_elbow_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_ELBOW_CURRENT_SENSOR_STATE: + msgStruct.arm_elbow_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_elbow_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_ENCODER_STATE: + msgStruct.arm_left_wrist_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_CURRENT_SENSOR_STATE: + msgStruct.arm_left_wrist_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_ENCODER_STATE: + msgStruct.arm_right_wrist_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE: + msgStruct.arm_right_wrist_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_CLAW_ENCODER_STATE: + msgStruct.arm_claw_encoder_state = + uwrt_mars_rover_can_arm_report_faults_arm_claw_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_CLAW_CURRENT_SENSOR_STATE: + msgStruct.arm_claw_current_sensor_state = + uwrt_mars_rover_can_arm_report_faults_arm_claw_current_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::ARM_NUM_CANRX_FAULTS: + msgStruct.arm_num_canrx_faults = + uwrt_mars_rover_can_arm_report_faults_arm_num_canrx_faults_encode(signalValue); + break; + + case CANSIGNAL::ARM_NUM_CANTX_FAULTS: + msgStruct.arm_num_cantx_faults = + uwrt_mars_rover_can_arm_report_faults_arm_num_cantx_faults_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= + (uwrt_mars_rover_can_arm_report_faults_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_LENGTH; + } + return success; +} + +// ARM_reportFaults message unpacker +bool arm_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_FAULTS; + struct uwrt_mars_rover_can_arm_report_faults_t msgStruct; + + success = (uwrt_mars_rover_can_arm_report_faults_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_ARM_REPORT_FAULTS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_TURNTABLE_ENCODER_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_turntable_encoder_state_decode( + msgStruct.arm_turntable_encoder_state)); + break; + + case CANSIGNAL::ARM_TURNTABLE_CURRENT_SENSOR_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_turntable_current_sensor_state_decode( + msgStruct.arm_turntable_current_sensor_state)); + break; + + case CANSIGNAL::ARM_SHOULDER_ENCODER_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_shoulder_encoder_state_decode( + msgStruct.arm_shoulder_encoder_state)); + break; + + case CANSIGNAL::ARM_SHOULDER_CURRENT_SENSOR_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_shoulder_current_sensor_state_decode( + msgStruct.arm_shoulder_current_sensor_state)); + break; + + case CANSIGNAL::ARM_ELBOW_ENCODER_STATE: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_elbow_encoder_state_decode(msgStruct.arm_elbow_encoder_state)); + break; + + case CANSIGNAL::ARM_ELBOW_CURRENT_SENSOR_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_elbow_current_sensor_state_decode( + msgStruct.arm_elbow_current_sensor_state)); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_ENCODER_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_encoder_state_decode( + msgStruct.arm_left_wrist_encoder_state)); + break; + + case CANSIGNAL::ARM_LEFT_WRIST_CURRENT_SENSOR_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_left_wrist_current_sensor_state_decode( + msgStruct.arm_left_wrist_current_sensor_state)); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_ENCODER_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_encoder_state_decode( + msgStruct.arm_right_wrist_encoder_state)); + break; + + case CANSIGNAL::ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_right_wrist_current_sensor_state_decode( + msgStruct.arm_right_wrist_current_sensor_state)); + break; + + case CANSIGNAL::ARM_CLAW_ENCODER_STATE: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_claw_encoder_state_decode(msgStruct.arm_claw_encoder_state)); + break; + + case CANSIGNAL::ARM_CLAW_CURRENT_SENSOR_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_claw_current_sensor_state_decode( + msgStruct.arm_claw_current_sensor_state)); + break; + + case CANSIGNAL::ARM_NUM_CANRX_FAULTS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_num_canrx_faults_decode(msgStruct.arm_num_canrx_faults)); + break; + + case CANSIGNAL::ARM_NUM_CANTX_FAULTS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_faults_arm_num_cantx_faults_decode(msgStruct.arm_num_cantx_faults)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportACK message packer +bool arm_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_ACK; + struct uwrt_mars_rover_can_arm_report_ack_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_ACK: + msgStruct.arm_ack = uwrt_mars_rover_can_arm_report_ack_arm_ack_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_report_ack_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_LENGTH; + } + return success; +} + +// ARM_reportACK message unpacker +bool arm_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_ACK; + struct uwrt_mars_rover_can_arm_report_ack_t msgStruct; + + success = + (uwrt_mars_rover_can_arm_report_ack_unpack(&msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_REPORT_ACK_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_ACK: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_report_ack_arm_ack_decode(msgStruct.arm_ack)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_reportDiagnostics message packer +bool arm_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_arm_report_diagnostics_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_NUM_STREAMED_MSGS_RECEIVED: + msgStruct.arm_report_num_streamed_msgs_received = + uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_streamed_msgs_received_encode(signalValue); + break; + + case CANSIGNAL::ARM_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + msgStruct.arm_report_num_one_shot_msgs_received = + uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_one_shot_msgs_received_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_report_diagnostics_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_LENGTH; + } + return success; +} + +// ARM_reportDiagnostics message unpacker +bool arm_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_arm_report_diagnostics_t msgStruct; + + success = (uwrt_mars_rover_can_arm_report_diagnostics_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_ARM_REPORT_DIAGNOSTICS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_REPORT_NUM_STREAMED_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_streamed_msgs_received_decode( + msgStruct.arm_report_num_streamed_msgs_received)); + break; + + case CANSIGNAL::ARM_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_report_diagnostics_arm_report_num_one_shot_msgs_received_decode( + msgStruct.arm_report_num_one_shot_msgs_received)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// ARM_setJointSafetyCheck message packer +bool arm_set_joint_safety_check_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::ARM_SET_JOINT_SAFETY_CHECK; + struct uwrt_mars_rover_can_arm_set_joint_safety_check_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::ARM_SAFETY_CHECK_JOINT_ID: + msgStruct.arm_safety_check_joint_id = + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_safety_check_joint_id_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_CURRENT_CHECK: + msgStruct.arm_joint_current_check = + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_current_check_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_ANGULAR_VELOCITY_CHECK: + msgStruct.arm_joint_angular_velocity_check = + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_angular_velocity_check_encode(signalValue); + break; + + case CANSIGNAL::ARM_JOINT_LIMIT_SWITCH_CHECK: + msgStruct.arm_joint_limit_switch_check = + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_limit_switch_check_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_arm_set_joint_safety_check_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_LENGTH) == + UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_LENGTH); + len = UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_LENGTH; + } + return success; +} + +// ARM_setJointSafetyCheck message unpacker +bool arm_set_joint_safety_check_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::ARM_SET_JOINT_SAFETY_CHECK; + struct uwrt_mars_rover_can_arm_set_joint_safety_check_t msgStruct; + + success = (uwrt_mars_rover_can_arm_set_joint_safety_check_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_ARM_SET_JOINT_SAFETY_CHECK_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::ARM_SAFETY_CHECK_JOINT_ID: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_safety_check_joint_id_decode( + msgStruct.arm_safety_check_joint_id)); + break; + + case CANSIGNAL::ARM_JOINT_CURRENT_CHECK: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_current_check_decode( + msgStruct.arm_joint_current_check)); + break; + + case CANSIGNAL::ARM_JOINT_ANGULAR_VELOCITY_CHECK: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_angular_velocity_check_decode( + msgStruct.arm_joint_angular_velocity_check)); + break; + + case CANSIGNAL::ARM_JOINT_LIMIT_SWITCH_CHECK: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_arm_set_joint_safety_check_arm_joint_limit_switch_check_decode( + msgStruct.arm_joint_limit_switch_check)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_setControlMode message packer +bool science_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_science_set_control_mode_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_GENEVA_CONTROL_MODE: + msgStruct.science_geneva_control_mode = + uwrt_mars_rover_can_science_set_control_mode_science_geneva_control_mode_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_ELEVATOR_CONTROL_MODE: + msgStruct.science_elevator_control_mode = + uwrt_mars_rover_can_science_set_control_mode_science_elevator_control_mode_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_set_control_mode_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_LENGTH; + } + return success; +} + +// SCIENCE_setControlMode message unpacker +bool science_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_science_set_control_mode_t msgStruct; + + success = (uwrt_mars_rover_can_science_set_control_mode_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_SET_CONTROL_MODE_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_GENEVA_CONTROL_MODE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_control_mode_science_geneva_control_mode_decode( + msgStruct.science_geneva_control_mode)); + break; + + case CANSIGNAL::SCIENCE_ELEVATOR_CONTROL_MODE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_control_mode_science_elevator_control_mode_decode( + msgStruct.science_elevator_control_mode)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_setJointPosition message packer +bool science_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_science_set_joint_position_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_SET_GENEVA_POSITION: + msgStruct.science_set_geneva_position = + uwrt_mars_rover_can_science_set_joint_position_science_set_geneva_position_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_SET_ELEVATOR_POSITION: + msgStruct.science_set_elevator_position = + uwrt_mars_rover_can_science_set_joint_position_science_set_elevator_position_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_SET_COVER_POSITION: + msgStruct.science_set_cover_position = + uwrt_mars_rover_can_science_set_joint_position_science_set_cover_position_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_SET_SHOVEL_POSITION: + msgStruct.science_set_shovel_position = + uwrt_mars_rover_can_science_set_joint_position_science_set_shovel_position_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_set_joint_position_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_LENGTH; + } + return success; +} + +// SCIENCE_setJointPosition message unpacker +bool science_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_science_set_joint_position_t msgStruct; + + success = (uwrt_mars_rover_can_science_set_joint_position_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_POSITION_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_SET_GENEVA_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_joint_position_science_set_geneva_position_decode( + msgStruct.science_set_geneva_position)); + break; + + case CANSIGNAL::SCIENCE_SET_ELEVATOR_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_position_science_set_elevator_position_decode( + msgStruct.science_set_elevator_position)); + break; + + case CANSIGNAL::SCIENCE_SET_COVER_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_joint_position_science_set_cover_position_decode( + msgStruct.science_set_cover_position)); + break; + + case CANSIGNAL::SCIENCE_SET_SHOVEL_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_joint_position_science_set_shovel_position_decode( + msgStruct.science_set_shovel_position)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_setJointAngularVelocity message packer +bool science_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_science_set_joint_angular_velocity_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_SET_GENEVA_ANGULAR_VELOCITY: + msgStruct.science_set_geneva_angular_velocity = + uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_geneva_angular_velocity_encode( + signalValue); + break; + + case CANSIGNAL::SCIENCE_SET_ELEVATOR_ANGULAR_VELOCITY: + msgStruct.science_set_elevator_angular_velocity = + uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_elevator_angular_velocity_encode( + signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_set_joint_angular_velocity_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_LENGTH; + } + return success; +} + +// SCIENCE_setJointAngularVelocity message unpacker +bool science_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_science_set_joint_angular_velocity_t msgStruct; + + success = (uwrt_mars_rover_can_science_set_joint_angular_velocity_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_SET_GENEVA_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_geneva_angular_velocity_decode( + msgStruct.science_set_geneva_angular_velocity)); + break; + + case CANSIGNAL::SCIENCE_SET_ELEVATOR_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_angular_velocity_science_set_elevator_angular_velocity_decode( + msgStruct.science_set_elevator_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_setJointPIDParams message packer +bool science_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_science_set_joint_pid_params_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_JOINT_PIDID: + msgStruct.science_joint_pidid = + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pidid_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_PROPORTIONAL_GAIN: + msgStruct.science_joint_pid_proportional_gain = + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_proportional_gain_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_INTEGRAL_GAIN: + msgStruct.science_joint_pid_integral_gain = + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_integral_gain_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_DERIVATIVE_GAIN: + msgStruct.science_joint_pid_derivative_gain = + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_derivative_gain_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_DEADZONE: + msgStruct.science_joint_pid_deadzone = + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_deadzone_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_set_joint_pid_params_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_LENGTH; + } + return success; +} + +// SCIENCE_setJointPIDParams message unpacker +bool science_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_science_set_joint_pid_params_t msgStruct; + + success = (uwrt_mars_rover_can_science_set_joint_pid_params_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_SET_JOINT_PID_PARAMS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_JOINT_PIDID: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pidid_decode( + msgStruct.science_joint_pidid)); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_PROPORTIONAL_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_proportional_gain_decode( + msgStruct.science_joint_pid_proportional_gain)); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_INTEGRAL_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_integral_gain_decode( + msgStruct.science_joint_pid_integral_gain)); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_DERIVATIVE_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_derivative_gain_decode( + msgStruct.science_joint_pid_derivative_gain)); + break; + + case CANSIGNAL::SCIENCE_JOINT_PID_DEADZONE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_set_joint_pid_params_science_joint_pid_deadzone_decode( + msgStruct.science_joint_pid_deadzone)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_reportJointData message packer +bool science_report_joint_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_REPORT_JOINT_DATA; + struct uwrt_mars_rover_can_science_report_joint_data_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_REPORT_GENEVA_POSITION: + msgStruct.science_report_geneva_position = + uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_position_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_REPORT_ELEVATOR_POSITION: + msgStruct.science_report_elevator_position = + uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_position_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_REPORT_GENEVA_ANGULAR_VELOCITY: + msgStruct.science_report_geneva_angular_velocity = + uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_angular_velocity_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_REPORT_ELEVATOR_ANGULAR_VELOCITY: + msgStruct.science_report_elevator_angular_velocity = + uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_angular_velocity_encode( + signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_report_joint_data_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_LENGTH; + } + return success; +} + +// SCIENCE_reportJointData message unpacker +bool science_report_joint_data_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_REPORT_JOINT_DATA; + struct uwrt_mars_rover_can_science_report_joint_data_t msgStruct; + + success = (uwrt_mars_rover_can_science_report_joint_data_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_JOINT_DATA_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_REPORT_GENEVA_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_position_decode( + msgStruct.science_report_geneva_position)); + break; + + case CANSIGNAL::SCIENCE_REPORT_ELEVATOR_POSITION: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_position_decode( + msgStruct.science_report_elevator_position)); + break; + + case CANSIGNAL::SCIENCE_REPORT_GENEVA_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_joint_data_science_report_geneva_angular_velocity_decode( + msgStruct.science_report_geneva_angular_velocity)); + break; + + case CANSIGNAL::SCIENCE_REPORT_ELEVATOR_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_joint_data_science_report_elevator_angular_velocity_decode( + msgStruct.science_report_elevator_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_reportSensorData message packer +bool science_report_sensor_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_REPORT_SENSOR_DATA; + struct uwrt_mars_rover_can_science_report_sensor_data_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_MOISTURE_DATA: + msgStruct.science_moisture_data = + uwrt_mars_rover_can_science_report_sensor_data_science_moisture_data_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_TEMPERATURE_DATA: + msgStruct.science_temperature_data = + uwrt_mars_rover_can_science_report_sensor_data_science_temperature_data_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_report_sensor_data_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_LENGTH; + } + return success; +} + +// SCIENCE_reportSensorData message unpacker +bool science_report_sensor_data_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_REPORT_SENSOR_DATA; + struct uwrt_mars_rover_can_science_report_sensor_data_t msgStruct; + + success = (uwrt_mars_rover_can_science_report_sensor_data_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_SENSOR_DATA_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_MOISTURE_DATA: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_sensor_data_science_moisture_data_decode( + msgStruct.science_moisture_data)); + break; + + case CANSIGNAL::SCIENCE_TEMPERATURE_DATA: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_sensor_data_science_temperature_data_decode( + msgStruct.science_temperature_data)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_reportFaults message packer +bool science_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_REPORT_FAULTS; + struct uwrt_mars_rover_can_science_report_faults_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_GENEVA_ENCODER_STATE: + msgStruct.science_geneva_encoder_state = + uwrt_mars_rover_can_science_report_faults_science_geneva_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_ELEVATOR_ENCODER_STATE: + msgStruct.science_elevator_encoder_state = + uwrt_mars_rover_can_science_report_faults_science_elevator_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_MOISTURE_SENSOR_STATE: + msgStruct.science_moisture_sensor_state = + uwrt_mars_rover_can_science_report_faults_science_moisture_sensor_state_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_NUM_CANRX_FAULTS: + msgStruct.science_num_canrx_faults = + uwrt_mars_rover_can_science_report_faults_science_num_canrx_faults_encode(signalValue); + break; + + case CANSIGNAL::SCIENCE_NUM_CANTX_FAULTS: + msgStruct.science_num_cantx_faults = + uwrt_mars_rover_can_science_report_faults_science_num_cantx_faults_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_report_faults_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_LENGTH; + } + return success; +} + +// SCIENCE_reportFaults message unpacker +bool science_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_REPORT_FAULTS; + struct uwrt_mars_rover_can_science_report_faults_t msgStruct; + + success = (uwrt_mars_rover_can_science_report_faults_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_FAULTS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_GENEVA_ENCODER_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_faults_science_geneva_encoder_state_decode( + msgStruct.science_geneva_encoder_state)); + break; + + case CANSIGNAL::SCIENCE_ELEVATOR_ENCODER_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_faults_science_elevator_encoder_state_decode( + msgStruct.science_elevator_encoder_state)); + break; + + case CANSIGNAL::SCIENCE_MOISTURE_SENSOR_STATE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_faults_science_moisture_sensor_state_decode( + msgStruct.science_moisture_sensor_state)); + break; + + case CANSIGNAL::SCIENCE_NUM_CANRX_FAULTS: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_faults_science_num_canrx_faults_decode( + msgStruct.science_num_canrx_faults)); + break; + + case CANSIGNAL::SCIENCE_NUM_CANTX_FAULTS: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_science_report_faults_science_num_cantx_faults_decode( + msgStruct.science_num_cantx_faults)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_reportACK message packer +bool science_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_REPORT_ACK; + struct uwrt_mars_rover_can_science_report_ack_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_ACK: + msgStruct.science_ack = uwrt_mars_rover_can_science_report_ack_science_ack_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= + (uwrt_mars_rover_can_science_report_ack_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_LENGTH; + } + return success; +} + +// SCIENCE_reportACK message unpacker +bool science_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_REPORT_ACK; + struct uwrt_mars_rover_can_science_report_ack_t msgStruct; + + success = (uwrt_mars_rover_can_science_report_ack_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_ACK_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_ACK: + success &= msgMap->setSignalValue( + msgID, signalName, uwrt_mars_rover_can_science_report_ack_science_ack_decode(msgStruct.science_ack)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// SCIENCE_reportDiagnostics message packer +bool science_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::SCIENCE_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_science_report_diagnostics_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::SCIENCE_REPORT_NUM_STREAMED_MSGS_RECEIVED: + msgStruct.science_report_num_streamed_msgs_received = + uwrt_mars_rover_can_science_report_diagnostics_science_report_num_streamed_msgs_received_encode( + signalValue); + break; + + case CANSIGNAL::SCIENCE_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + msgStruct.science_report_num_one_shot_msgs_received = + uwrt_mars_rover_can_science_report_diagnostics_science_report_num_one_shot_msgs_received_encode( + signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_science_report_diagnostics_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_LENGTH) == + UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_LENGTH); + len = UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_LENGTH; + } + return success; +} + +// SCIENCE_reportDiagnostics message unpacker +bool science_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::SCIENCE_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_science_report_diagnostics_t msgStruct; + + success = (uwrt_mars_rover_can_science_report_diagnostics_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_SCIENCE_REPORT_DIAGNOSTICS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::SCIENCE_REPORT_NUM_STREAMED_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_diagnostics_science_report_num_streamed_msgs_received_decode( + msgStruct.science_report_num_streamed_msgs_received)); + break; + + case CANSIGNAL::SCIENCE_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_science_report_diagnostics_science_report_num_one_shot_msgs_received_decode( + msgStruct.science_report_num_one_shot_msgs_received)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_setControlMode message packer +bool gimbal_set_control_mode_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_gimbal_set_control_mode_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_PAN_CONTROL_MODE: + msgStruct.gimbal_pan_control_mode = + uwrt_mars_rover_can_gimbal_set_control_mode_gimbal_pan_control_mode_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_set_control_mode_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_LENGTH; + } + return success; +} + +// GIMBAL_setControlMode message unpacker +bool gimbal_set_control_mode_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_SET_CONTROL_MODE; + struct uwrt_mars_rover_can_gimbal_set_control_mode_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_set_control_mode_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_SET_CONTROL_MODE_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_PAN_CONTROL_MODE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_set_control_mode_gimbal_pan_control_mode_decode( + msgStruct.gimbal_pan_control_mode)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_setJointPosition message packer +bool gimbal_set_joint_position_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_gimbal_set_joint_position_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_SET_PAN_POSITION: + msgStruct.gimbal_set_pan_position = + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pan_position_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_SET_PITCH_POSITION: + msgStruct.gimbal_set_pitch_position = + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pitch_position_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_SET_ROLL_POSITION: + msgStruct.gimbal_set_roll_position = + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_roll_position_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_set_joint_position_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_LENGTH; + } + return success; +} + +// GIMBAL_setJointPosition message unpacker +bool gimbal_set_joint_position_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_SET_JOINT_POSITION; + struct uwrt_mars_rover_can_gimbal_set_joint_position_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_set_joint_position_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_POSITION_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_SET_PAN_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pan_position_decode( + msgStruct.gimbal_set_pan_position)); + break; + + case CANSIGNAL::GIMBAL_SET_PITCH_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_pitch_position_decode( + msgStruct.gimbal_set_pitch_position)); + break; + + case CANSIGNAL::GIMBAL_SET_ROLL_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_position_gimbal_set_roll_position_decode( + msgStruct.gimbal_set_roll_position)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_setJointAngularVelocity message packer +bool gimbal_set_joint_angular_velocity_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_SET_PAN_ANGULAR_VELOCITY: + msgStruct.gimbal_set_pan_angular_velocity = + uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_gimbal_set_pan_angular_velocity_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_LENGTH; + } + return success; +} + +// GIMBAL_setJointAngularVelocity message unpacker +bool gimbal_set_joint_angular_velocity_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_SET_JOINT_ANGULAR_VELOCITY; + struct uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_ANGULAR_VELOCITY_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_SET_PAN_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_angular_velocity_gimbal_set_pan_angular_velocity_decode( + msgStruct.gimbal_set_pan_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_setJointPIDParams message packer +bool gimbal_set_joint_pid_params_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_gimbal_set_joint_pid_params_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_JOINT_PIDID: + msgStruct.gimbal_joint_pidid = + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pidid_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_PROPORTIONAL_GAIN: + msgStruct.gimbal_joint_pid_proportional_gain = + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_proportional_gain_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_INTEGRAL_GAIN: + msgStruct.gimbal_joint_pid_integral_gain = + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_integral_gain_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_DERIVATIVE_GAIN: + msgStruct.gimbal_joint_pid_derivative_gain = + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_derivative_gain_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_DEADZONE: + msgStruct.gimbal_joint_pid_deadzone = + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_deadzone_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_set_joint_pid_params_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_LENGTH; + } + return success; +} + +// GIMBAL_setJointPIDParams message unpacker +bool gimbal_set_joint_pid_params_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_SET_JOINT_PID_PARAMS; + struct uwrt_mars_rover_can_gimbal_set_joint_pid_params_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_set_joint_pid_params_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_SET_JOINT_PID_PARAMS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_JOINT_PIDID: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pidid_decode(msgStruct.gimbal_joint_pidid)); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_PROPORTIONAL_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_proportional_gain_decode( + msgStruct.gimbal_joint_pid_proportional_gain)); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_INTEGRAL_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_integral_gain_decode( + msgStruct.gimbal_joint_pid_integral_gain)); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_DERIVATIVE_GAIN: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_derivative_gain_decode( + msgStruct.gimbal_joint_pid_derivative_gain)); + break; + + case CANSIGNAL::GIMBAL_JOINT_PID_DEADZONE: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_set_joint_pid_params_gimbal_joint_pid_deadzone_decode( + msgStruct.gimbal_joint_pid_deadzone)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_reportJointData message packer +bool gimbal_report_joint_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_REPORT_JOINT_DATA; + struct uwrt_mars_rover_can_gimbal_report_joint_data_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_REPORT_PAN_POSITION: + msgStruct.gimbal_report_pan_position = + uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_position_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_REPORT_PAN_ANGULAR_VELOCITY: + msgStruct.gimbal_report_pan_angular_velocity = + uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_angular_velocity_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_report_joint_data_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_LENGTH; + } + return success; +} + +// GIMBAL_reportJointData message unpacker +bool gimbal_report_joint_data_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_REPORT_JOINT_DATA; + struct uwrt_mars_rover_can_gimbal_report_joint_data_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_report_joint_data_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_JOINT_DATA_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_REPORT_PAN_POSITION: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_position_decode( + msgStruct.gimbal_report_pan_position)); + break; + + case CANSIGNAL::GIMBAL_REPORT_PAN_ANGULAR_VELOCITY: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_report_joint_data_gimbal_report_pan_angular_velocity_decode( + msgStruct.gimbal_report_pan_angular_velocity)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_reportFaults message packer +bool gimbal_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_REPORT_FAULTS; + struct uwrt_mars_rover_can_gimbal_report_faults_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_PAN_ENCODER_STATE: + msgStruct.gimbal_pan_encoder_state = + uwrt_mars_rover_can_gimbal_report_faults_gimbal_pan_encoder_state_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_NUM_CANRX_FAULTS: + msgStruct.gimbal_num_canrx_faults = + uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_canrx_faults_encode(signalValue); + break; + + case CANSIGNAL::GIMBAL_NUM_CANTX_FAULTS: + msgStruct.gimbal_num_cantx_faults = + uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_cantx_faults_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_report_faults_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_LENGTH; + } + return success; +} + +// GIMBAL_reportFaults message unpacker +bool gimbal_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_REPORT_FAULTS; + struct uwrt_mars_rover_can_gimbal_report_faults_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_report_faults_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_FAULTS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_PAN_ENCODER_STATE: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_report_faults_gimbal_pan_encoder_state_decode( + msgStruct.gimbal_pan_encoder_state)); + break; + + case CANSIGNAL::GIMBAL_NUM_CANRX_FAULTS: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_canrx_faults_decode( + msgStruct.gimbal_num_canrx_faults)); + break; + + case CANSIGNAL::GIMBAL_NUM_CANTX_FAULTS: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_gimbal_report_faults_gimbal_num_cantx_faults_decode( + msgStruct.gimbal_num_cantx_faults)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_reportACK message packer +bool gimbal_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_REPORT_ACK; + struct uwrt_mars_rover_can_gimbal_report_ack_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_ACK: + msgStruct.gimbal_ack = uwrt_mars_rover_can_gimbal_report_ack_gimbal_ack_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= + (uwrt_mars_rover_can_gimbal_report_ack_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_LENGTH; + } + return success; +} + +// GIMBAL_reportACK message unpacker +bool gimbal_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_REPORT_ACK; + struct uwrt_mars_rover_can_gimbal_report_ack_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_report_ack_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_ACK_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_ACK: + success &= msgMap->setSignalValue( + msgID, signalName, uwrt_mars_rover_can_gimbal_report_ack_gimbal_ack_decode(msgStruct.gimbal_ack)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// GIMBAL_reportDiagnostics message packer +bool gimbal_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::GIMBAL_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_gimbal_report_diagnostics_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::GIMBAL_REPORT_NUM_STREAMED_MSGS_RECEIVED: + msgStruct.gimbal_report_num_streamed_msgs_received = + uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_streamed_msgs_received_encode( + signalValue); + break; + + case CANSIGNAL::GIMBAL_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + msgStruct.gimbal_report_num_one_shot_msgs_received = + uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_one_shot_msgs_received_encode( + signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_gimbal_report_diagnostics_pack( + raw, &msgStruct, UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_LENGTH) == + UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_LENGTH); + len = UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_LENGTH; + } + return success; +} + +// GIMBAL_reportDiagnostics message unpacker +bool gimbal_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::GIMBAL_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_gimbal_report_diagnostics_t msgStruct; + + success = (uwrt_mars_rover_can_gimbal_report_diagnostics_unpack( + &msgStruct, raw, UWRT_MARS_ROVER_CAN_GIMBAL_REPORT_DIAGNOSTICS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::GIMBAL_REPORT_NUM_STREAMED_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_streamed_msgs_received_decode( + msgStruct.gimbal_report_num_streamed_msgs_received)); + break; + + case CANSIGNAL::GIMBAL_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_gimbal_report_diagnostics_gimbal_report_num_one_shot_msgs_received_decode( + msgStruct.gimbal_report_num_one_shot_msgs_received)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// PDB_setLEDMatrix message packer +bool pdb_set_led_matrix_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::PDB_SET_LED_MATRIX; + struct uwrt_mars_rover_can_pdb_set_led_matrix_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::PDB_LED_MATRIX_STATE: + msgStruct.pdb_led_matrix_state = + uwrt_mars_rover_can_pdb_set_led_matrix_pdb_led_matrix_state_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= + (uwrt_mars_rover_can_pdb_set_led_matrix_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_LENGTH) == + UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_LENGTH); + len = UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_LENGTH; + } + return success; +} + +// PDB_setLEDMatrix message unpacker +bool pdb_set_led_matrix_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::PDB_SET_LED_MATRIX; + struct uwrt_mars_rover_can_pdb_set_led_matrix_t msgStruct; + + success = (uwrt_mars_rover_can_pdb_set_led_matrix_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_PDB_SET_LED_MATRIX_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::PDB_LED_MATRIX_STATE: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_set_led_matrix_pdb_led_matrix_state_decode(msgStruct.pdb_led_matrix_state)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// PDB_reportSensorData message packer +bool pdb_report_sensor_data_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::PDB_REPORT_SENSOR_DATA; + struct uwrt_mars_rover_can_pdb_report_sensor_data_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::PDB_ULTRASONIC_SENSOR1_DATA: + msgStruct.pdb_ultrasonic_sensor1_data = + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor1_data_encode(signalValue); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR2_DATA: + msgStruct.pdb_ultrasonic_sensor2_data = + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor2_data_encode(signalValue); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR3_DATA: + msgStruct.pdb_ultrasonic_sensor3_data = + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor3_data_encode(signalValue); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR4_DATA: + msgStruct.pdb_ultrasonic_sensor4_data = + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor4_data_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_pdb_report_sensor_data_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_LENGTH) == + UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_LENGTH); + len = UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_LENGTH; + } + return success; +} + +// PDB_reportSensorData message unpacker +bool pdb_report_sensor_data_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::PDB_REPORT_SENSOR_DATA; + struct uwrt_mars_rover_can_pdb_report_sensor_data_t msgStruct; + + success = (uwrt_mars_rover_can_pdb_report_sensor_data_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_PDB_REPORT_SENSOR_DATA_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::PDB_ULTRASONIC_SENSOR1_DATA: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor1_data_decode( + msgStruct.pdb_ultrasonic_sensor1_data)); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR2_DATA: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor2_data_decode( + msgStruct.pdb_ultrasonic_sensor2_data)); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR3_DATA: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor3_data_decode( + msgStruct.pdb_ultrasonic_sensor3_data)); + break; + + case CANSIGNAL::PDB_ULTRASONIC_SENSOR4_DATA: + success &= + msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_sensor_data_pdb_ultrasonic_sensor4_data_decode( + msgStruct.pdb_ultrasonic_sensor4_data)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// PDB_reportFaults message packer +bool pdb_report_faults_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::PDB_REPORT_FAULTS; + struct uwrt_mars_rover_can_pdb_report_faults_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::PDB_JETSON_STATUS: + msgStruct.pdb_jetson_status = uwrt_mars_rover_can_pdb_report_faults_pdb_jetson_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_ARM_POWER_STATUS: + msgStruct.pdb_arm_power_status = + uwrt_mars_rover_can_pdb_report_faults_pdb_arm_power_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_SCIENCE_POWER_STATUS: + msgStruct.pdb_science_power_status = + uwrt_mars_rover_can_pdb_report_faults_pdb_science_power_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_GIMBAL_POWER_STATUS: + msgStruct.pdb_gimbal_power_status = + uwrt_mars_rover_can_pdb_report_faults_pdb_gimbal_power_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_VBAT_RAIL_STATUS: + msgStruct.pdb_vbat_rail_status = + uwrt_mars_rover_can_pdb_report_faults_pdb_vbat_rail_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_17_V_RAIL_STATUS: + msgStruct.pdb_17_v_rail_status = + uwrt_mars_rover_can_pdb_report_faults_pdb_17_v_rail_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_5_V_RAIL_STATUS: + msgStruct.pdb_5_v_rail_status = uwrt_mars_rover_can_pdb_report_faults_pdb_5_v_rail_status_encode(signalValue); + break; + + case CANSIGNAL::PDB_NUM_CANRX_FAULTS: + msgStruct.pdb_num_canrx_faults = + uwrt_mars_rover_can_pdb_report_faults_pdb_num_canrx_faults_encode(signalValue); + break; + + case CANSIGNAL::PDB_NUM_CANTX_FAULTS: + msgStruct.pdb_num_cantx_faults = + uwrt_mars_rover_can_pdb_report_faults_pdb_num_cantx_faults_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= + (uwrt_mars_rover_can_pdb_report_faults_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_LENGTH) == + UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_LENGTH); + len = UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_LENGTH; + } + return success; +} + +// PDB_reportFaults message unpacker +bool pdb_report_faults_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::PDB_REPORT_FAULTS; + struct uwrt_mars_rover_can_pdb_report_faults_t msgStruct; + + success = (uwrt_mars_rover_can_pdb_report_faults_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_PDB_REPORT_FAULTS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::PDB_JETSON_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_jetson_status_decode(msgStruct.pdb_jetson_status)); + break; + + case CANSIGNAL::PDB_ARM_POWER_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_arm_power_status_decode(msgStruct.pdb_arm_power_status)); + break; + + case CANSIGNAL::PDB_SCIENCE_POWER_STATUS: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_science_power_status_decode( + msgStruct.pdb_science_power_status)); + break; + + case CANSIGNAL::PDB_GIMBAL_POWER_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_gimbal_power_status_decode(msgStruct.pdb_gimbal_power_status)); + break; + + case CANSIGNAL::PDB_VBAT_RAIL_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_vbat_rail_status_decode(msgStruct.pdb_vbat_rail_status)); + break; + + case CANSIGNAL::PDB_17_V_RAIL_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_17_v_rail_status_decode(msgStruct.pdb_17_v_rail_status)); + break; + + case CANSIGNAL::PDB_5_V_RAIL_STATUS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_5_v_rail_status_decode(msgStruct.pdb_5_v_rail_status)); + break; + + case CANSIGNAL::PDB_NUM_CANRX_FAULTS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_num_canrx_faults_decode(msgStruct.pdb_num_canrx_faults)); + break; + + case CANSIGNAL::PDB_NUM_CANTX_FAULTS: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_faults_pdb_num_cantx_faults_decode(msgStruct.pdb_num_cantx_faults)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// PDB_reportACK message packer +bool pdb_report_ack_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::PDB_REPORT_ACK; + struct uwrt_mars_rover_can_pdb_report_ack_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::PDB_ACK: + msgStruct.pdb_ack = uwrt_mars_rover_can_pdb_report_ack_pdb_ack_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_pdb_report_ack_pack(raw, &msgStruct, UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_LENGTH) == + UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_LENGTH); + len = UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_LENGTH; + } + return success; +} + +// PDB_reportACK message unpacker +bool pdb_report_ack_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::PDB_REPORT_ACK; + struct uwrt_mars_rover_can_pdb_report_ack_t msgStruct; + + success = + (uwrt_mars_rover_can_pdb_report_ack_unpack(&msgStruct, raw, UWRT_MARS_ROVER_CAN_PDB_REPORT_ACK_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::PDB_ACK: + success &= msgMap->setSignalValue(msgID, signalName, + uwrt_mars_rover_can_pdb_report_ack_pdb_ack_decode(msgStruct.pdb_ack)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// PDB_reportDiagnostics message packer +bool pdb_report_diagnostics_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::PDB_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_pdb_report_diagnostics_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::PDB_REPORT_NUM_STREAMED_MSGS_RECEIVED: + msgStruct.pdb_report_num_streamed_msgs_received = + uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_streamed_msgs_received_encode(signalValue); + break; + + case CANSIGNAL::PDB_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + msgStruct.pdb_report_num_one_shot_msgs_received = + uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_one_shot_msgs_received_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_pdb_report_diagnostics_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_LENGTH) == + UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_LENGTH); + len = UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_LENGTH; + } + return success; +} + +// PDB_reportDiagnostics message unpacker +bool pdb_report_diagnostics_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::PDB_REPORT_DIAGNOSTICS; + struct uwrt_mars_rover_can_pdb_report_diagnostics_t msgStruct; + + success = (uwrt_mars_rover_can_pdb_report_diagnostics_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_PDB_REPORT_DIAGNOSTICS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::PDB_REPORT_NUM_STREAMED_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_streamed_msgs_received_decode( + msgStruct.pdb_report_num_streamed_msgs_received)); + break; + + case CANSIGNAL::PDB_REPORT_NUM_ONE_SHOT_MSGS_RECEIVED: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_pdb_report_diagnostics_pdb_report_num_one_shot_msgs_received_decode( + msgStruct.pdb_report_num_one_shot_msgs_received)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// COMMON_switchCANBus message packer +bool common_switch_can_bus_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::COMMON_SWITCH_CAN_BUS; + struct uwrt_mars_rover_can_common_switch_can_bus_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::COMMON_CAN_BUS_ID: + msgStruct.common_can_bus_id = uwrt_mars_rover_can_common_switch_can_bus_common_can_bus_id_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_common_switch_can_bus_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_LENGTH) == + UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_LENGTH); + len = UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_LENGTH; + } + return success; +} + +// COMMON_switchCANBus message unpacker +bool common_switch_can_bus_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::COMMON_SWITCH_CAN_BUS; + struct uwrt_mars_rover_can_common_switch_can_bus_t msgStruct; + + success = (uwrt_mars_rover_can_common_switch_can_bus_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_COMMON_SWITCH_CAN_BUS_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::COMMON_CAN_BUS_ID: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_common_switch_can_bus_common_can_bus_id_decode(msgStruct.common_can_bus_id)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// COMMON_debugMessage1 message packer +bool common_debug_message1_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE1; + struct uwrt_mars_rover_can_common_debug_message1_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL1: + msgStruct.common_debug_signal1 = + uwrt_mars_rover_can_common_debug_message1_common_debug_signal1_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_common_debug_message1_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_LENGTH) == + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_LENGTH); + len = UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_LENGTH; + } + return success; +} + +// COMMON_debugMessage1 message unpacker +bool common_debug_message1_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE1; + struct uwrt_mars_rover_can_common_debug_message1_t msgStruct; + + success = (uwrt_mars_rover_can_common_debug_message1_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE1_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL1: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_common_debug_message1_common_debug_signal1_decode(msgStruct.common_debug_signal1)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// COMMON_debugMessage2 message packer +bool common_debug_message2_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE2; + struct uwrt_mars_rover_can_common_debug_message2_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL2: + msgStruct.common_debug_signal2 = + uwrt_mars_rover_can_common_debug_message2_common_debug_signal2_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_common_debug_message2_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_LENGTH) == + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_LENGTH); + len = UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_LENGTH; + } + return success; +} + +// COMMON_debugMessage2 message unpacker +bool common_debug_message2_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE2; + struct uwrt_mars_rover_can_common_debug_message2_t msgStruct; + + success = (uwrt_mars_rover_can_common_debug_message2_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE2_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL2: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_common_debug_message2_common_debug_signal2_decode(msgStruct.common_debug_signal2)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} + +// COMMON_debugMessage3 message packer +bool common_debug_message3_packer(uint8_t* raw, const CANMsgMap* msgMap, size_t& len) { + bool success = true; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE3; + struct uwrt_mars_rover_can_common_debug_message3_t msgStruct; + + if (msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + CANSignalValue_t signalValue = it->second; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL3: + msgStruct.common_debug_signal3 = + uwrt_mars_rover_can_common_debug_message3_common_debug_signal3_encode(signalValue); + break; + + default: + success = false; + break; + } + } + success &= (uwrt_mars_rover_can_common_debug_message3_pack(raw, &msgStruct, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_LENGTH) == + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_LENGTH); + len = UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_LENGTH; + } + return success; +} + +// COMMON_debugMessage3 message unpacker +bool common_debug_message3_unpacker(uint8_t* raw, CANMsgMap* msgMap) { + bool success = false; + CANID msgID = CANID::COMMON_DEBUG_MESSAGE3; + struct uwrt_mars_rover_can_common_debug_message3_t msgStruct; + + success = (uwrt_mars_rover_can_common_debug_message3_unpack(&msgStruct, raw, + UWRT_MARS_ROVER_CAN_COMMON_DEBUG_MESSAGE3_LENGTH) == 0); + + if (success && msgMap->contains(msgID)) { + for (auto it = msgMap->at(msgID).begin(); it != msgMap->at(msgID).end(); it++) { + CANSIGNAL signalName = it->first; + + switch (signalName) { + case CANSIGNAL::COMMON_DEBUG_SIGNAL3: + success &= msgMap->setSignalValue( + msgID, signalName, + uwrt_mars_rover_can_common_debug_message3_common_debug_signal3_decode(msgStruct.common_debug_signal3)); + break; + + default: + success = false; + break; + } + } + } + + return success; +} diff --git a/uwrt_mars_rover_utilities/src/uwrt_can.cpp b/uwrt_mars_rover_utilities/src/uwrt_can.cpp new file mode 100644 index 00000000..ddfaa8c5 --- /dev/null +++ b/uwrt_mars_rover_utilities/src/uwrt_can.cpp @@ -0,0 +1,156 @@ +#include "rclcpp/rclcpp.hpp" +#include +#include +#include +// #include + +namespace uwrt_mars_rover_utilities { + + // static constexpr need to be declared again in cpp file (fixed in c++17) + constexpr std::chrono::milliseconds UWRTCANWrapper::MUTEX_LOCK_TIMEOUT; + + UWRTCANWrapper::UWRTCANWrapper(std::string name, std::string interface_name, bool rcv_big_endian, int thread_sleep_millis) + : name_(std::move(name)), + logger_(rclcpp::get_logger(name_)), + interface_name_(std::move(interface_name)), + rcv_endianness_(rcv_big_endian ? __ORDER_BIG_ENDIAN__ : __ORDER_LITTLE_ENDIAN__), + thread_sleep_millis_(std::chrono::milliseconds(thread_sleep_millis)) {} + + // NOLINTNEXTLINE(performance-noexcept-move-constructor, bugprone-exception-escape) + UWRTCANWrapper::UWRTCANWrapper(UWRTCANWrapper&& to_move) + : name_(std::move(to_move.name_)), + logger_(std::move(to_move.logger_)), + interface_name_(std::move(to_move.interface_name_)), + initialized_(to_move.initialized_), + rcv_endianness_(to_move.rcv_endianness_), + thread_sleep_millis_(std::chrono::milliseconds(to_move.thread_sleep_millis_)) { + + // if to_move has been initialized, move over other variables + if (initialized_) { + socket_handle_ = to_move.socket_handle_; + sock_addr_ = to_move.sock_addr_; + ifr_ = to_move.ifr_; + + read_thread_ = std::thread(std::move(to_move.read_thread_)); + read_thread_running_ = to_move.read_thread_running_; + if (!std::unique_lock(to_move.recv_map_mtx_, MUTEX_LOCK_TIMEOUT)) { + throw std::runtime_error("Timed out while trying to lock vector mutex in " __FILE__); + } + recv_map_ = std::move(to_move.recv_map_); + } + } + + // NOLINTNEXTLINE(performance-noexcept-move-constructor, bugprone-exception-escape) + UWRTCANWrapper& UWRTCANWrapper::operator=(UWRTCANWrapper&& to_move) { + if (this != &to_move) { + // move constructor variables + name_ = std::move(to_move.name_); + interface_name_ = std::move(to_move.interface_name_); + rcv_endianness_ = to_move.rcv_endianness_; + thread_sleep_millis_ = to_move.thread_sleep_millis_; + logger_ = std::move(to_move.logger_); + + // stop our thread + read_thread_running_ = false; + if (read_thread_.joinable()) { + read_thread_.join(); + } + + // if to_move has been initialized, move over other variables + initialized_ = to_move.initialized_; + if (initialized_) { + socket_handle_ = to_move.socket_handle_; + sock_addr_ = to_move.sock_addr_; + ifr_ = to_move.ifr_; + + read_thread_ = std::thread(std::move(to_move.read_thread_)); + read_thread_running_ = to_move.read_thread_running_; + if (!std::unique_lock(to_move.recv_map_mtx_, MUTEX_LOCK_TIMEOUT)) { + throw std::runtime_error("Timed out while trying to lock vector mutex in " __FILE__); + } + recv_map_ = std::move(to_move.recv_map_); + } + } + + return *this; + } + + UWRTCANWrapper::~UWRTCANWrapper() { + read_thread_running_ = false; + if (read_thread_.joinable()) { + read_thread_.join(); + } + } + + void UWRTCANWrapper::init(const std::vector& ids) { + // if already initialized, stop the thread and clear rcv map + if (initialized_) { + initialized_ = false; + if (read_thread_.joinable()) { + read_thread_.join(); + } + recv_map_.clear(); + } + + // set up can socket + socket_handle_ = socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (socket_handle_ < 0) { + throw std::runtime_error("Failed to set up a socket for CAN in " __FILE__); + } + strcpy(ifr_.ifr_name, interface_name_.c_str()); + ioctl(socket_handle_, SIOCGIFINDEX, &ifr_); + sock_addr_.can_family = AF_CAN; + sock_addr_.can_ifindex = ifr_.ifr_ifindex; + + // set software filters on can_id + std::vector filters; + filters.resize(ids.size()); + for (int i = 0; i < ids.size(); i++) { + filters[i].can_id = (canid_t)ids[i]; + filters[i].can_mask = (CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK); + } + setsockopt(socket_handle_, SOL_CAN_RAW, CAN_RAW_FILTER, filters.data(), sizeof(struct can_filter) * filters.size()); + + // set read timeout to be very small, so it's not blocking + struct timeval timeout {}; + timeout.tv_usec = 1; + setsockopt(socket_handle_, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)); + + // finally bind can socket to can addr + // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast) + if (bind(socket_handle_, reinterpret_cast(&sock_addr_), sizeof(sock_addr_)) < 0) { + throw std::runtime_error("Failed to bind can device to socket in " __FILE__); + } + + // start read thread + read_thread_running_ = true; + read_thread_ = std::thread(&UWRTCANWrapper::readSocketTask, this); + initialized_ = true; + } + + void UWRTCANWrapper::readSocketTask() { + struct can_frame frame {}; + int bytes_read; + + while (read_thread_running_) { + // keep performing read until buffer is emptied + do { + bytes_read = recv(socket_handle_, &frame, sizeof(struct can_frame), 0); + if (bytes_read == sizeof(struct can_frame)) { + if (!recv_map_mtx_.try_lock_for(MUTEX_LOCK_TIMEOUT)) { + RCLCPP_WARN(logger_, "CAN wrapper failed to lock mutex, resulting in a lost CAN frame!"); + break; + } + recv_map_[frame.can_id] = frame; + recv_map_mtx_.unlock(); + } else if (bytes_read < 0 && errno != EWOULDBLOCK) { + RCLCPP_WARN_STREAM(logger_, "CAN wrapper failed to recieve CAN message because: " << strerror(errno)); + } + } while (bytes_read == sizeof(struct can_frame)); + + // buffer is emptied, lets wait + std::this_thread::sleep_for(thread_sleep_millis_); + } + } + +} // namespace uwrt_mars_rover_utilities diff --git a/uwrt_mars_rover_utilities/src/uwrt_can_test_node.cpp b/uwrt_mars_rover_utilities/src/uwrt_can_test_node.cpp new file mode 100644 index 00000000..b9fe4477 --- /dev/null +++ b/uwrt_mars_rover_utilities/src/uwrt_can_test_node.cpp @@ -0,0 +1,125 @@ +#include +#include +#include +#include + +/** + * Tests the uwrt_can class. + * This node is a subscriber that receives messages from a topic and writes them onto the CAN bus. + * It also has a timer that will periodically read and log messages from the CAN bus. + */ + +// ids +static constexpr uint32_t FLOAT_READ_ID1 = 0x029; +static constexpr uint32_t FLOAT_READ_ID2 = 0x002; +static constexpr uint32_t UINT_READ_ID1 = 0x003; +static constexpr uint32_t UINT_READ_ID2 = 0x004; +static constexpr uint32_t FLOAT_WRITE_ID = 0x02d; +static constexpr uint32_t UINT_WRITE_ID = 0x006; + +// ros constants +static constexpr int TOPIC_BUFFER_SIZE = 10; +static constexpr int LOOP_RATE = 10; + +using namespace std::chrono_literals; + +struct TwoFloats{ + float a, b; +}; + +class CanTestNode : public rclcpp::Node { + + // two CAN_wrappers to make sure we can create multiple + uwrt_mars_rover_utilities::UWRTCANWrapper can_wrapper_int; // NOLINT(readability-identifier-naming) + uwrt_mars_rover_utilities::UWRTCANWrapper can_wrapper_float; // NOLINT(readability-identifier-naming) + + // Subscriptions + rclcpp::Subscription::SharedPtr subscription_uint; + rclcpp::Subscription::SharedPtr subscription_float; + + // Vectors that hold the float ids and uint ids for reading + std::vector float_ids {FLOAT_READ_ID1, FLOAT_READ_ID2}; + std::vector uint_ids {UINT_READ_ID1, UINT_READ_ID2}; + + // Timer to periodically read from CAN bus + rclcpp::TimerBase::SharedPtr timer; + + // callback to get new float from topic, and send it over CAN + void sendCanFloatCallback(const std_msgs::msg::Float32::SharedPtr data) { + auto msg = (float)data->data; + if (can_wrapper_float.writeToID(msg, FLOAT_WRITE_ID)) { + RCLCPP_INFO(this->get_logger(), "Successfully sent float msg '%f'", msg); + } else { + RCLCPP_INFO(this->get_logger(), "Failed to send float msg '%f'", msg); + } + } + + // callback to get new int from topic, and send it over CAN + void sendCanUIntCallback(const std_msgs::msg::UInt32::SharedPtr data) { + auto msg = (uint32_t)data->data; + if (can_wrapper_int.writeToID(msg, UINT_WRITE_ID)) { + RCLCPP_INFO(this->get_logger(), "Successfully sent uint32_t msg '%d' to id 0x06", msg); + } else { + RCLCPP_INFO(this->get_logger(), "Failed to send uint32_t msg '%d' to id 0x06", msg); + } + } + + // Read can messages from the CAN bus, this function will be called periodically + void readCanMessages() { + // try and read float ids + for (const auto& id : float_ids) { + TwoFloats data; + if (can_wrapper_float.getLatestFromID(data, id)) { + RCLCPP_INFO(this->get_logger(), "Successfully read float msg '%f' from id '%d'", data.b, id); + } + } + + // try and read uint ids + for (const auto& id : uint_ids) { + uint32_t data; + if (can_wrapper_int.getLatestFromID(data, id)) { + RCLCPP_INFO(this->get_logger(), "Successfully read uint32_t msg '%d' from id '%d'", data, id); + } + } + } + +public: + CanTestNode() : Node("can_test_node") { + // Get the can interface name from the launch parameters + this->declare_parameter("CAN_interface"); + rclcpp::Parameter interface_param = this->get_parameter("CAN_interface"); + std::string can_interface; + can_interface = interface_param.as_string(); + + // Note: you can set launch parameters as command line arguments: + // ros2 run uwrt_mars_rover_utilities uwrt_can_test_node --ros-args -p CAN_interface:="can0" + + // create the two CAN wrappers + // "can_test_int" and "can_test_float" are the topic names + can_wrapper_int = uwrt_mars_rover_utilities::UWRTCANWrapper("can_test_int", can_interface, false); + can_wrapper_float = uwrt_mars_rover_utilities::UWRTCANWrapper("can_test_float", can_interface, false); + + // initialize the CAN wrappers with the proper IDs + can_wrapper_int.init(uint_ids); + can_wrapper_float.init(float_ids); + + // create subscribers + subscription_uint = this->create_subscription( + "can_test_uint", TOPIC_BUFFER_SIZE, std::bind(&CanTestNode::sendCanUIntCallback, this, std::placeholders::_1)); + subscription_float = this->create_subscription( + "can_test_float", TOPIC_BUFFER_SIZE, std::bind(&CanTestNode::sendCanFloatCallback, this, std::placeholders::_1)); + + // Now, we need to create a timer to periodically read from the CAN bus + // This timer will call the readCanMessages function + + // create and run the timer + timer = this->create_wall_timer(10ms, std::bind(&CanTestNode::readCanMessages, this)); + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/uwrt_mars_rover_utilities/src/uwrt_params.cpp b/uwrt_mars_rover_utilities/src/uwrt_params.cpp new file mode 100644 index 00000000..d2d53f58 --- /dev/null +++ b/uwrt_mars_rover_utilities/src/uwrt_params.cpp @@ -0,0 +1,33 @@ +#include +#include + +namespace uwrt_mars_rover_utils { + + std::string getLoggerName(ros::NodeHandle& nh) { + const std::string& nh_namespace{nh.getNamespace()}; + std::size_t start_of_name_index = nh_namespace.rfind('/') + 1; + + std::string logger_name = nh_namespace.substr(start_of_name_index); + if (logger_name.empty()) { + static unsigned int number_of_unnamed_loggers = 0; + std::string fallback_logger_name{"UNNAMED_LOGGER_" + std::to_string(number_of_unnamed_loggers)}; + ROS_ERROR_STREAM_NAMED("uwrt_params", + "Failed to construct a valid logger name from NodeHandle. Using fallback of \"" + << fallback_logger_name << "\""); + + logger_name = fallback_logger_name; + number_of_unnamed_loggers++; + } + + return logger_name; + } + + std::string getLoggerName() { + std::string logger_name = ros::this_node::getName(); + std::size_t start_of_name_index = logger_name.rfind('/') + 1; + logger_name = logger_name.substr(start_of_name_index); + + return logger_name; + } + +} // namespace uwrt_mars_rover_utils From a3a9896bf472341856f5d881967c987a586bae47 Mon Sep 17 00:00:00 2001 From: nick-palmar Date: Thu, 6 Jul 2023 22:28:23 -0400 Subject: [PATCH 02/31] remove stale comments --- ...rt_mars_rover_drivetrain_hw_actuator_interface.cpp | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp index fce1087f..2db5ebab 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp @@ -163,11 +163,6 @@ hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read TwoFloats encoder_readings; drivetrain_can_wrapper_.getLatestFromID(encoder_readings, get_encoder_estimates_id_); - // Sketchy, not tested yet, copy this into two floats - // std::memcpy(&actuator_state_position, &encoderEstimates, sizeof(actuator_state_position)); - // std::memcpy(&actuator_state_velocity, &encoderEstimates[4], sizeof(actuator_state_velocity)); - // TODO (npalmar): confirm the order of reading is correct (might be backwards) - // ignore garbage if we get garbage (seems to work well) if (encoder_readings.a > 0.1) { @@ -178,12 +173,6 @@ hardware_interface::return_type UWRTMarsRoverDrivetrainHWActuatorInterface::read actuator_state_velocity_ = (double) encoder_readings.b; } - // TwoFloats iq_current; - // drivetrain_can_wrapper_.getLatestFromID(iq_current, actuator_state_iq_current_address_); - // TODO (by Colin) I think we want the last 4 bytes (measured IQ) on the above line, that should be read into float - // std::memcpy(&actuator_state_iq_current, &iq_current[4], sizeof(actuator_state_iq_current)); - // actuator_state_iq_current_ = (double) iq_current.b; - RCLCPP_DEBUG_STREAM(logger_, "Actuator Position: " << actuator_state_position_ << " Actuator Velocity: " << actuator_state_velocity_); // << " Actuator IQ Current: " << actuator_state_iq_current_); From 801694650299981f7e93c3fc14329c793fde41db Mon Sep 17 00:00:00 2001 From: Nafis Molla <37641864+NafisMolla@users.noreply.github.com> Date: Sun, 9 Jul 2023 10:18:01 -0400 Subject: [PATCH 03/31] GAZEBO RUNNING (#249) Nafis and Nico: * loaded into gazebo --- .../config/physical_parameters.yaml | 1 + .../launch/gazebo.launch.py | 56 +++++++++++++++++++ .../urdf/drivetrain.macro.xacro | 29 +++++++++- .../urdf/drivetrain.urdf.xacro | 2 +- 4 files changed, 86 insertions(+), 2 deletions(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/physical_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/physical_parameters.yaml index b3c5a65d..b8ec8378 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/physical_parameters.yaml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/physical_parameters.yaml @@ -2,6 +2,7 @@ chassis: length: 1.17 width: 0.807 height: 0.2 + mass: 20 #assuming 20kg wheels: # Should match values defined in uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py new file mode 100644 index 00000000..7b736be3 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py @@ -0,0 +1,56 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +from launch_ros.actions import Node +import xacro + + +def generate_launch_description(): + + # Specify the name of the package and path to xacro file within the package + pkg_name = 'uwrt_mars_rover_drivetrain_description' + file_subpath = 'urdf/drivetrain.urdf.xacro' + + + # Use xacro to process the file + xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath) + robot_description_raw = xacro.process_file(xacro_file).toxml() + + + # Configure the node + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[{'robot_description': robot_description_raw, + 'use_sim_time': True}] # add other parameters here if required + ) + + + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + ) + + + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'my_bot'], + output='screen') + + + + + + + # Run the node + return LaunchDescription([ + gazebo, + node_robot_state_publisher, + spawn_entity + ]) \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro index bf94a90b..cfc26de4 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro @@ -13,11 +13,18 @@ + + + + + + + @@ -34,6 +41,26 @@ + + + + + + + + + + + + + + @@ -60,7 +87,7 @@ - + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro index 7b7c7c27..9225e7f3 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro @@ -29,7 +29,7 @@ - + From d9173921ee432b73e6e0561a59b52618d20f9ba2 Mon Sep 17 00:00:00 2001 From: meshvaD <79111376+meshvaD@users.noreply.github.com> Date: Thu, 28 Sep 2023 20:40:32 -0400 Subject: [PATCH 04/31] PERCEPTION: Setting up sensors (#252) * add macros to simulate sensors * add more params to yaml * add lidar at front --- .../CMakeLists.txt | 2 + .../config/sensor_parameters.yaml | 76 ++++++ .../launch/gazebo.launch.py | 5 +- .../package.xml | 1 + .../urdf/drivetrain.urdf.xacro | 16 ++ .../urdf/sensors.macro.xacro | 113 ++++++++ .../world/my_world.sdf | 242 ++++++++++++++++++ 7 files changed, 454 insertions(+), 1 deletion(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/world/my_world.sdf diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt index 95d8abea..bf5c1967 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(uwrt_mars_rover_drivetrain_description) find_package(ament_cmake REQUIRED) +find_package(sensor_msgs REQUIRED) install( DIRECTORY @@ -9,6 +10,7 @@ install( launch rviz urdf + world DESTINATION share/${PROJECT_NAME} ) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml new file mode 100644 index 00000000..2f6e79cb --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml @@ -0,0 +1,76 @@ +depth_camera: + camera1: + dim: + length: 0.05 + width: 0.05 + height: 0.05 + parent_link: chassis + offset: + x: 0.61 + y: 0 + z: 0 + + r_rot: 0 + p_rot: 0 + y_rot: 0 + camera_properties: + horizontal_fov: 1.047198 + image: + width: 640 + height: 480 + format: R8G8B8 + clip: + near: 0.05 + far: 3 + + camera2: + dim: + length: 0.05 + width: 0.05 + height: 0.05 + parent_link: chassis + offset: + x: -0.61 + y: 0 + z: 0 + + r_rot: 0 + p_rot: 0 + y_rot: 3.14159265359 + camera_properties: + horizontal_fov: 1.047198 + image: + width: 640 + height: 480 + format: R8G8B8 + clip: + near: 0.05 + far: 3 + +lidar: + lidar1: + dim: + length: 0.05 + width: 0.05 + height: 0.05 + parent_link: chassis + offset: + x: 0.61 + y: 0 + z: 0.1 + + r_rot: 0 + p_rot: 0 + y_rot: 0 + + lidar_properties: + update_rate: 5 + scan: + samples: 360 + resolution: 1.000000 + min_angle: 0.000000 + max_angle: 6.280000 + range: + min: 0.120000 + max: 3.5 + resolution: 0.015000 diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py index 7b736be3..a8e71f59 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py @@ -6,6 +6,7 @@ from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare import xacro @@ -15,6 +16,8 @@ def generate_launch_description(): pkg_name = 'uwrt_mars_rover_drivetrain_description' file_subpath = 'urdf/drivetrain.urdf.xacro' + pkg_share = FindPackageShare(package=pkg_name).find(pkg_name) + world_path=os.path.join(pkg_share, 'world/my_world.sdf') # Use xacro to process the file xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath) @@ -53,4 +56,4 @@ def generate_launch_description(): gazebo, node_robot_state_publisher, spawn_entity - ]) \ No newline at end of file + ]) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml index edcfff59..229c4cca 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml @@ -20,6 +20,7 @@ ros2launch rviz2 xacro + sensor_msgs ament_cmake_flake8 ament_cmake_xmllint diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro index 9225e7f3..897b1cdd 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro @@ -2,10 +2,13 @@ + + + @@ -40,4 +43,17 @@ + + + + + + + + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro new file mode 100644 index 00000000..31da8895 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro @@ -0,0 +1,113 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 30.0 + + ${camera_props['horizontal_fov']} + + ${camera_props['image']['width']} + ${camera_props['image']['height']} + ${camera_props['image']['format']} + + + ${camera_props['clip']['near']} + ${camera_props['clip']['far']} + + + + ${camera_link_name} + ${camera_link_name}_ir/image_raw + ${camera_link_name}_ir/camera_info + ${camera_link_name}_depth/image_raw + ${camera_link_name}_depth/camera_info + ${camera_link_name}_depth/points + ${camera_link_name}_optical_frame + + 0.2 + true + 0.0 + camera_depth_frame + 0.5 + 3.0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + true + true + ${lidar_props['update_rate']} + + + + ${lidar_props['scan']['samples']} + ${lidar_props['scan']['resolution']} + ${lidar_props['scan']['min_angle']} + ${lidar_props['scan']['max_angle']} + + + + ${lidar_props['range']['min']} + ${lidar_props['range']['max']} + ${lidar_props['range']['resolution']} + + + gaussian + 0.0 + 0.01 + + + + sensor_msgs/LaserScan + ${lidar_link_name} + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/world/my_world.sdf b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/world/my_world.sdf new file mode 100644 index 00000000..4348150e --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/world/my_world.sdf @@ -0,0 +1,242 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 1.51271 -0.181418 0.5 0 -0 0 + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + + + + 1 1 1 + + + 10 + + + + + + + + + + + + + + + + + 1 1 1 + + + + + + + 0 + 0 + 0 + + + + -1.89496 2.36764 0.5 0 -0 0 + + + 1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + 0 0 0 0 -0 0 + + + + + 0.5 + + + 10 + + + + + + + + + + + + + + + + + 0.5 + + + + + + + 0 + 0 + 0 + + + + 0 0 + 0 0 + 1626668720 808592627 + 0 + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 1.51272 -0.181418 0.499995 0 1e-05 0 + 1 1 1 + + 1.51272 -0.181418 0.499995 0 1e-05 0 + 0 0 0 0 -0 0 + 0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05 + 0.010615 -0.006191 -9.78231 0 -0 0 + + + + -0.725833 1.36206 0.5 0 -0 0 + 1 1 1 + + -0.944955 1.09802 0.5 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + 3.17226 -5.10401 6.58845 0 0.739643 2.19219 + orbit + perspective + + + + From 84509719a020917a2db01ed04233aa895b40ee1f Mon Sep 17 00:00:00 2001 From: Nafis Molla Date: Tue, 3 Oct 2023 19:08:40 -0400 Subject: [PATCH 05/31] cherry picked commit into sim 2024 --- .gitignore | 3 + .../launch/gazebo.launch.py | 128 +++++++++++++----- .../launch/gazebo2.launch.py | 94 +++++++++++++ .../package.xml | 18 +++ .../urdf/drivetrain.macro.xacro | 30 ++-- .../urdf/drivetrain.ros2control.xacro | 18 +-- .../urdf/drivetrain.ros2controlgazebo.xacro | 34 +++++ .../urdf/drivetrain.urdf.xacro | 29 ++-- .../config/drivetrain_controllers.yaml | 2 +- .../launch/drivetrain.launch.py | 2 +- .../uwrt_mars_rover_drivetrain_hw/package.xml | 2 + 11 files changed, 298 insertions(+), 62 deletions(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo2.launch.py create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2controlgazebo.xacro diff --git a/.gitignore b/.gitignore index c35ace7c..2f2d9223 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,8 @@ devel/ bin/ +build/ +install/ +log/ msg_gen/ srv_gen/ msg/*Action.msg diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py index a8e71f59..c89da6f1 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py @@ -3,57 +3,115 @@ from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource - - from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare import xacro -def generate_launch_description(): - - # Specify the name of the package and path to xacro file within the package - pkg_name = 'uwrt_mars_rover_drivetrain_description' - file_subpath = 'urdf/drivetrain.urdf.xacro' - - pkg_share = FindPackageShare(package=pkg_name).find(pkg_name) - world_path=os.path.join(pkg_share, 'world/my_world.sdf') - - # Use xacro to process the file - xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath) - robot_description_raw = xacro.process_file(xacro_file).toxml() - - - # Configure the node - node_robot_state_publisher = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - output='screen', - parameters=[{'robot_description': robot_description_raw, - 'use_sim_time': True}] # add other parameters here if required - ) - +from ament_index_python.packages import get_package_share_path +from launch.actions import RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command +from launch_ros.parameter_descriptions import ParameterValue +def generate_launch_description(): + #this is launching gazebo gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), ) - spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', - arguments=['-topic', 'robot_description', - '-entity', 'my_bot'], - output='screen') + arguments=['-topic', 'robot_description', + '-entity', 'my_bot'], + output='screen') + #------------------------------------------------------------------------------------- + + + drivetrain_description_package_path = get_package_share_path('uwrt_mars_rover_drivetrain_description') + model_path = drivetrain_description_package_path / 'urdf' / 'drivetrain.urdf.xacro' + rviz_config_path = drivetrain_description_package_path / 'rviz' / 'urdf.rviz' + controllers_config_path = get_package_share_path( + 'uwrt_mars_rover_drivetrain_hw') / 'config' / 'drivetrain_controllers.yaml' + + robot_description_content = ParameterValue(Command(['ros2 run xacro xacro ', str(model_path)]), value_type=str) + robot_description = {'robot_description': robot_description_content} + + # Nodes + nodes = [] + nodes += [gazebo] + nodes += [spawn_entity] + + nodes += [Node( + package='controller_manager', + executable='ros2_control_node', + parameters=[robot_description, controllers_config_path], + output={ + 'stdout': 'screen', + 'stderr': 'screen', + }, + )] # TODO: use custom control node w/ RT scheduling(port from ros1 uwrt_mars_rover branch) + + nodes += [Node( + package='controller_manager', + executable='ros2_control_node', + parameters=[robot_description, controllers_config_path], + output={ + 'stdout': 'screen', + 'stderr': 'screen', + }, + )] # TODO: use custom control node w/ RT scheduling(port from ros1 uwrt_mars_rover branch) + + nodes += [Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='both', + parameters=[robot_description], + remappings=[ + ("/differential_drivetrain_controller/cmd_vel_unstamped", "/cmd_vel"), + ], + )] + + nodes += [joint_state_broadcaster_spawner := Node( + package='controller_manager', + executable='spawner', + arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'], + )] + + # Delay rviz2 start after joint_state_broadcaster_spawner finishes + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='', + arguments=['-d', str(rviz_config_path)], + ) + nodes += [RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node], + ) + )] + # Delay start of drivetrain_controller_spawner after joint_state_broadcaster_spawner + drivetrain_controller_spawner = Node( + package='controller_manager', + executable='spawner', + arguments=['differential_drivetrain_controller', "--controller-manager", '/controller_manager'], + ) + nodes += [RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[drivetrain_controller_spawner], + ) + )] + #------------------------------------------------------------------------------------- # Run the node - return LaunchDescription([ - gazebo, - node_robot_state_publisher, - spawn_entity - ]) + return LaunchDescription( + nodes + ) \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo2.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo2.launch.py new file mode 100644 index 00000000..9a4595d8 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo2.launch.py @@ -0,0 +1,94 @@ +import os +from ament_index_python import get_package_share_path +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler,TimerAction,DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.event_handlers import OnProcessExit, OnExecutionComplete +from launch.substitutions import LaunchConfiguration, Command + + +from launch_ros.actions import Node +import xacro + + +def generate_launch_description(): + # Specify the name of the package and path to xacro file within the package + pkg_name = 'uwrt_mars_rover_drivetrain_description' + file_subpath = 'urdf/drivetrain.urdf.xacro' + controllers_config_path = get_package_share_path( + 'uwrt_mars_rover_drivetrain_hw') / 'config' / 'drivetrain_controllers.yaml' + + sim_status = LaunchConfiguration('use_sim') + + + # Use xacro to process the file + xacro_file = os.path.join(get_package_share_directory(pkg_name),file_subpath) + + robot_description_config = Command(['xacro ', xacro_file,' sim:=', 'true']) + + + # Configure the node + params={'robot_description': robot_description_config} + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[params] # add other parameters here if required + ) + + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + ) + + + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'my_bot'], + output='screen') + + + differential_drivetrain_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + 'differential_drivetrain_controller'], + output='screen' + ) + + joint_state_broadcaster_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + 'joint_state_broadcaster'], + output='screen' + ) + + + # Run the node + return LaunchDescription([ + + DeclareLaunchArgument( + 'use_sim', + default_value='true', + description='Use ros2_control if true'), + RegisterEventHandler( + OnExecutionComplete( + target_action=spawn_entity, + on_completion=[ + TimerAction( + period=5.0, + actions=[joint_state_broadcaster_controller], + ) + ] + ) + ), + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_controller, + on_exit=[differential_drivetrain_controller], + ) + ), + gazebo, + spawn_entity, + node_robot_state_publisher + ]) \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml index 229c4cca..31f88e26 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml @@ -22,6 +22,24 @@ xacro sensor_msgs + + controller_manager + diff_drive_controller + joint_state_broadcaster + robot_state_publisher + + + ament_index_python + control_msgs + diff_drive_controller + + + + gazebo_ros2_control + gazebo_ros + ros2_control + ros2_controllers + ament_cmake_flake8 ament_cmake_xmllint diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro index cfc26de4..c43b8176 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro @@ -69,7 +69,7 @@ - + @@ -91,6 +91,20 @@ + + + + + + ${-max_speed} + ${max_speed} + + + + + + + @@ -110,13 +124,13 @@ - - - transmission_interface/SimpleTransmission - - ${mechanical_reduction} - - + + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro index 2fa6841d..8b4d68f6 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro @@ -3,13 +3,13 @@ - - - - - - - - + + + + + + + + + - diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2controlgazebo.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2controlgazebo.xacro new file mode 100644 index 00000000..ac581883 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2controlgazebo.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + + + + + + + + + + + + $(find uwrt_mars_rover_drivetrain_hw)/config/drivetrain_controllers.yaml + /robot_state_publisher + + + + + + + + + \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro index 897b1cdd..dedf07a0 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro @@ -4,6 +4,8 @@ + + @@ -13,16 +15,19 @@ - - - + + + + + + + + + + - - - - - + @@ -35,6 +40,14 @@ + + + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml index f61b24d4..7bc23a44 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml @@ -1,7 +1,7 @@ controller_manager: ros__parameters: update_rate: 100 # Hz - + use_sim_time: true joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py index a387e2be..840f2f0e 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py @@ -23,7 +23,7 @@ def generate_launch_description(): controllers_config_path = get_package_share_path( 'uwrt_mars_rover_drivetrain_hw') / 'config' / 'drivetrain_controllers.yaml' - robot_description_content = ParameterValue(Command(['ros2 run xacro xacro ', str(model_path)]), value_type=str) + robot_description_content = ParameterValue(Command(['ros2 run xacro xacro ', str(model_path),' sim:=', 'false']), value_type=str) robot_description = {'robot_description': robot_description_content} # Nodes diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml index 108b925b..1c0e4c4c 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml @@ -11,6 +11,8 @@ Orson Marmon Melvin Wang + Nafis Molla + ament_cmake From 1a3d359a3115a40cd718b6fef0cacff401f8bc2c Mon Sep 17 00:00:00 2001 From: meshvaD <79111376+meshvaD@users.noreply.github.com> Date: Thu, 25 Jan 2024 00:13:31 -0500 Subject: [PATCH 06/31] costmap setup (#261) * simple costmap using 2 cameras, 1 lidar * costmap layers * change sensors used * allow clearing obstacles --- .../config/costmap_parameters.yaml | 189 ++++++++++++++++++ .../config/map.pgm | 5 + .../config/map.yaml | 6 + .../config/sensor_parameters.yaml | 94 ++++----- .../launch/gazebo.launch.py | 4 +- .../launch/nav.launch.py | 53 +++++ .../urdf/drivetrain.urdf.xacro | 8 +- .../urdf/sensors.macro.xacro | 22 +- 8 files changed, 320 insertions(+), 61 deletions(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml new file mode 100644 index 00000000..75746820 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml @@ -0,0 +1,189 @@ +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +global_costmap: + global_costmap: + ros__parameters: + footprint_padding: 0.03 + update_frequency: 5.0 + publish_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + robot_radius: 0.22 # should modify + resolution: 0.05 + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: pointcloud1 + footprint_clearing_enabled: true + combination_method: 0 + pointcloud1: + topic: /camera1_sensor/points + sensor_frame: camera1 + clearing: True + marking: True + data_type: "PointCloud2" + min_obstacle_height: 0.001 + max_obstacle_height: 10.0 + denoise_layer: + plugin: "nav2_costmap_2d::DenoiseLayer" + enabled: True + minimal_group_size: 2 + group_connectivity_type: 8 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + enabled: true + subscribe_to_updates: true + transform_tolerance: 0.1 + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + enabled: true + inflation_radius: 0.55 + cost_scaling_factor: 1.0 + inflate_unknown: false + inflate_around_unknown: true + always_send_full_costmap: True + + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: pointcloud1 + footprint_clearing_enabled: true + combination_method: 0 + pointcloud1: + topic: /camera1_sensor/points + sensor_frame: camera1 + clearing: True + marking: True + data_type: "PointCloud2" + min_obstacle_height: 0.001 + max_obstacle_height: 10.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + enabled: true + subscribe_to_updates: true + transform_tolerance: 0.1 + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + enabled: true + inflation_radius: 0.55 + cost_scaling_factor: 1.0 + inflate_unknown: false + inflate_around_unknown: true + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + +map_server: + ros__parameters: + yaml_filename: "/home/meshva/uwrt/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml" + topic_name: "map" + frame_id: "odom" + +costmap_filter_info_server: + ros__parameters: + type: 1 + filter_info_topic: "costmap_filter_info" + mask_topic: "filter_mask" + base: 0.0 + multiplier: 0.25 diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm new file mode 100644 index 00000000..e8e81d5b --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +600 600 +255 +�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������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diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml new file mode 100644 index 00000000..07b08b95 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/map.yaml @@ -0,0 +1,6 @@ +image: map.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml index 2f6e79cb..672d9d8f 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml @@ -23,54 +23,54 @@ depth_camera: near: 0.05 far: 3 - camera2: - dim: - length: 0.05 - width: 0.05 - height: 0.05 - parent_link: chassis - offset: - x: -0.61 - y: 0 - z: 0 + # camera2: + # dim: + # length: 0.05 + # width: 0.05 + # height: 0.05 + # parent_link: chassis + # offset: + # x: -0.61 + # y: 0 + # z: 0 - r_rot: 0 - p_rot: 0 - y_rot: 3.14159265359 - camera_properties: - horizontal_fov: 1.047198 - image: - width: 640 - height: 480 - format: R8G8B8 - clip: - near: 0.05 - far: 3 + # r_rot: 0 + # p_rot: 0 + # y_rot: 3.14159265359 + # camera_properties: + # horizontal_fov: 1.047198 + # image: + # width: 640 + # height: 480 + # format: R8G8B8 + # clip: + # near: 0.05 + # far: 3 -lidar: - lidar1: - dim: - length: 0.05 - width: 0.05 - height: 0.05 - parent_link: chassis - offset: - x: 0.61 - y: 0 - z: 0.1 +# lidar: +# lidar1: +# dim: +# length: 0.05 +# width: 0.05 +# height: 0.05 +# parent_link: chassis +# offset: +# x: 0.61 +# y: 0 +# z: 0.15 - r_rot: 0 - p_rot: 0 - y_rot: 0 +# r_rot: 0 +# p_rot: 0 +# y_rot: 0 - lidar_properties: - update_rate: 5 - scan: - samples: 360 - resolution: 1.000000 - min_angle: 0.000000 - max_angle: 6.280000 - range: - min: 0.120000 - max: 3.5 - resolution: 0.015000 +# lidar_properties: +# update_rate: 5 +# scan: +# samples: 360 +# resolution: 1.000000 +# min_angle: 0.000000 +# max_angle: 6.280000 +# range: +# min: 0.120000 +# max: 3.5 +# resolution: 0.015000 diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py index c89da6f1..42487e96 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py @@ -83,7 +83,7 @@ def generate_launch_description(): package='rviz2', executable='rviz2', name='rviz2', - output='', + output='screen', arguments=['-d', str(rviz_config_path)], ) nodes += [RegisterEventHandler( @@ -114,4 +114,4 @@ def generate_launch_description(): # Run the node return LaunchDescription( nodes - ) \ No newline at end of file + ) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py new file mode 100644 index 00000000..fbb95edb --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py @@ -0,0 +1,53 @@ +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.descriptions import ParameterFile + +import os + +def generate_launch_description(): + + declared_arguments = [] + nodes = [] + + controller_yaml = os.path.join(get_package_share_directory('uwrt_mars_rover_drivetrain_description'), 'config', 'costmap_parameters.yaml') + + lifecycle_nodes = ['controller_server', + 'planner_server', + 'map_server'] + + nodes += [Node( + package='nav2_map_server', + executable='map_server', + output='screen', + parameters=[controller_yaml])] + + nodes += [Node( + package='nav2_controller', + executable='controller_server', + output='screen', + respawn=True, + respawn_delay=2.0, + parameters=[controller_yaml])] + + nodes += [Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + respawn=True, + respawn_delay=2.0, + parameters=[controller_yaml])] + + nodes += [Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + parameters=[{'autostart': True}, + {'node_names': lifecycle_nodes}])] + + return LaunchDescription(declared_arguments + nodes) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro index dedf07a0..7955cbcd 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro @@ -63,10 +63,10 @@ - - + - - + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro index 31da8895..73c4fd67 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro @@ -30,6 +30,19 @@ + + + + + + + + + + + + + true @@ -48,17 +61,10 @@ ${camera_link_name} - ${camera_link_name}_ir/image_raw - ${camera_link_name}_ir/camera_info - ${camera_link_name}_depth/image_raw - ${camera_link_name}_depth/camera_info - ${camera_link_name}_depth/points - ${camera_link_name}_optical_frame - + ${camera_link_name}_virtual_link 0.2 true 0.0 - camera_depth_frame 0.5 3.0 0 From 996dc1244dea45caf7eb3f1619e8d2b2642a0402 Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sat, 21 Jan 2023 11:15:30 -0500 Subject: [PATCH 07/31] first commit, add xbox --- .../launch/simulation.launch.py | 88 +++++++++++++++++++ .../CMakeLists.txt | 74 ++++++++++++++++ ...t_mars_rover_xbox_controller_interface.hpp | 43 +++++++++ .../visibility.h | 65 ++++++++++++++ .../launch/xbox_launch.py | 37 ++++++++ .../msg/XboxController.msg | 4 + .../package.xml | 28 ++++++ .../src/uwrt_mars_rover_xbox_controller.cpp | 44 ++++++++++ 8 files changed, 383 insertions(+) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/xbox_launch.py create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/msg/XboxController.msg create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py new file mode 100644 index 00000000..ae9f83af --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py @@ -0,0 +1,88 @@ +""" +Launch Module for visualizing drivetrain in rviz. + +Allows for manipulation of joints via joint_state_publisher_gui if gui arg is set. +""" +from ament_index_python.packages import get_package_share_path + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import Command, LaunchConfiguration + +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + """ + Generate launch description from launch arguments and list of nodes to launch. + + :return: + LaunchDescription object + """ + package_path = get_package_share_path('uwrt_mars_rover_drivetrain_description') + default_model_path = package_path / 'urdf' / 'drivetrain.urdf.xacro' + default_rviz_config_path = package_path / 'rviz' / 'urdf.rviz' + + robot_description_content = ParameterValue(Command(['ros2 run xacro xacro ', LaunchConfiguration('model')]), + value_type=str) + + # Declared Arguments + declared_arguments = [] + declared_arguments += [DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'], + description='Flag to enable joint_state_publisher_gui')] + declared_arguments += [DeclareLaunchArgument(name='model', default_value=str(default_model_path), + description='Absolute path to robot urdf file')] + declared_arguments += [DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path), + description='Absolute path to rviz config file')] + + declared_arguments+=[ DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true')] + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # Nodes + nodes = [] + nodes += [Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description_content}], + output='screen', + )] + + # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui + nodes += [Node( + package='joint_state_publisher', + executable='joint_state_publisher', + condition=UnlessCondition(LaunchConfiguration('gui')) + )] + + nodes += [Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + condition=IfCondition(LaunchConfiguration('gui')) + )] + + nodes += [Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', LaunchConfiguration('rvizconfig')], + )] + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + ) + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'drivetrain'], + output='screen') + + + nodes+=gazebo + + + return LaunchDescription(declared_arguments + nodes) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt new file mode 100644 index 00000000..2516dfc9 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -0,0 +1,74 @@ +cmake_minimum_required(VERSION 3.5) +project(uwrt_mars_rover_xbox_controller) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(rclcpp_components REQUIRED) +# add custom messages and services +find_package(rosidl_default_generators REQUIRED) +# add ros joy package +find_package(sensor_msgs REQUIRED) + +set(msg_files + "msg/XboxController.msg" +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + DEPENDENCIES std_msgs +) + +ament_export_dependencies(rosidl_default_runtime) + +#include the 'include' directory +include_directories(include) + +#create resource which references the libraries in the binary bin +set(node_plugins "") + +# add the xbox controller component +add_library(xbox_controller SHARED + src/uwrt_mars_rover_xbox_controller.cpp) +target_compile_definitions(xbox_controller + PRIVATE "UWRT_MARS_ROVER_XBOX_CONTROLLER_DLL") +ament_target_dependencies(xbox_controller + "rclcpp" + "rclcpp_components" + "sensor_msgs") +# build ROS custom messages +rosidl_target_interfaces(xbox_controller ${PROJECT_NAME} "rosidl_typesupport_cpp") +rclcpp_components_register_nodes(xbox_controller "uwrt_xbox::UWRTXboxController") +set(node_plugins "${node_plugins}uwrt_xbox::UWRTXboxController;$\n") + + + +# if(BUILD_TESTING) +# find_package(ament_lint_auto REQUIRED) +# # the following line skips the linter which checks for copyrights +# # uncomment the line when a copyright and license is not present in all source files +# #set(ament_cmake_copyright_FOUND TRUE) +# # the following line skips cpplint (only works in a git repo) +# # uncomment the line when this package is not in a git repo +# #set(ament_cmake_cpplint_FOUND TRUE) +# ament_lint_auto_find_test_dependencies() +# endif() + +# tell where to put binaries +install(TARGETS + xbox_controller + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) + +ament_package() diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp new file mode 100644 index 00000000..e51dcd1c --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp @@ -0,0 +1,43 @@ +#ifndef XBOX_CONTROLLER_H +#define XBOX_CONTROLLER_H + +#include +#include +#include +#include + + +namespace uwrt_xbox { + using joy_msg = sensor_msgs::msg::Joy; + using xbox_msg = uwrt_mars_rover_xbox_controller::msg::XboxController; + class UWRTXboxController: public rclcpp::Node { + public: + UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + explicit UWRTXboxController(const rclcpp::NodeOptions &options); + + private: + rclcpp::Subscription::SharedPtr joy_node_sub; + rclcpp::Publisher::SharedPtr xbox_node_pub; + // publish to a generic 'manipulated xbox controller' topic + rclcpp::TimerBase::SharedPtr pub_timer; + + + struct JsData { + float drivetrain_js_x; + float drivetrain_js_y; + float gimble_js_x; + float gimble_js_y; + }; + + JsData joystick_data; + + UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL + void getXboxData(const joy_msg::SharedPtr msg); + UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL + void publishStructuredXboxData(); + + + }; +} + +#endif // XBOX_CONTROLLER_H \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h new file mode 100644 index 00000000..f5e39a8d --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h @@ -0,0 +1,65 @@ +// Copyright 2016 Open Source Robotics Foundation, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UWRT_MARS_ROVER_XBOX_CONTROLLER__VISIBILITY_H_ +#define UWRT_MARS_ROVER_XBOX_CONTROLLER__VISIBILITY_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + +#ifdef __GNUC__ +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_EXPORT __attribute__((dllexport)) +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_IMPORT __attribute__((dllimport)) +#else +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_EXPORT __declspec(dllexport) +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_IMPORT __declspec(dllimport) +#endif + +#ifdef UWRT_MARS_ROVER_XBOX_CONTROLLER_DLL +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC UWRT_MARS_ROVER_XBOX_CONTROLLER_EXPORT +#else +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC UWRT_MARS_ROVER_XBOX_CONTROLLER_IMPORT +#endif + +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC_TYPE UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL + +#else + +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_EXPORT __attribute__((visibility("default"))) +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_IMPORT + +#if __GNUC__ >= 4 +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC __attribute__((visibility("default"))) +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL __attribute__((visibility("hidden"))) +#else +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL +#endif + +#define UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC_TYPE +#endif + +#ifdef __cplusplus +} +#endif + +#endif // UWRT_MARS_ROVER_XBOX_CONTROLLER__VISIBILITY_H_ \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/xbox_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/xbox_launch.py new file mode 100644 index 00000000..99f03e91 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/xbox_launch.py @@ -0,0 +1,37 @@ + +# from http.server import executable +import launch +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode +from launch_ros.actions import Node + +def generate_launch_description(): + node = Node( + package='joy', + namespace="", + executable="joy_node" + ) + + container = ComposableNodeContainer( + name='container', + namespace="", + package="rclcpp_components", + executable="component_container", + composable_node_descriptions=[ + ComposableNode( + package="uwrt_mars_rover_xbox_controller", + plugin="uwrt_xbox::UWRTXboxController"), + ] + ) + + return launch.LaunchDescription([node, container]) + + +""" +Process to launch the xbox control component +1. Build the uwrt_mars_rover_xbox_controller package (colcon build) +2. In a new terminal, source the overlay (source ~/ros2_ws/install/setup.bash) +3. Nagivate to the launch folder in the new terminal and run: ros2 launch xbox_launch.py + +-> To see outputted results, see the /xbox_info topic +""" \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/msg/XboxController.msg b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/msg/XboxController.msg new file mode 100644 index 00000000..90bdd2e6 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/msg/XboxController.msg @@ -0,0 +1,4 @@ +float32 drivetrain_joy_x +float32 drivetrain_joy_y +float32 gimble_joy_x +float32 gimble_joy_y \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml new file mode 100644 index 00000000..8e123a22 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml @@ -0,0 +1,28 @@ + + + + uwrt_mars_rover_xbox_controller + 0.0.0 + ROS2 rover xbox joystick controller + nico + Apache License 2.0 + + ament_cmake + + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages + + rclcpp + sensor_msgs + rclcpp_components + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp new file mode 100644 index 00000000..2d92d21c --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp @@ -0,0 +1,44 @@ + +#include + + +namespace uwrt_xbox { + +UWRTXboxController::UWRTXboxController(const rclcpp::NodeOptions &options): Node("xbox_node", options) { + using namespace std::chrono_literals; + // create publishers and subscribers + // constantly get data from the sensor messages joy topic + joy_node_sub = create_subscription("joy", 10, std::bind(&UWRTXboxController::getXboxData, this , std::placeholders::_1)); + xbox_node_pub = create_publisher("/xbox_info", 10); + pub_timer = create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); +} + +void UWRTXboxController::getXboxData(const joy_msg::SharedPtr msg) { + auto inJsRange = [](float js_axis) -> bool { + return js_axis <= 1 && js_axis >= -1; + }; + // check that all values are within the expected range + if (!(inJsRange(msg->axes[0]) && inJsRange(msg->axes[1]) && inJsRange(msg->axes[3]) && inJsRange(msg->axes[4]))) { + RCLCPP_WARN(this->get_logger(), "A joystick gave a value outside of the [-1, 1] range."); + } + // store all joystick data + joystick_data.drivetrain_js_x = msg->axes[0]; + joystick_data.drivetrain_js_y = msg->axes[1]; + joystick_data.gimble_js_x = msg->axes[3]; + joystick_data.gimble_js_y = msg->axes[4]; + // RCLCPP_INFO(this->get_logger(), "DT JS_x: %f, DT JS_y: %f", joystick_data.drivetrain_js_x, joystick_data.drivetrain_js_y); +} + +void UWRTXboxController::publishStructuredXboxData() { + auto data = xbox_msg(); + data.drivetrain_joy_x = joystick_data.drivetrain_js_x; + data.drivetrain_joy_y = joystick_data.drivetrain_js_y; + data.gimble_joy_x = joystick_data.gimble_js_x; + data.gimble_joy_y = joystick_data.gimble_js_y; + xbox_node_pub->publish(data); +} + +} + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(uwrt_xbox::UWRTXboxController) From 07b0bbbd3e1850682dc07bae732ebd14b714b302 Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sat, 21 Jan 2023 18:07:39 -0500 Subject: [PATCH 08/31] add gazebo launch --- Dockerfile.dev | 4 + .../config/drivetrain_controllers.yaml | 30 ++++ .../launch/simulation.launch.py | 62 +++++--- .../package.xml | 3 + .../urdf/drivetrain.macro.xacro | 4 + .../urdf/drivetrain.macro_BACKUP_4743.xacro | 150 ++++++++++++++++++ .../urdf/drivetrain.macro_BASE_4743.xacro | 93 +++++++++++ .../urdf/drivetrain.macro_LOCAL_4743.xacro | 137 ++++++++++++++++ .../urdf/drivetrain.macro_REMOTE_4743.xacro | 98 ++++++++++++ .../urdf/drivetrain.ros2control.xacro | 1 + 10 files changed, 564 insertions(+), 18 deletions(-) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BACKUP_4743.xacro create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BASE_4743.xacro create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_LOCAL_4743.xacro create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_REMOTE_4743.xacro diff --git a/Dockerfile.dev b/Dockerfile.dev index ac0665aa..a46fc053 100644 --- a/Dockerfile.dev +++ b/Dockerfile.dev @@ -9,6 +9,10 @@ RUN sudo apt update -y --no-install-recommends && sudo apt dist-upgrade -y # Ensure rosinstall and rosdep are installed and up to date RUN sudo apt install -y python3-rosdep +# Install Gazebo Classic +RUN curl -sSL http://get.gazebosim.org | sh + + # build via docker build -f .\Dockerfile.dev -t uwrt_dev_image . # run via docker run --name uwrt_dev_container -e DISPLAY=host.docker.internal:0.0 -it -v uwrt_dev_image diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml new file mode 100644 index 00000000..f829d43f --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml @@ -0,0 +1,30 @@ +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + forward_position_controller: + type: forward_command_controller/ForwardCommandController + + position_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + velocity_controller: + type: velocity_controllers/JointGroupVelocityController + +velocity_controller: + ros__parameters: + joints: + - right_front_wheel_joint + - right_middle_wheel_joint + - right_back_wheel_joint + - left_front_wheel_joint + - left_middle_wheel_joint + - left_nack_wheel_joint + command_interfaces: + - velocity + state_interfaces: + - position + - velocity \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py index ae9f83af..e22e682c 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py @@ -3,15 +3,19 @@ Allows for manipulation of joints via joint_state_publisher_gui if gui arg is set. """ -from ament_index_python.packages import get_package_share_path +from ament_index_python.packages import get_package_share_path, get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument +from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler from launch.conditions import IfCondition, UnlessCondition from launch.substitutions import Command, LaunchConfiguration - +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node from launch_ros.parameter_descriptions import ParameterValue +import os +from launch_ros.substitutions import FindPackageShare +import xacro def generate_launch_description(): @@ -36,11 +40,8 @@ def generate_launch_description(): description='Absolute path to robot urdf file')] declared_arguments += [DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path), description='Absolute path to rviz config file')] - - declared_arguments+=[ DeclareLaunchArgument( - 'use_sim_time', - default_value='false', - description='Use simulation (Gazebo) clock if true')] + declared_arguments+=[DeclareLaunchArgument(name='use_sim_time', default_value='false', + description='Use simulation (Gazebo) clock if true')] use_sim_time = LaunchConfiguration('use_sim_time', default='true') # Nodes @@ -72,17 +73,42 @@ def generate_launch_description(): output='screen', arguments=['-d', LaunchConfiguration('rvizconfig')], )] - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + gazebo_starter = [ExecuteProcess( + cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], + output='screen')] + # gazebo = IncludeLaunchDescription( + # PythonLaunchDescriptionSource([os.path.join( + # get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + # ) + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', name='urdf_spawner', + arguments=['-topic', 'robot_description', '-entity', 'drivetrain'], output='screen' + ) + + load_joint_state_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + 'joint_state_broadcaster'], + output='screen' + ) + + load_joint_trajectory_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'velocity_controller'], + output='screen' + ) + loadjointstate = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=spawn_entity, + on_exit=[load_joint_state_controller], + ) ) - spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', - arguments=['-topic', 'robot_description', - '-entity', 'drivetrain'], - output='screen') - + loadtrajectorycontroller = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=load_joint_state_controller, + on_exit=[load_joint_trajectory_controller], + ) + ) + ros2_control_nodes = [loadjointstate,loadtrajectorycontroller] - nodes+=gazebo + nodes+=gazebo_starter + [spawn_entity] - return LaunchDescription(declared_arguments + nodes) + return LaunchDescription(declared_arguments + nodes + ros2_control_nodes) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml index 31f88e26..b906e8df 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml @@ -11,12 +11,15 @@ Orson Marmon Melvin Wang + Keyon Jerome ament_cmake joint_state_publisher joint_state_publisher_gui robot_state_publisher + ros-galactic-ros2-control + gazebo_ros_pkgs ros2launch rviz2 xacro diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro index c43b8176..e2dd4cd8 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro @@ -110,6 +110,10 @@ + + gazebo_ros2_control/GazeboSystem + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface ${can_id_prop} diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BACKUP_4743.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BACKUP_4743.xacro new file mode 100644 index 00000000..d29540c0 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BACKUP_4743.xacro @@ -0,0 +1,150 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<<<<<<< HEAD + + + + + + ${-max_speed} + ${max_speed} + + + + + + + + + + +======= + +>>>>>>> a49a103... add gazebo launch + + + + gazebo_ros2_control/GazeboSystem + + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface +<<<<<<< HEAD + ${can_id_prop} + +======= + + +>>>>>>> a49a103... add gazebo launch + + + + ${-max_speed} + ${max_speed} + + + + + + + + + + + + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BASE_4743.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BASE_4743.xacro new file mode 100644 index 00000000..b47b9017 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_BASE_4743.xacro @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface + + + + + ${-max_speed} + ${max_speed} + + + + + + + + + transmission_interface/SimpleTransmission + + ${mechanical_reduction} + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_LOCAL_4743.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_LOCAL_4743.xacro new file mode 100644 index 00000000..c43b8176 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_LOCAL_4743.xacro @@ -0,0 +1,137 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${-max_speed} + ${max_speed} + + + + + + + + + + + + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface + ${can_id_prop} + + + + + ${-max_speed} + ${max_speed} + + + + + + + + + + + + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_REMOTE_4743.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_REMOTE_4743.xacro new file mode 100644 index 00000000..d086f237 --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro_REMOTE_4743.xacro @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + uwrt_mars_rover_drivetrain_hw/UWRTMarsRoverDrivetrainHWActuatorInterface + + + + + + ${-max_speed} + ${max_speed} + + + + + + + + + transmission_interface/SimpleTransmission + + ${mechanical_reduction} + + + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro index 8b4d68f6..eb0b3773 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro @@ -1,6 +1,7 @@ + From 216e5f0eaf66975defcfef5fee09a687e6243818 Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sun, 22 Jan 2023 11:46:36 -0500 Subject: [PATCH 09/31] ros2 control booting --- .../config/drivetrain_controllers.yaml | 61 ++++++++++++++++++- .../launch/simulation.launch.py | 4 +- .../package.xml | 3 +- 3 files changed, 63 insertions(+), 5 deletions(-) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml index f829d43f..cd8e613c 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml @@ -14,6 +14,10 @@ controller_manager: velocity_controller: type: velocity_controllers/JointGroupVelocityController + differential_drivetrain_controller: + type: diff_drive_controller/DiffDriveController + + velocity_controller: ros__parameters: joints: @@ -22,9 +26,62 @@ velocity_controller: - right_back_wheel_joint - left_front_wheel_joint - left_middle_wheel_joint - - left_nack_wheel_joint + - left_back_wheel_joint command_interfaces: - velocity state_interfaces: - position - - velocity \ No newline at end of file + - velocity + +differential_drivetrain_controller: + ros__parameters: + left_wheel_names: [ "left_front_wheel_joint", "left_middle_wheel_joint", "left_back_wheel_joint" ] + right_wheel_names: [ "right_front_wheel_joint", "right_middle_wheel_joint", "right_back_wheel_joint" ] + + # Should match values defined in uwrt_mars_rover_drivetrain_description's generated urdf + wheel_separation: 0.997 # wheelbase_length = chassis_width + wheel_width + wheels_per_side: 3 + wheel_radius: 0.15 + + wheel_separation_multiplier: 1.0 + left_wheel_radius_multiplier: 1.0 + right_wheel_radius_multiplier: 1.0 + + odom_frame_id: odom + base_frame_id: base_link + pose_covariance_diagonal: [ 0.001, 0.001, 0.001, 0.001, 0.001, 0.01 ] + twist_covariance_diagonal: [ 0.001, 0.001, 0.001, 0.001, 0.001, 0.01 ] + + publish_rate: 50.0 + enable_odom_tf: true + open_loop: false # If true, integrates vel_cmd to estimate odom, else uses wheel feedback to compute odom + position_feedback: true # If true, uses position state_interface for odom calculations, else use velocity state interface + # TODO: this setting doesnt really make sense to me to tie both odom pose and twist calculations to either use position or + # velocity. It makes most sense to optimally use position for the pose calculation and velocity for the twist calculation... + # as done in https://github.com/clearpathrobotics/ros_controllers/pull/18 + # Relevant Discussion: https://github.com/ros-controls/ros2_controllers/pull/260/files/a45fd434abe90c1a377d57a54da86c6d1650240d#r776837336 + + cmd_vel_timeout: 0.2 # seconds. min cmd_vel publish rate is 5Hz + publish_limited_velocity: true + use_stamped_vel: true + velocity_rolling_window_size: 10 + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits: false + has_acceleration_limits: false + has_jerk_limits: false + # max_velocity: 1.0 + # max_acceleration: 1.0 + # max_jerk: 0.0 + + angular: + z: + has_velocity_limits: false + has_acceleration_limits: false + has_jerk_limits: false +# max_velocity: 1.0 +# max_acceleration: 1.0 +# max_jerk: 0.0 \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py index e22e682c..b7a4cc96 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py @@ -81,7 +81,7 @@ def generate_launch_description(): # get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), # ) spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', name='urdf_spawner', - arguments=['-topic', 'robot_description', '-entity', 'drivetrain'], output='screen' + arguments=['-topic', 'robot_description', '-entity', 'drivetrain', '-x', '0', '-y', '0', '-z', '0'], output='screen' ) load_joint_state_controller = ExecuteProcess( @@ -91,7 +91,7 @@ def generate_launch_description(): ) load_joint_trajectory_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'velocity_controller'], + cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'differential_drivetrain_controller'], output='screen' ) loadjointstate = RegisterEventHandler( diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml index b906e8df..7d464538 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml @@ -18,7 +18,8 @@ joint_state_publisher joint_state_publisher_gui robot_state_publisher - ros-galactic-ros2-control + ros2_control + gazebo_ros2_control gazebo_ros_pkgs ros2launch rviz2 From 2fbfdcc47adb812e7373e170c28ca8dffda5aa2f Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sun, 22 Jan 2023 13:11:39 -0500 Subject: [PATCH 10/31] simulation booting changes --- .../launch/simulation.launch.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py index b7a4cc96..b673bb5b 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py @@ -80,8 +80,9 @@ def generate_launch_description(): # PythonLaunchDescriptionSource([os.path.join( # get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), # ) + # https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Spawn-and-delete spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', name='urdf_spawner', - arguments=['-topic', 'robot_description', '-entity', 'drivetrain', '-x', '0', '-y', '0', '-z', '0'], output='screen' + arguments=['-topic', 'robot_description', '-entity', 'drivetrain', '-x', '0.5', '-y', '0.5', '-z', '0.5', '-R','0', '-Y', '0', '-P','0'], output='screen' ) load_joint_state_controller = ExecuteProcess( From dd02ba88a866ecb7bec9ff1c5d4066cbc2e099ad Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sun, 22 Jan 2023 21:13:40 -0500 Subject: [PATCH 11/31] add compiled urdf --- .../urdf/urdf.urdf | 316 ++++++++++++++++++ 1 file changed, 316 insertions(+) create mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf new file mode 100644 index 00000000..445f352a --- /dev/null +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf @@ -0,0 +1,316 @@ + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + gazebo_ros2_control/GazeboSystem + + + + -14.660765716752369 + 14.660765716752369 + + + + + + + + + transmission_interface/SimpleTransmission + + 0.04 + + + + + + + + + robot_description + robot_state_publisher + gazebo_ros2_control/DefaultRobotHWSim + /workspaces/ROS-DOCKER/ros2_ws/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 6bac89007c567067ec06702ed92b497c6d9f83d5 Mon Sep 17 00:00:00 2001 From: skhanna Date: Sun, 5 Feb 2023 17:51:44 +0000 Subject: [PATCH 12/31] Node file: work in progress --- .../src/coordinateNode.cpp | 54 +++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp new file mode 100644 index 00000000..3f54dcfb --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -0,0 +1,54 @@ +#include + +#include "rclcpp/rclcpp.hpp" + +namespace drivetraincontrollerComposition { + CoordinateNode::CoordinateNode(const rclcpp::NodeOptions &options): Node("coordinateNode", options) { + //Publisher + pub_drivetrain_ = create_publisher("/differential_drivetrain_controller/cmd_vel", 10); + + auto callback = + [this][const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in] -> void { + //Add scaling value + const vConstant = 5; + + auto msg = std::make_unique(); + msg->linear.x = CoordinateNode::linear::x*vConstant; + msg->linear.y = CoordinateNode::linear::y*vConstant; + + msg->angular.x = CoordinateNode::angular::x*vConstant; + msg->angular.y = CoordinateNode::angular::y*vConstant; + + + RCLCPP_INFO(this->get_logger(), msg); + } + + sub_joy = create_subscription("/xbox_info", 10, callback); + + } +} + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) + + +// class CoordinateNode : public rclcpp::Node +// { +// public: +// MyNode() : Node("coordinateNode") +// { +// //Publish to drivetrain +// pub_drivetrain_ = +// this->create_publisher("/differential_drivetrain_controller/cmd_vel", 10); +// //Subcribe from xbox_info +// auto sub_joy_cb = std::bind(&CoordinateNode::nodeCallBack, this, std::placeholders::_1); +// sub_joy = this->create_subscription( +// "/xbox_info", 10, sub_joy_cb); +// } +// private: +// //Callback +// void nodeCallBack(const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) const {} + +// rclcpp::Publisher::SharedPtr pub_drivetrain_; +// rclcpp:Subscription:: SharedPtr sub_joy_; +// }; \ No newline at end of file From 62d7059b9834e5dfa8dac13700d2a6634bdd1dd9 Mon Sep 17 00:00:00 2001 From: skhanna Date: Sun, 5 Feb 2023 17:52:55 +0000 Subject: [PATCH 13/31] launch file coordinate node --- .../launch/location_launch.py | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py new file mode 100644 index 00000000..e6081a31 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py @@ -0,0 +1,20 @@ +import launch +from launch import LaunchDescription +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode +from launch_ros.actions import ComposableNodeContainer + +def generate_launch_description(): + container = ComposableNodeContainer( + name='container', + namespace="", + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package="uwrt_mars_rover", + plugin="xboxcontrollerComposition::CoordinateNode" + ), + ] + ) +return launch.LaunchDescription([container]) \ No newline at end of file From d8a90694385c8e3082097976352e7585512fa257 Mon Sep 17 00:00:00 2001 From: skhanna Date: Sun, 5 Feb 2023 17:54:39 +0000 Subject: [PATCH 14/31] yet to add library for node --- .../uwrt_mars_rover_xbox_controller/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt index 2516dfc9..a380977d 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -64,6 +64,10 @@ set(node_plugins "${node_plugins}uwrt_xbox::UWRTXboxController;$ Date: Mon, 6 Feb 2023 14:46:27 +0000 Subject: [PATCH 15/31] node cpp file --- .../src/coordinateNode.cpp | 40 +++---------------- 1 file changed, 6 insertions(+), 34 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 3f54dcfb..48274003 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -4,51 +4,23 @@ namespace drivetraincontrollerComposition { CoordinateNode::CoordinateNode(const rclcpp::NodeOptions &options): Node("coordinateNode", options) { - //Publisher - pub_drivetrain_ = create_publisher("/differential_drivetrain_controller/cmd_vel", 10); - auto callback = [this][const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in] -> void { //Add scaling value const vConstant = 5; auto msg = std::make_unique(); - msg->linear.x = CoordinateNode::linear::x*vConstant; - msg->linear.y = CoordinateNode::linear::y*vConstant; - - msg->angular.x = CoordinateNode::angular::x*vConstant; - msg->angular.y = CoordinateNode::angular::y*vConstant; - + msg->linear.x = CoordinateNode::coordinates::linear::x*vConstant; + msg->linear.y = CoordinateNode::coordinates::linear::y*vConstant; - RCLCPP_INFO(this->get_logger(), msg); + this->publisher->publish(std::move(msg)); } - + + this->publisher = this->create_publisher("/differential_drivetrain_controller/cmd_vel", 10); sub_joy = create_subscription("/xbox_info", 10, callback); } } #include -RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) - - -// class CoordinateNode : public rclcpp::Node -// { -// public: -// MyNode() : Node("coordinateNode") -// { -// //Publish to drivetrain -// pub_drivetrain_ = -// this->create_publisher("/differential_drivetrain_controller/cmd_vel", 10); -// //Subcribe from xbox_info -// auto sub_joy_cb = std::bind(&CoordinateNode::nodeCallBack, this, std::placeholders::_1); -// sub_joy = this->create_subscription( -// "/xbox_info", 10, sub_joy_cb); -// } -// private: -// //Callback -// void nodeCallBack(const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) const {} - -// rclcpp::Publisher::SharedPtr pub_drivetrain_; -// rclcpp:Subscription:: SharedPtr sub_joy_; -// }; \ No newline at end of file +RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) \ No newline at end of file From 8a17d43feb1f2adedfaab245bec3e864189f2a46 Mon Sep 17 00:00:00 2001 From: skhanna Date: Mon, 6 Feb 2023 14:48:01 +0000 Subject: [PATCH 16/31] completed header file --- .../coordinateNode.hpp | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp new file mode 100644 index 00000000..ae3f0030 --- /dev/null +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp @@ -0,0 +1,19 @@ +#ifndef COORDINATENODE_HPP_ +#define COORDINATENODE_HPP_ + + +#include rclcpp/rclcpp.hpp +#include + +namespace drivetraincontrollerComposition { + class CoordinateNode : public rclcpp::Node { + public: + UWRT_MARS_ROVER_COORDINATENODE_PUBLIC + explicit CoordinateNode(const rclcpp::NodeOptions &options) + + private: + rclcpp::Subscription::SharedPtr sub_joy_; + } +} + +#endif \ No newline at end of file From 691d6d2f91fad60b27d6c65893b5e1b1ad67cba2 Mon Sep 17 00:00:00 2001 From: skhanna Date: Mon, 6 Feb 2023 15:07:06 +0000 Subject: [PATCH 17/31] Adding library --- .../uwrt_mars_rover_xbox_controller/CMakeLists.txt | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt index a380977d..b03cd8a0 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -51,6 +51,19 @@ rosidl_target_interfaces(xbox_controller ${PROJECT_NAME} "rosidl_typesupport_cpp rclcpp_components_register_nodes(xbox_controller "uwrt_xbox::UWRTXboxController") set(node_plugins "${node_plugins}uwrt_xbox::UWRTXboxController;$\n") +# add the node for coordinates +add_library(coordinateNode SHARED + src/coordinateNode.cpp) +target_compile_definitions(coordinateNode + PRIVATE "COORDINATE_NODE_DLL") +ament_target_dependencies(coordinateNode + "rclcpp" + "rclcpp_components" + "XboxController") +# build ROS custom messages +rosidl_target_interfaces(coordinateNode ${PROJECT_NAME} "rosidl_typesupport_cpp") +rclcpp_components_register_nodes(coordinateNode "drivetraincontrollerComposition::coordinateNode") +set(node_plugins "${node_plugins}drivetraincontrollerComposition::coordinateNode;$\n") # if(BUILD_TESTING) From eb0be59e543722976e07f2354e46c801290d9dbc Mon Sep 17 00:00:00 2001 From: skhanna Date: Mon, 6 Feb 2023 15:08:52 +0000 Subject: [PATCH 18/31] fixing typo --- .../uwrt_mars_rover_xbox_controller/launch/location_launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py index e6081a31..9aca4c9b 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py @@ -13,7 +13,7 @@ def generate_launch_description(): composable_node_descriptions=[ ComposableNode( package="uwrt_mars_rover", - plugin="xboxcontrollerComposition::CoordinateNode" + plugin="drivetraincontrollerComposition::CoordinateNode" ), ] ) From d0db582e8135c0c097cfcec27f9107dcc0f504db Mon Sep 17 00:00:00 2001 From: skhanna Date: Fri, 17 Feb 2023 02:02:37 +0000 Subject: [PATCH 19/31] fixing packages --- .../uwrt_mars_rover_xbox_controller/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt index b03cd8a0..94780092 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -58,8 +58,7 @@ target_compile_definitions(coordinateNode PRIVATE "COORDINATE_NODE_DLL") ament_target_dependencies(coordinateNode "rclcpp" - "rclcpp_components" - "XboxController") + "rclcpp_components") # build ROS custom messages rosidl_target_interfaces(coordinateNode ${PROJECT_NAME} "rosidl_typesupport_cpp") rclcpp_components_register_nodes(coordinateNode "drivetraincontrollerComposition::coordinateNode") From 8d0669970533650a3d2597029c891ec1feeabb0d Mon Sep 17 00:00:00 2001 From: skhanna Date: Fri, 17 Feb 2023 02:03:25 +0000 Subject: [PATCH 20/31] fixing header --- .../coordinateNode.hpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp index ae3f0030..4635b9f3 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp @@ -1,19 +1,21 @@ #ifndef COORDINATENODE_HPP_ #define COORDINATENODE_HPP_ - -#include rclcpp/rclcpp.hpp +#include #include +#include +#include namespace drivetraincontrollerComposition { class CoordinateNode : public rclcpp::Node { public: - UWRT_MARS_ROVER_COORDINATENODE_PUBLIC - explicit CoordinateNode(const rclcpp::NodeOptions &options) + UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + explicit CoordinateNode(const rclcpp::NodeOptions &options); private: - rclcpp::Subscription::SharedPtr sub_joy_; - } + rclcpp::Publisher::SharedPtr pub_; + rclcpp::Subscription::SharedPtr drvtrain_joy_sub; + }; } #endif \ No newline at end of file From 1645e26c1250354511bbce41b9fc3f44b1719e9a Mon Sep 17 00:00:00 2001 From: skhanna Date: Fri, 17 Feb 2023 02:05:16 +0000 Subject: [PATCH 21/31] fixing node --- .../src/coordinateNode.cpp | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 48274003..61767afa 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -1,23 +1,21 @@ -#include - -#include "rclcpp/rclcpp.hpp" +#include namespace drivetraincontrollerComposition { CoordinateNode::CoordinateNode(const rclcpp::NodeOptions &options): Node("coordinateNode", options) { auto callback = - [this][const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in] -> void { + [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { //Add scaling value - const vConstant = 5; + const int vConstant = 5; auto msg = std::make_unique(); - msg->linear.x = CoordinateNode::coordinates::linear::x*vConstant; - msg->linear.y = CoordinateNode::coordinates::linear::y*vConstant; + msg->linear.x = (*msg_in).drivetrain_joy_x*vConstant; + msg->linear.y = (*msg_in).drivetrain_joy_y*vConstant; - this->publisher->publish(std::move(msg)); - } + pub_->publish(std::move(msg)); + }; - this->publisher = this->create_publisher("/differential_drivetrain_controller/cmd_vel", 10); - sub_joy = create_subscription("/xbox_info", 10, callback); + pub_ = create_publisher("/differential_drivetrain_controller/cmd_vel", 10); + drvtrain_joy_sub = create_subscription("/xbox_info", 10, callback); } } From c3bc2bef32b6bd22280fe6d27419a182cba05226 Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sun, 12 Feb 2023 11:57:27 -0500 Subject: [PATCH 22/31] remove compiled urdf, extra dt controllers --- .../config/drivetrain_controllers.yaml | 87 ----- .../urdf/drivetrain.ros2control.xacro | 21 ++ .../urdf/urdf.urdf | 316 ------------------ 3 files changed, 21 insertions(+), 403 deletions(-) delete mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml delete mode 100644 uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml deleted file mode 100644 index cd8e613c..00000000 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml +++ /dev/null @@ -1,87 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 100 # Hz - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - forward_position_controller: - type: forward_command_controller/ForwardCommandController - - position_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - velocity_controller: - type: velocity_controllers/JointGroupVelocityController - - differential_drivetrain_controller: - type: diff_drive_controller/DiffDriveController - - -velocity_controller: - ros__parameters: - joints: - - right_front_wheel_joint - - right_middle_wheel_joint - - right_back_wheel_joint - - left_front_wheel_joint - - left_middle_wheel_joint - - left_back_wheel_joint - command_interfaces: - - velocity - state_interfaces: - - position - - velocity - -differential_drivetrain_controller: - ros__parameters: - left_wheel_names: [ "left_front_wheel_joint", "left_middle_wheel_joint", "left_back_wheel_joint" ] - right_wheel_names: [ "right_front_wheel_joint", "right_middle_wheel_joint", "right_back_wheel_joint" ] - - # Should match values defined in uwrt_mars_rover_drivetrain_description's generated urdf - wheel_separation: 0.997 # wheelbase_length = chassis_width + wheel_width - wheels_per_side: 3 - wheel_radius: 0.15 - - wheel_separation_multiplier: 1.0 - left_wheel_radius_multiplier: 1.0 - right_wheel_radius_multiplier: 1.0 - - odom_frame_id: odom - base_frame_id: base_link - pose_covariance_diagonal: [ 0.001, 0.001, 0.001, 0.001, 0.001, 0.01 ] - twist_covariance_diagonal: [ 0.001, 0.001, 0.001, 0.001, 0.001, 0.01 ] - - publish_rate: 50.0 - enable_odom_tf: true - open_loop: false # If true, integrates vel_cmd to estimate odom, else uses wheel feedback to compute odom - position_feedback: true # If true, uses position state_interface for odom calculations, else use velocity state interface - # TODO: this setting doesnt really make sense to me to tie both odom pose and twist calculations to either use position or - # velocity. It makes most sense to optimally use position for the pose calculation and velocity for the twist calculation... - # as done in https://github.com/clearpathrobotics/ros_controllers/pull/18 - # Relevant Discussion: https://github.com/ros-controls/ros2_controllers/pull/260/files/a45fd434abe90c1a377d57a54da86c6d1650240d#r776837336 - - cmd_vel_timeout: 0.2 # seconds. min cmd_vel publish rate is 5Hz - publish_limited_velocity: true - use_stamped_vel: true - velocity_rolling_window_size: 10 - - # Velocity and acceleration limits - # Whenever a min_* is unspecified, default to -max_* - linear: - x: - has_velocity_limits: false - has_acceleration_limits: false - has_jerk_limits: false - # max_velocity: 1.0 - # max_acceleration: 1.0 - # max_jerk: 0.0 - - angular: - z: - has_velocity_limits: false - has_acceleration_limits: false - has_jerk_limits: false -# max_velocity: 1.0 -# max_acceleration: 1.0 -# max_jerk: 0.0 \ No newline at end of file diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro index eb0b3773..75d936e6 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro @@ -13,4 +13,25 @@ + + + + + + + + + + + + + + robot_description + robot_state_publisher + gazebo_ros2_control/DefaultRobotHWSim + $(find uwrt_mars_rover_drivetrain_hw)/config/drivetrain_controllers.yaml + + + + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf deleted file mode 100644 index 445f352a..00000000 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/urdf.urdf +++ /dev/null @@ -1,316 +0,0 @@ - - - - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - gazebo_ros2_control/GazeboSystem - - - - -14.660765716752369 - 14.660765716752369 - - - - - - - - - transmission_interface/SimpleTransmission - - 0.04 - - - - - - - - - robot_description - robot_state_publisher - gazebo_ros2_control/DefaultRobotHWSim - /workspaces/ROS-DOCKER/ros2_ws/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/config/drivetrain_controllers.yaml - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 69dd96ea3cad97597e7f903402e8cd734b79ddc0 Mon Sep 17 00:00:00 2001 From: Keyon Jerome Date: Sat, 18 Feb 2023 16:38:28 -0500 Subject: [PATCH 23/31] sim changes --- .../launch/simulation.launch.py | 48 ++++++++----------- .../package.xml | 1 + 2 files changed, 21 insertions(+), 28 deletions(-) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py index b673bb5b..0dfc27af 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py @@ -45,8 +45,10 @@ def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='true') # Nodes - nodes = [] - nodes += [Node( + sim_nodes = [] + state_publishers = [] + + state_publishers += [Node( package='robot_state_publisher', executable='robot_state_publisher', parameters=[{'robot_description': robot_description_content}], @@ -54,47 +56,37 @@ def generate_launch_description(): )] # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui - nodes += [Node( + state_publishers += [Node( package='joint_state_publisher', executable='joint_state_publisher', condition=UnlessCondition(LaunchConfiguration('gui')) )] + + # Gazebo simulator + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), + ) - nodes += [Node( - package='joint_state_publisher_gui', - executable='joint_state_publisher_gui', - condition=IfCondition(LaunchConfiguration('gui')) - )] - - nodes += [Node( - package='rviz2', - executable='rviz2', - name='rviz2', - output='screen', - arguments=['-d', LaunchConfiguration('rvizconfig')], - )] - gazebo_starter = [ExecuteProcess( - cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], - output='screen')] - # gazebo = IncludeLaunchDescription( - # PythonLaunchDescriptionSource([os.path.join( - # get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), - # ) + # Spawn the URDF model # https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Spawn-and-delete spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', name='urdf_spawner', arguments=['-topic', 'robot_description', '-entity', 'drivetrain', '-x', '0.5', '-y', '0.5', '-z', '0.5', '-R','0', '-Y', '0', '-P','0'], output='screen' ) + ## processes w/o event handlers load_joint_state_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'], output='screen' ) load_joint_trajectory_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'differential_drivetrain_controller'], + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'differential_drivetrain_controller'], output='screen' ) + + ## Register event handlers loadjointstate = RegisterEventHandler( event_handler=OnProcessExit( target_action=spawn_entity, @@ -107,9 +99,9 @@ def generate_launch_description(): on_exit=[load_joint_trajectory_controller], ) ) + ros2_control_nodes = [loadjointstate,loadtrajectorycontroller] - - nodes+=gazebo_starter + [spawn_entity] + sim_nodes = [gazebo,spawn_entity] - return LaunchDescription(declared_arguments + nodes + ros2_control_nodes) + return LaunchDescription(declared_arguments + sim_nodes + ros2_control_nodes) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml index 7d464538..3615b504 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml @@ -20,6 +20,7 @@ robot_state_publisher ros2_control gazebo_ros2_control + gazebo_ros gazebo_ros_pkgs ros2launch rviz2 From 9b293da2dea7ce2ea62bef0ece3db37e51f0a805 Mon Sep 17 00:00:00 2001 From: skhanna Date: Sun, 19 Feb 2023 19:45:19 +0000 Subject: [PATCH 24/31] files --- .devcontainer/devcontainer.json | 53 +++++++------- .../CMakeLists.txt | 34 ++++++++- .../coordinateNode.hpp | 28 ++++---- ...t_mars_rover_xbox_controller_interface.hpp | 72 +++++++++---------- .../visibility.h | 2 +- .../launch/location_launch.py | 6 +- .../package.xml | 6 ++ .../src/coordinateNode.cpp | 36 +++++----- .../src/uwrt_mars_rover_xbox_controller.cpp | 68 +++++++++--------- 9 files changed, 179 insertions(+), 126 deletions(-) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index e9effb7e..0134d5ef 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -1,27 +1,28 @@ -// For format details, see https://aka.ms/devcontainer.json. For config options, see the -// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile +// See https://aka.ms/vscode-remote/devcontainer.json for format details. { - "name": "Existing Dockerfile", - "build": { - // Sets the run context to one level up instead of the .devcontainer folder. - "context": "..", - // Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename. - "dockerfile": "../Dockerfile.dev" - }, - "containerEnv": { "DISPLAY": "host.docker.internal:0.0" } - - // Features to add to the dev container. More info: https://containers.dev/features. - // "features": {}, - - // Use 'forwardPorts' to make a list of ports inside the container available locally. - // "forwardPorts": [], - - // Uncomment the next line to run commands after the container is created. - // "postCreateCommand": "cat /etc/os-release", - - // Configure tool-specific properties. - // "customizations": {}, - - // Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root. - // "remoteUser": "devcontainer" -} + "context": "../", + "dockerFile": "../Dockerfile.dev", + "containerEnv":{"DISPLAY":"host.docker.internal:0.0"}, + // This will launch the container as a non-root user + // "remoteUser" : "ubuntu", + "runArgs": [ + // This will allow you to use a ptrace-based debugger like C++, Go, and Rust. + "--cap-add=SYS_PTRACE", + "--security-opt", "seccomp=unconfined" + ], + "customizations": { + // Configure properties specific to VS Code. + "vscode": { + // These are the extensions I like to use with ROS2 + "extensions": [ + "ms-azuretools.vscode-docker", + "ms-python.python", + "ms-vscode.cpptools", + "twxs.cmake", + "ms-vscode.cmake-tools", + "ms-iot.vscode-ros", + "smilerobotics.urdf", + "yzhang.markdown-all-in-one" + ] +}} +} \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt index 94780092..e0b8b9be 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -87,4 +87,36 @@ install(TARGETS LIBRARY DESTINATION lib RUNTIME DESTINATION bin) -ament_package() +if (BUILD_TESTING) + # Force generation of compile_commands.json for clang-tidy + set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "") + + # clang-format + find_package(ament_cmake_clang_format REQUIRED) + ament_clang_format( + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-format + ) + + # clang-tidy + find_package(ament_cmake_clang_tidy REQUIRED) + ament_clang_tidy( + ${CMAKE_BINARY_DIR} + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-tidy + ) + + # cppcheck + find_package(ament_cmake_cppcheck REQUIRED) + ament_cppcheck() + + # flake8 + find_package(ament_cmake_flake8 REQUIRED) + ament_flake8( + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.flake8 + ) + + # xmllint + find_package(ament_cmake_xmllint REQUIRED) + ament_xmllint() +endif () + +ament_package() \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp index 4635b9f3..6e4fbf26 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp @@ -1,21 +1,25 @@ #ifndef COORDINATENODE_HPP_ #define COORDINATENODE_HPP_ -#include #include -#include + #include +#include +#include -namespace drivetraincontrollerComposition { - class CoordinateNode : public rclcpp::Node { - public: - UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC - explicit CoordinateNode(const rclcpp::NodeOptions &options); +namespace drivetraincontrollerComposition +{ +class CoordinateNode : public rclcpp::Node +{ +public: + UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + explicit CoordinateNode(const rclcpp::NodeOptions & options); - private: - rclcpp::Publisher::SharedPtr pub_; - rclcpp::Subscription::SharedPtr drvtrain_joy_sub; - }; -} +private: + rclcpp::Publisher::SharedPtr pub_; + rclcpp::Subscription::SharedPtr + drvtrain_joy_sub; +}; +} // namespace drivetraincontrollerComposition #endif \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp index e51dcd1c..9e74aa84 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp @@ -1,43 +1,43 @@ #ifndef XBOX_CONTROLLER_H #define XBOX_CONTROLLER_H -#include #include + +#include #include #include - -namespace uwrt_xbox { - using joy_msg = sensor_msgs::msg::Joy; - using xbox_msg = uwrt_mars_rover_xbox_controller::msg::XboxController; - class UWRTXboxController: public rclcpp::Node { - public: - UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC - explicit UWRTXboxController(const rclcpp::NodeOptions &options); - - private: - rclcpp::Subscription::SharedPtr joy_node_sub; - rclcpp::Publisher::SharedPtr xbox_node_pub; - // publish to a generic 'manipulated xbox controller' topic - rclcpp::TimerBase::SharedPtr pub_timer; - - - struct JsData { - float drivetrain_js_x; - float drivetrain_js_y; - float gimble_js_x; - float gimble_js_y; - }; - - JsData joystick_data; - - UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL - void getXboxData(const joy_msg::SharedPtr msg); - UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL - void publishStructuredXboxData(); - - - }; -} - -#endif // XBOX_CONTROLLER_H \ No newline at end of file +namespace uwrt_xbox +{ +using joy_msg = sensor_msgs::msg::Joy; +using xbox_msg = uwrt_mars_rover_xbox_controller::msg::XboxController; +class UWRTXboxController : public rclcpp::Node +{ +public: + UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + explicit UWRTXboxController(const rclcpp::NodeOptions & options); + +private: + rclcpp::Subscription::SharedPtr joy_node_sub; + rclcpp::Publisher::SharedPtr xbox_node_pub; + // publish to a generic 'manipulated xbox controller' topic + rclcpp::TimerBase::SharedPtr pub_timer; + + struct JsData + { + float drivetrain_js_x; + float drivetrain_js_y; + float gimble_js_x; + float gimble_js_y; + }; + + JsData joystick_data; + + UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL + void getXboxData(const joy_msg::SharedPtr msg); + UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL + void publishStructuredXboxData(); +}; +} // namespace uwrt_xbox + +#endif // XBOX_CONTROLLER_H \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h index f5e39a8d..3445651e 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/visibility.h @@ -62,4 +62,4 @@ extern "C" { } #endif -#endif // UWRT_MARS_ROVER_XBOX_CONTROLLER__VISIBILITY_H_ \ No newline at end of file +#endif // UWRT_MARS_ROVER_XBOX_CONTROLLER__VISIBILITY_H_ \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py index 9aca4c9b..65ac3085 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py @@ -13,8 +13,10 @@ def generate_launch_description(): composable_node_descriptions=[ ComposableNode( package="uwrt_mars_rover", - plugin="drivetraincontrollerComposition::CoordinateNode" + plugin="drivetraincontrollerComposition::CoordinateNode", + name='coordinateNode', ), ] ) -return launch.LaunchDescription([container]) \ No newline at end of file + return launch.LaunchDescription([container]) + diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml index 8e123a22..04bf2b56 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml @@ -22,6 +22,12 @@ ament_lint_auto ament_lint_common + ament_cmake_clang_format + ament_cmake_clang_tidy + ament_cmake_cppcheck + ament_cmake_flake8 + ament_cmake_xmllint + ament_cmake diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 61767afa..906e0011 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -1,24 +1,28 @@ #include -namespace drivetraincontrollerComposition { - CoordinateNode::CoordinateNode(const rclcpp::NodeOptions &options): Node("coordinateNode", options) { - auto callback = - [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { - //Add scaling value - const int vConstant = 5; +namespace drivetraincontrollerComposition +{ +CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) +: Node("coordinateNode", options) +{ + auto callback = + [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { + //Add scaling value + const int vConstant = 5; - auto msg = std::make_unique(); - msg->linear.x = (*msg_in).drivetrain_joy_x*vConstant; - msg->linear.y = (*msg_in).drivetrain_joy_y*vConstant; + auto msg = std::make_unique(); + msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant; + msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant; - pub_->publish(std::move(msg)); - }; - - pub_ = create_publisher("/differential_drivetrain_controller/cmd_vel", 10); - drvtrain_joy_sub = create_subscription("/xbox_info", 10, callback); - - } + pub_->publish(std::move(msg)); + }; + + pub_ = + create_publisher("/differential_drivetrain_controller/cmd_vel", 10); + drvtrain_joy_sub = create_subscription( + "/xbox_info", 10, callback); } +} // namespace drivetraincontrollerComposition #include RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp index 2d92d21c..9a2c0bcc 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp @@ -1,44 +1,48 @@ #include - -namespace uwrt_xbox { - -UWRTXboxController::UWRTXboxController(const rclcpp::NodeOptions &options): Node("xbox_node", options) { - using namespace std::chrono_literals; - // create publishers and subscribers - // constantly get data from the sensor messages joy topic - joy_node_sub = create_subscription("joy", 10, std::bind(&UWRTXboxController::getXboxData, this , std::placeholders::_1)); - xbox_node_pub = create_publisher("/xbox_info", 10); - pub_timer = create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); +namespace uwrt_xbox +{ +UWRTXboxController::UWRTXboxController(const rclcpp::NodeOptions & options) +: Node("xbox_node", options) +{ + using namespace std::chrono_literals; + // create publishers and subscribers + // constantly get data from the sensor messages joy topic + joy_node_sub = create_subscription( + "joy", 10, std::bind(&UWRTXboxController::getXboxData, this, std::placeholders::_1)); + xbox_node_pub = create_publisher("/xbox_info", 10); + pub_timer = + create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); } -void UWRTXboxController::getXboxData(const joy_msg::SharedPtr msg) { - auto inJsRange = [](float js_axis) -> bool { - return js_axis <= 1 && js_axis >= -1; - }; - // check that all values are within the expected range - if (!(inJsRange(msg->axes[0]) && inJsRange(msg->axes[1]) && inJsRange(msg->axes[3]) && inJsRange(msg->axes[4]))) { - RCLCPP_WARN(this->get_logger(), "A joystick gave a value outside of the [-1, 1] range."); - } - // store all joystick data - joystick_data.drivetrain_js_x = msg->axes[0]; - joystick_data.drivetrain_js_y = msg->axes[1]; - joystick_data.gimble_js_x = msg->axes[3]; - joystick_data.gimble_js_y = msg->axes[4]; - // RCLCPP_INFO(this->get_logger(), "DT JS_x: %f, DT JS_y: %f", joystick_data.drivetrain_js_x, joystick_data.drivetrain_js_y); +void UWRTXboxController::getXboxData(const joy_msg::SharedPtr msg) +{ + auto inJsRange = [](float js_axis) -> bool { return js_axis <= 1 && js_axis >= -1; }; + // check that all values are within the expected range + if (!(inJsRange(msg->axes[0]) && inJsRange(msg->axes[1]) && inJsRange(msg->axes[3]) && + inJsRange(msg->axes[4]))) { + RCLCPP_WARN(this->get_logger(), "A joystick gave a value outside of the [-1, 1] range."); + } + // store all joystick data + joystick_data.drivetrain_js_x = msg->axes[0]; + joystick_data.drivetrain_js_y = msg->axes[1]; + joystick_data.gimble_js_x = msg->axes[3]; + joystick_data.gimble_js_y = msg->axes[4]; + // RCLCPP_INFO(this->get_logger(), "DT JS_x: %f, DT JS_y: %f", joystick_data.drivetrain_js_x, joystick_data.drivetrain_js_y); } -void UWRTXboxController::publishStructuredXboxData() { - auto data = xbox_msg(); - data.drivetrain_joy_x = joystick_data.drivetrain_js_x; - data.drivetrain_joy_y = joystick_data.drivetrain_js_y; - data.gimble_joy_x = joystick_data.gimble_js_x; - data.gimble_joy_y = joystick_data.gimble_js_y; - xbox_node_pub->publish(data); +void UWRTXboxController::publishStructuredXboxData() +{ + auto data = xbox_msg(); + data.drivetrain_joy_x = joystick_data.drivetrain_js_x; + data.drivetrain_joy_y = joystick_data.drivetrain_js_y; + data.gimble_joy_x = joystick_data.gimble_js_x; + data.gimble_joy_y = joystick_data.gimble_js_y; + xbox_node_pub->publish(data); } -} +} // namespace uwrt_xbox #include RCLCPP_COMPONENTS_REGISTER_NODE(uwrt_xbox::UWRTXboxController) From 86c22330ecbb0432cdcd2277e098da34982da35f Mon Sep 17 00:00:00 2001 From: skhanna Date: Sun, 19 Feb 2023 20:03:20 +0000 Subject: [PATCH 25/31] more filer --- .../launch/location_launch.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py index 65ac3085..4ec5f448 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py @@ -12,9 +12,9 @@ def generate_launch_description(): executable='component_container', composable_node_descriptions=[ ComposableNode( - package="uwrt_mars_rover", - plugin="drivetraincontrollerComposition::CoordinateNode", - name='coordinateNode', + package='uwrt_mars_rover_xbox_controller', + plugin='drivetraincontrollerComposition::CoordinateNode', + name='coordinateNode' ), ] ) From 4f82000ce578d23f535e71f127c0806873d41509 Mon Sep 17 00:00:00 2001 From: Edward Wang Date: Mon, 29 Apr 2024 22:43:04 -0400 Subject: [PATCH 26/31] formatting --- .../coordinateNode.hpp | 20 ++++---- ...t_mars_rover_xbox_controller_interface.hpp | 50 +++++++++--------- .../src/coordinateNode.cpp | 32 +++++------- .../src/uwrt_mars_rover_xbox_controller.cpp | 51 +++++++++---------- 4 files changed, 72 insertions(+), 81 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp index 6e4fbf26..d11ec778 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/coordinateNode.hpp @@ -10,16 +10,16 @@ namespace drivetraincontrollerComposition { class CoordinateNode : public rclcpp::Node -{ -public: - UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC - explicit CoordinateNode(const rclcpp::NodeOptions & options); + { + public: + UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC + explicit CoordinateNode(const rclcpp::NodeOptions & options); -private: - rclcpp::Publisher::SharedPtr pub_; - rclcpp::Subscription::SharedPtr - drvtrain_joy_sub; -}; + private: + rclcpp::Publisher::SharedPtr pub_; + rclcpp::Subscription::SharedPtr + drvtrain_joy_sub; + }; } // namespace drivetraincontrollerComposition -#endif \ No newline at end of file +#endif diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp index 9e74aa84..c8611868 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/include/uwrt_mars_rover_xbox_controller/uwrt_mars_rover_xbox_controller_interface.hpp @@ -12,32 +12,28 @@ namespace uwrt_xbox using joy_msg = sensor_msgs::msg::Joy; using xbox_msg = uwrt_mars_rover_xbox_controller::msg::XboxController; class UWRTXboxController : public rclcpp::Node -{ -public: - UWRT_MARS_ROVER_XBOX_CONTROLLER_PUBLIC - explicit UWRTXboxController(const rclcpp::NodeOptions & options); - -private: - rclcpp::Subscription::SharedPtr joy_node_sub; - rclcpp::Publisher::SharedPtr xbox_node_pub; - // publish to a generic 'manipulated xbox controller' topic - rclcpp::TimerBase::SharedPtr pub_timer; - - struct JsData - { - float drivetrain_js_x; - float drivetrain_js_y; - float gimble_js_x; - float gimble_js_y; - }; - - JsData joystick_data; - - UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL - void getXboxData(const joy_msg::SharedPtr msg); - UWRT_MARS_ROVER_XBOX_CONTROLLER_LOCAL - void publishStructuredXboxData(); -}; + { + public: + explicit UWRTXboxController(const rclcpp::NodeOptions & options); + + private: + rclcpp::Subscription::SharedPtr joy_node_sub; + rclcpp::Publisher::SharedPtr xbox_node_pub; + // publish to a generic 'manipulated xbox controller' topic + rclcpp::TimerBase::SharedPtr pub_timer; + + struct JsData { + float drivetrain_js_x; + float drivetrain_js_y; + float gimble_js_x; + float gimble_js_y; + }; + + JsData joystick_data; + + void getXboxData(const joy_msg::SharedPtr msg); + void publishStructuredXboxData(); + }; } // namespace uwrt_xbox -#endif // XBOX_CONTROLLER_H \ No newline at end of file +#endif // XBOX_CONTROLLER_H diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 906e0011..267c718a 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -2,27 +2,23 @@ namespace drivetraincontrollerComposition { -CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) -: Node("coordinateNode", options) -{ - auto callback = - [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { - //Add scaling value - const int vConstant = 5; +CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coordinateNode", options) { + auto callback = [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { + //Add scaling value + const int vConstant = 5; - auto msg = std::make_unique(); - msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant; - msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant; + auto msg = std::make_unique(); + msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant; + msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant; - pub_->publish(std::move(msg)); - }; + pub_->publish(std::move(msg)); + }; - pub_ = - create_publisher("/differential_drivetrain_controller/cmd_vel", 10); - drvtrain_joy_sub = create_subscription( - "/xbox_info", 10, callback); -} + pub_ = create_publisher("/differential_drivetrain_controller/cmd_vel_unstamped", 10); + drvtrain_joy_sub = create_subscription( + "/xbox_info", 10, callback); + } } // namespace drivetraincontrollerComposition #include -RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) \ No newline at end of file +RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp index 9a2c0bcc..7ee22193 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp @@ -1,4 +1,3 @@ - #include namespace uwrt_xbox @@ -6,40 +5,40 @@ namespace uwrt_xbox UWRTXboxController::UWRTXboxController(const rclcpp::NodeOptions & options) : Node("xbox_node", options) { - using namespace std::chrono_literals; - // create publishers and subscribers - // constantly get data from the sensor messages joy topic - joy_node_sub = create_subscription( - "joy", 10, std::bind(&UWRTXboxController::getXboxData, this, std::placeholders::_1)); - xbox_node_pub = create_publisher("/xbox_info", 10); - pub_timer = - create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); + using namespace std::chrono_literals; + // create publishers and subscribers + // constantly get data from the sensor messages joy topic + joy_node_sub = create_subscription( + "joy", 10, std::bind(&UWRTXboxController::getXboxData, this, std::placeholders::_1)); + xbox_node_pub = create_publisher("/xbox_info", 10); + pub_timer = + create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); } void UWRTXboxController::getXboxData(const joy_msg::SharedPtr msg) { - auto inJsRange = [](float js_axis) -> bool { return js_axis <= 1 && js_axis >= -1; }; - // check that all values are within the expected range - if (!(inJsRange(msg->axes[0]) && inJsRange(msg->axes[1]) && inJsRange(msg->axes[3]) && + auto inJsRange = [](float js_axis) -> bool { return js_axis <= 1 && js_axis >= -1; }; + // check that all values are within the expected range + if (!(inJsRange(msg->axes[0]) && inJsRange(msg->axes[1]) && inJsRange(msg->axes[3]) && inJsRange(msg->axes[4]))) { - RCLCPP_WARN(this->get_logger(), "A joystick gave a value outside of the [-1, 1] range."); - } - // store all joystick data - joystick_data.drivetrain_js_x = msg->axes[0]; - joystick_data.drivetrain_js_y = msg->axes[1]; - joystick_data.gimble_js_x = msg->axes[3]; - joystick_data.gimble_js_y = msg->axes[4]; - // RCLCPP_INFO(this->get_logger(), "DT JS_x: %f, DT JS_y: %f", joystick_data.drivetrain_js_x, joystick_data.drivetrain_js_y); + RCLCPP_WARN(this->get_logger(), "A joystick gave a value outside of the [-1, 1] range."); + } + // store all joystick data + joystick_data.drivetrain_js_x = msg->axes[0]; + joystick_data.drivetrain_js_y = msg->axes[1]; + joystick_data.gimble_js_x = msg->axes[3]; + joystick_data.gimble_js_y = msg->axes[4]; + // RCLCPP_INFO(this->get_logger(), "DT JS_x: %f, DT JS_y: %f", joystick_data.drivetrain_js_x, joystick_data.drivetrain_js_y); } void UWRTXboxController::publishStructuredXboxData() { - auto data = xbox_msg(); - data.drivetrain_joy_x = joystick_data.drivetrain_js_x; - data.drivetrain_joy_y = joystick_data.drivetrain_js_y; - data.gimble_joy_x = joystick_data.gimble_js_x; - data.gimble_joy_y = joystick_data.gimble_js_y; - xbox_node_pub->publish(data); + auto data = xbox_msg(); + data.drivetrain_joy_x = joystick_data.drivetrain_js_x; + data.drivetrain_joy_y = joystick_data.drivetrain_js_y; + data.gimble_joy_x = joystick_data.gimble_js_x; + data.gimble_joy_y = joystick_data.gimble_js_y; + xbox_node_pub->publish(data); } } // namespace uwrt_xbox From e67ef87a9d493f7f7a51a8dfdb780f2534a8d3f9 Mon Sep 17 00:00:00 2001 From: Edward Wang Date: Mon, 29 Apr 2024 22:43:33 -0400 Subject: [PATCH 27/31] fix typo (coordinateNode -> CoordinateNode) so location_launch.py works --- .../CMakeLists.txt | 111 ++++++++++-------- 1 file changed, 60 insertions(+), 51 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt index e0b8b9be..7040de01 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/CMakeLists.txt @@ -3,11 +3,11 @@ project(uwrt_mars_rover_xbox_controller) # Default to C++14 if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) + add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies @@ -21,12 +21,12 @@ find_package(rosidl_default_generators REQUIRED) find_package(sensor_msgs REQUIRED) set(msg_files - "msg/XboxController.msg" + "msg/XboxController.msg" ) rosidl_generate_interfaces(${PROJECT_NAME} - ${msg_files} - DEPENDENCIES std_msgs + ${msg_files} + DEPENDENCIES std_msgs ) ament_export_dependencies(rosidl_default_runtime) @@ -39,13 +39,14 @@ set(node_plugins "") # add the xbox controller component add_library(xbox_controller SHARED - src/uwrt_mars_rover_xbox_controller.cpp) + src/uwrt_mars_rover_xbox_controller.cpp) target_compile_definitions(xbox_controller - PRIVATE "UWRT_MARS_ROVER_XBOX_CONTROLLER_DLL") + PRIVATE "UWRT_MARS_ROVER_XBOX_CONTROLLER_DLL") ament_target_dependencies(xbox_controller - "rclcpp" - "rclcpp_components" - "sensor_msgs") + "rclcpp" + "rclcpp_components" + "geometry_msgs" + "sensor_msgs") # build ROS custom messages rosidl_target_interfaces(xbox_controller ${PROJECT_NAME} "rosidl_typesupport_cpp") rclcpp_components_register_nodes(xbox_controller "uwrt_xbox::UWRTXboxController") @@ -53,16 +54,18 @@ set(node_plugins "${node_plugins}uwrt_xbox::UWRTXboxController;$\n") +rclcpp_components_register_nodes(coordinateNode "drivetraincontrollerComposition::CoordinateNode") +set(node_plugins "${node_plugins}drivetraincontrollerComposition::CoordinateNode;$\n") # if(BUILD_TESTING) @@ -77,46 +80,52 @@ set(node_plugins "${node_plugins}drivetraincontrollerComposition::coordinateNode # endif() install(DIRECTORY launch - DESTINATION share/${PROJECT_NAME} + DESTINATION share/${PROJECT_NAME} ) # tell where to put binaries install(TARGETS - xbox_controller - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) + xbox_controller + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) + +install(TARGETS + coordinateNode + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) if (BUILD_TESTING) - # Force generation of compile_commands.json for clang-tidy - set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "") - - # clang-format - find_package(ament_cmake_clang_format REQUIRED) - ament_clang_format( - CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-format - ) - - # clang-tidy - find_package(ament_cmake_clang_tidy REQUIRED) - ament_clang_tidy( - ${CMAKE_BINARY_DIR} - CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-tidy - ) - - # cppcheck - find_package(ament_cmake_cppcheck REQUIRED) - ament_cppcheck() - - # flake8 - find_package(ament_cmake_flake8 REQUIRED) - ament_flake8( - CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.flake8 - ) - - # xmllint - find_package(ament_cmake_xmllint REQUIRED) - ament_xmllint() + # Force generation of compile_commands.json for clang-tidy + set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "") + + # clang-format + find_package(ament_cmake_clang_format REQUIRED) + ament_clang_format( + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-format + ) + + # clang-tidy + find_package(ament_cmake_clang_tidy REQUIRED) + ament_clang_tidy( + ${CMAKE_BINARY_DIR} + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.clang-tidy + ) + + # cppcheck + find_package(ament_cmake_cppcheck REQUIRED) + ament_cppcheck() + + # flake8 + find_package(ament_cmake_flake8 REQUIRED) + ament_flake8( + CONFIG_FILE ${CMAKE_SOURCE_DIR}/../../.flake8 + ) + + # xmllint + find_package(ament_cmake_xmllint REQUIRED) + ament_xmllint() endif () -ament_package() \ No newline at end of file +ament_package() From 12602975185a7f03873e602b7964fe8f3a815ef2 Mon Sep 17 00:00:00 2001 From: wang-edward Date: Fri, 10 May 2024 16:06:55 -0400 Subject: [PATCH 28/31] updating coordinateNode to remove void msgs and add turning functionality - alex --- .../uwrt_mars_rover_xbox_controller/package.xml | 10 +++++++++- .../src/coordinateNode.cpp | 2 +- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml index 04bf2b56..7de3646b 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml @@ -3,8 +3,16 @@ uwrt_mars_rover_xbox_controller 0.0.0 - ROS2 rover xbox joystick controller + + ROS2 rover xbox joystick controller + Creator: Nico + Modifiers: Edward, Soumya, Alex + Link to detailed description: + nico + edward + soumya + alex Apache License 2.0 ament_cmake diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 267c718a..5b3c87de 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -9,7 +9,7 @@ CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coor auto msg = std::make_unique(); msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant; - msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant; + msg->angular.z = (*msg_in).gimble_joy_x * vConstant; pub_->publish(std::move(msg)); }; From 6aebfbc7cd4353ae893890161d5ac6d0c1d1dd9d Mon Sep 17 00:00:00 2001 From: wang-edward Date: Sat, 11 May 2024 15:47:08 -0400 Subject: [PATCH 29/31] fixing maintainer issues --- .../uwrt_mars_rover_xbox_controller/package.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml index 7de3646b..3cf9d364 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml @@ -10,8 +10,6 @@ Link to detailed description: nico - edward - soumya alex Apache License 2.0 From a2f7da1e747c6e447edaa9ef6beb949031afadf6 Mon Sep 17 00:00:00 2001 From: SW/FW Laptop Date: Sun, 30 Jun 2024 10:06:41 -0400 Subject: [PATCH 30/31] fix for coordinate nodes --- .../launch/location_launch.py | 11 +++++++---- .../src/coordinateNode.cpp | 14 ++++++++++---- .../src/uwrt_mars_rover_xbox_controller.cpp | 2 +- 3 files changed, 18 insertions(+), 9 deletions(-) diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py index 4ec5f448..1018aaef 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/launch/location_launch.py @@ -1,10 +1,12 @@ +import os import launch from launch import LaunchDescription -from launch_ros.actions import Node -from launch_ros.descriptions import ComposableNode +from launch.actions import SetEnvironmentVariable from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode def generate_launch_description(): + container = ComposableNodeContainer( name='container', namespace="", @@ -16,7 +18,8 @@ def generate_launch_description(): plugin='drivetraincontrollerComposition::CoordinateNode', name='coordinateNode' ), - ] + ], + output='screen' ) + return launch.LaunchDescription([container]) - diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp index 5b3c87de..9c84a903 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp @@ -5,11 +5,17 @@ namespace drivetraincontrollerComposition CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coordinateNode", options) { auto callback = [this](const uwrt_mars_rover_xbox_controller::msg::XboxController::SharedPtr msg_in) -> void { //Add scaling value - const int vConstant = 5; + int vConstant = 5; auto msg = std::make_unique(); - msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant; - msg->angular.z = (*msg_in).gimble_joy_x * vConstant; + msg->linear.x = (*msg_in).drivetrain_joy_y * vConstant; + msg->angular.z = (*msg_in).drivetrain_joy_x * vConstant; + msg->linear.x = (*msg_in).gimble_joy_y*(vConstant++); + msg->linear.x = (*msg_in).gimble_joy_x*(vConstant--); + + //To avoid overflow + if(vConstant > 2147483647 || vConstant < 0) + vConstant = 5; pub_->publish(std::move(msg)); }; @@ -21,4 +27,4 @@ CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coor } // namespace drivetraincontrollerComposition #include -RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) +RCLCPP_COMPONENTS_REGISTER_NODE(drivetraincontrollerComposition::CoordinateNode) \ No newline at end of file diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp index 7ee22193..d0405926 100644 --- a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp +++ b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/uwrt_mars_rover_xbox_controller.cpp @@ -12,7 +12,7 @@ UWRTXboxController::UWRTXboxController(const rclcpp::NodeOptions & options) "joy", 10, std::bind(&UWRTXboxController::getXboxData, this, std::placeholders::_1)); xbox_node_pub = create_publisher("/xbox_info", 10); pub_timer = - create_wall_timer(100ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); + create_wall_timer(1000ms, std::bind(&UWRTXboxController::publishStructuredXboxData, this)); } void UWRTXboxController::getXboxData(const joy_msg::SharedPtr msg) From fad2bff990267ad717b100246fec46ccf4ea34a8 Mon Sep 17 00:00:00 2001 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DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 zcmeHOe{3699e<9KHtkx+{k4X6TW+P5(v7%ImWH$})K22`jNEo>lP!>C$HjIM3&#%j znI_XZT2h9r5~#FFOai28NC>n_1O6BSX^^U02Z*s%LR(QmM6hZZDqS`h3ed%Tzwf?Z z=kDSTiSZBUp5*(y_xb*K@4oNd`QF`opO3_PsyrUS$tylCuoUu}Oo#;jy_5k6iFUCT zj<<{3#0n@^OU{&sOaQ5wE?3#HmUu59+SOyG0^VlQP=lGcg@|Z(v($(Ug2X83JkYKN z1ypw8ZfYkZ%ggmCXbee_$1+|<1xSomJ8a5)lN5{j4m*aZK9!K|uqaOSN@1VodPYPVsc2VtOez-)YxRc24XjJ4UPn(~+x2;yI(23lmr*e96m7?S&JMes`|;eE#*9SDz@{#Xhi3)WL-IJS4D; zd8`9<%=141IU37=my*94lf+F9?Z7J)WLtn+UxDuhPN~4hZ^GXK{I&}E0^%3PaJ30d zi%;mP-UD6f zY$n;O52ev^WGtH@OU+cRs3_ZGMv-Ibfe2y@d0Z5>q*h^cKSFKi>yxhwWt}NlpzD_T zS#nStGUd#3+3(;L#nh{J@HyfY2mdAF8y)-;#9!VgWWuq4=fi2%!t*(!Y|g^-*hGHb z!t*tT{DOs-_e&(*|9if^XmEQ`_%IbUe$9^y|id-1P43FL2YSvxUK=(#rD|V;~fzYi^AP~>QqM+ zX4T?VV~u*MV+9oEc9u$|xda?8*4z$d&mh>^?B6^JLUhyzcEw}Y)M8=w#mEh8rh01A zFJPvADsoMIQuVx2_pGS<$&4p*1Na|T;!VZrO)vN$n$K4I%i7Fj;Uv}t z;Sb4phaZehciaOrm+%A8;;Z4lXz|@}Z@74)Pn~Ys4)l@O&iAlS=NcAECH4G!UZbJ; z3dJ*4d?!}C-d%hnT-x}1b?Smg-SfM`pRm6N2Ez}92g47CwF|>bb>eB`NI;b1q&zZY zliY(F0XG6}1l$O?5pW~mM!=1L8v!>0ZUo#2{EtMyWBb~;ywTBvJ%{$jvt#3_bTT&p zUnvLeIySlXxnwS%%4P(fbxlyo=(OM z_!Ky-7t+Q+bL*h+Z1sK&zh~mNFXOFJDGhiM@C@J?K>T)jY`#=F2Uz`fsq{-g18^g} zhQM#Jm^_ah7M=;eXX~1kwWo>4H3scqk8cJ<_e%MNZ#!gLu?)NfIa+&M z?Ax;Uu6wp`Loxb&2!3FS8D@yj*czTo34RA2kl%Kg4j#@8P91;f6^PM^~0tMByrJAJkC zd**M!ydV6y-|H}tZgL~wM!=1L8v!>0ZUo#2xDjw8;6{KW!0Q@$9V1MEWMW*yinPvg zEtMN-vFL}W%@P^)yVQ1S0R2z^3^6S zjuGN|Q%v`_JX=Jg)geI{d3e_ z_%bZZ96y+b$?~ft|2vhr9pv`E2fRM~1A653tBPVe;`OP#9+lUh?(gc_t2Fiv6*5La z*%N??eN%HmmYN@H2?m0#ftH;n|L+^*g%zyz++h}VFT9iB_3IWI)<$~;uTQu0)#A~L zern3&%&xzpJihGwO2OmM&esa=PdmR#@HnvZs|AlYI}f9mt}8pgMkp2ewIW!N_m%f& z*!|QAzE15tI8m&OnfHoy<@NVgsTWp;&sEglP~OL2*WXya-t9bGofXEXSKL~@KJEIO zg$P+0Gw+3~Jy?i$A^Eco{!ZfgK52Rp;-ip( zQCn^g)`zJFeja!m#P>Z(!T}fOW4(OeWgg!NdBpN~J_&rK_CF)_{UW4522zU&;G?qs zdEh;_)p$}Bi3`Q_v1e&GFLbGg6RWEb%3tCn9c{m8SD1&@*+=lDDc zykgPg>=VGRtJ*C1zRLVrd+lA|ktei(=CA@*$I zG13pwc-}?gm&m`L^!b1A3h?MBNIa>FH^|RUs#m_l1mQLEFki6))GcG zm)G>dgupk~>7zphO_)i9Q^bg4j+hUk%QeD>|L>YN(im{lLx~G zqFr{0+#~}Oym!|kDtS=54-0L7>`-SorXA|(ITGpBdc&Qu2zr%UYvTEWJg4{HOp{FL zhR!BSyKzDx+jblcwahIypljcMqb2fLZB)-BaBoiZ5NIV*8Lf~{CWJh7e#y_3V7oAY zrj$P_fOIIIrz+%rAZeV|Gb06k1iHcgB>>c6QxJy{cMDbA0%YHGWIrkCA3rt-5y(%D z8Tt^Qku!0WbEypMKN=T-Ox8#SMlyxKcrH7h%o&pwYN(Kc9b%~jQQ^*LlcA3YsXnUb zM@1kpnSm-yG;*edzLMAq8pv|Vw2lTMAfpr*Pa6Ucfsrg^jN}9yajb%7R(4(>IZC5* zGy(QpGVRS_YFcm}oa@EkGDY|rzT6mWRTY|qcLj69D56`9b7 zHGLKeIHzHIe(q)D`60KT^%x%mdz>S2nV*jt6{^hHexk)RWH6>|&(G0}3N@JPcb@;( zz!p_lj(@c>5%PSM*k%3yO%Pb^6|!SwcWlpP#-|+i{QS6e1IDY44s-hZ zzQdm91B^VM=lY%F_lIQ9@fQkd5}uWbm1ur-S@_%KLwv`dnuGBiPni?D=_qp$SMxtY?;%%FMq70vvl>fBCr? 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/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/CMakeFiles /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/CMakeFiles/progress.marks + $(MAKE) -f CMakeFiles/Makefile2 all + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + $(MAKE) -f CMakeFiles/Makefile2 clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +#============================================================================= +# Target rules for targets named uwrt_mars_rover_uninstall + +# Build rule for target. +uwrt_mars_rover_uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uwrt_mars_rover_uninstall +.PHONY : uwrt_mars_rover_uninstall + +# fast build rule for target. +uwrt_mars_rover_uninstall/fast: + $(MAKE) -f CMakeFiles/uwrt_mars_rover_uninstall.dir/build.make CMakeFiles/uwrt_mars_rover_uninstall.dir/build +.PHONY : uwrt_mars_rover_uninstall/fast + +#============================================================================= +# Target rules for targets named uninstall + +# Build rule for target. +uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uninstall +.PHONY : uninstall + +# fast build rule for target. +uninstall/fast: + $(MAKE) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build +.PHONY : uninstall/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... uwrt_mars_rover_uninstall" + @echo "... uninstall" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/uwrt_mars_rover/ament_cmake_core/package.cmake b/build/uwrt_mars_rover/ament_cmake_core/package.cmake new file mode 100644 index 00000000..bdee07dc --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/package.cmake @@ -0,0 +1,14 @@ +set(_AMENT_PACKAGE_NAME "uwrt_mars_rover") +set(uwrt_mars_rover_VERSION "0.0.0") +set(uwrt_mars_rover_MAINTAINER "niiquaye , Keyon Jerome ") +set(uwrt_mars_rover_BUILD_DEPENDS ) +set(uwrt_mars_rover_BUILDTOOL_DEPENDS "ament_cmake") +set(uwrt_mars_rover_BUILD_EXPORT_DEPENDS ) +set(uwrt_mars_rover_BUILDTOOL_EXPORT_DEPENDS ) +set(uwrt_mars_rover_EXEC_DEPENDS "uwrt_mars_rover_description" "uwrt_mars_rover_drivetrain" "uwrt_mars_rover_drivetrain_hw") +set(uwrt_mars_rover_TEST_DEPENDS "ament_cmake_xmllint") +set(uwrt_mars_rover_GROUP_DEPENDS ) +set(uwrt_mars_rover_MEMBER_OF_GROUPS ) +set(uwrt_mars_rover_DEPRECATED "") +set(uwrt_mars_rover_EXPORT_TAGS) +list(APPEND uwrt_mars_rover_EXPORT_TAGS "ament_cmake") diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 00000000..ee49c9f1 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 00000000..6fb3fe78 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/package.xml.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 00000000..15d6ce11 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,24 @@ + + + + uwrt_mars_rover + 0.0.0 + Package grouping all the packages written for the UWRT rover's differential drivetrain. + + niiquaye + Keyon Jerome + + MIT + + ament_cmake + + uwrt_mars_rover_description + uwrt_mars_rover_drivetrain + uwrt_mars_rover_drivetrain_hw + + ament_cmake_xmllint + + + ament_cmake + + diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 00000000..2269b638 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import evaluate_condition +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/path.sh.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/uwrt_mars_rover/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/uwrt_mars_rover/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 00000000..b7c0faf1 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [l.replace('\\', '/') for l in lines] + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig-version.cmake b/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig-version.cmake new file mode 100644 index 00000000..7beb7328 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig.cmake b/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig.cmake new file mode 100644 index 00000000..eb95ea39 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_uwrt_mars_rover_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED uwrt_mars_rover_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(uwrt_mars_rover_FOUND FALSE) + elseif(NOT uwrt_mars_rover_FOUND) + # use separate condition to avoid uninitialized variable warning + set(uwrt_mars_rover_FOUND FALSE) + endif() + return() +endif() +set(_uwrt_mars_rover_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT uwrt_mars_rover_FIND_QUIETLY) + message(STATUS "Found uwrt_mars_rover: 0.0.0 (${uwrt_mars_rover_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'uwrt_mars_rover' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${uwrt_mars_rover_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(uwrt_mars_rover_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${uwrt_mars_rover_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/uwrt_mars_rover/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.bash b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.dsv b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 00000000..a0006ac0 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/uwrt_mars_rover/environment/ament_prefix_path.sh +source;share/uwrt_mars_rover/environment/path.sh diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.sh b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 00000000..d797dbdb --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.zsh b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/package.dsv b/build/uwrt_mars_rover/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 00000000..d22c921e --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/uwrt_mars_rover/local_setup.bash +source;share/uwrt_mars_rover/local_setup.dsv +source;share/uwrt_mars_rover/local_setup.sh +source;share/uwrt_mars_rover/local_setup.zsh diff --git a/build/uwrt_mars_rover/ament_cmake_environment_hooks/path.dsv b/build/uwrt_mars_rover/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover b/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover new file mode 100644 index 00000000..de91c5fe --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover @@ -0,0 +1 @@ +uwrt_mars_rover_description;uwrt_mars_rover_drivetrain;uwrt_mars_rover_drivetrain_hw;ament_cmake_xmllint \ No newline at end of file diff --git a/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover b/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover new file mode 100644 index 00000000..e69de29b diff --git a/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover b/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover new file mode 100644 index 00000000..cd904600 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover @@ -0,0 +1 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description:/opt/ros/galactic \ No newline at end of file diff --git a/build/uwrt_mars_rover/ament_cmake_package_templates/templates.cmake b/build/uwrt_mars_rover/ament_cmake_package_templates/templates.cmake new file mode 100644 index 00000000..d41b791d --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/uwrt_mars_rover/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/uwrt_mars_rover/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 00000000..eeae2db2 --- /dev/null +++ b/build/uwrt_mars_rover/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/uwrt_mars_rover/cmake_args.last b/build/uwrt_mars_rover/cmake_args.last new file mode 100644 index 00000000..4af18322 --- /dev/null +++ b/build/uwrt_mars_rover/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/uwrt_mars_rover/cmake_install.cmake b/build/uwrt_mars_rover/cmake_install.cmake new file mode 100644 index 00000000..69481b1b --- /dev/null +++ b/build/uwrt_mars_rover/cmake_install.cmake @@ -0,0 +1,108 @@ +# Install script for directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.bash") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.zsh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/local_setup.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_environment_hooks/package.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover/cmake" TYPE FILE FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig.cmake" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/ament_cmake_core/uwrt_mars_roverConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover/package.xml") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/uwrt_mars_rover/colcon_build.rc b/build/uwrt_mars_rover/colcon_build.rc new file mode 100644 index 00000000..573541ac --- /dev/null +++ b/build/uwrt_mars_rover/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/uwrt_mars_rover/colcon_command_prefix_build.sh b/build/uwrt_mars_rover/colcon_command_prefix_build.sh new file mode 100644 index 00000000..08ee45c8 --- /dev/null +++ b/build/uwrt_mars_rover/colcon_command_prefix_build.sh @@ -0,0 +1,5 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/package.sh" +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/package.sh" +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/package.sh" +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/package.sh" diff --git a/build/uwrt_mars_rover/colcon_command_prefix_build.sh.env b/build/uwrt_mars_rover/colcon_command_prefix_build.sh.env new file mode 100644 index 00000000..5ab48773 --- /dev/null +++ b/build/uwrt_mars_rover/colcon_command_prefix_build.sh.env @@ -0,0 +1,64 @@ +AMENT_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description:/opt/ros/galactic +CMAKE_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description +COLCON=1 +COLORTERM=truecolor +CONDA_EXE=/home/uwrt/miniconda3/bin/conda +CONDA_PYTHON_EXE=/home/uwrt/miniconda3/bin/python +CONDA_SHLVL=0 +DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus +DESKTOP_SESSION=ubuntu +DISPLAY=:1 +GDMSESSION=ubuntu +GJS_DEBUG_OUTPUT=stderr +GJS_DEBUG_TOPICS=JS ERROR;JS LOG +GNOME_DESKTOP_SESSION_ID=this-is-deprecated +GNOME_SHELL_SESSION_MODE=ubuntu +GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/2af5f99a_ab57_4976_a5a7_551017e8573a +GNOME_TERMINAL_SERVICE=:1.152 +GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 +GTK_MODULES=gail:atk-bridge +HOME=/home/uwrt +IM_CONFIG_PHASE=1 +INVOCATION_ID=568d2ebd0ec341f3b1313028e74dc3be +JOURNAL_STREAM=8:40800 +LANG=en_CA.UTF-8 +LANGUAGE=en_CA:en +LD_LIBRARY_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib +LESSCLOSE=/usr/bin/lesspipe %s %s +LESSOPEN=| /usr/bin/lesspipe %s +LOGNAME=uwrt 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+MANAGERPID=1425 +OLDPWD=/home/uwrt/xbox_test_ws +PATH=/opt/ros/galactic/bin:/home/uwrt/miniconda3/condabin:/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:/home/uwrt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/uwrt/.local/bin +PWD=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover +PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=galactic +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/uwrt-Lenovo-Yoga710-15ISK:@/tmp/.ICE-unix/1681,unix/uwrt-Lenovo-Yoga710-15ISK:/tmp/.ICE-unix/1681 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_PID=1643 +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +TERM=xterm-256color +USER=uwrt +USERNAME=uwrt +VTE_VERSION=6003 +WINDOWPATH=2 +XAUTHORITY=/run/user/1000/gdm/Xauthority +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=x11 +XMODIFIERS=@im=ibus +_=/usr/bin/colcon +_CE_CONDA= +_CE_M= diff --git a/build/uwrt_mars_rover/install_manifest.txt b/build/uwrt_mars_rover/install_manifest.txt new file mode 100644 index 00000000..257902b8 --- /dev/null +++ b/build/uwrt_mars_rover/install_manifest.txt @@ -0,0 +1,15 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/environment/ament_prefix_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/environment/ament_prefix_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/environment/path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/environment/path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/local_setup.bash +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/local_setup.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/local_setup.zsh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/local_setup.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/package.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/ament_index/resource_index/packages/uwrt_mars_rover +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/cmake/uwrt_mars_roverConfig.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/cmake/uwrt_mars_roverConfig-version.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover/share/uwrt_mars_rover/package.xml \ No newline at end of file diff --git a/build/uwrt_mars_rover_description/CMakeCache.txt b/build/uwrt_mars_rover_description/CMakeCache.txt new file mode 100644 index 00000000..9fda0659 --- /dev/null +++ b/build/uwrt_mars_rover_description/CMakeCache.txt @@ -0,0 +1,489 @@ +# This is the CMakeCache file. +# For build in directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Generate environment files in the CMAKE_INSTALL_PREFIX +AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF + +//Generate environment files in the package share folder +AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON + +//Generate marker file containing the parent prefix path +AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF + +//Generate an uninstall target to revert the effects of the install +// step +AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON + +//The path where test results are generated +AMENT_TEST_RESULTS_DIR:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/test_results + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the C compiler during RELEASE builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=uwrt_mars_rover_description + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. 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DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && 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+ +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover_description/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover_description/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover_description/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover_description/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 zcmeHOe{3699e<9KHtkx+{k4X6TW+P5(v7%ImWH$})K22`jNEo>lP!>C$HjIM3&#%j znI_XZT2h9r5~#FFOai28NC>n_1O6BSX^^U02Z*s%LR(QmM6hZZDqS`h3ed%Tzwf?Z z=kDSTiSZBUp5*(y_xb*K@4oNd`QF`opO3_PsyrUS$tylCuoUu}Oo#;jy_5k6iFUCT zj<<{3#0n@^OU{&sOaQ5wE?3#HmUu59+SOyG0^VlQP=lGcg@|Z(v($(Ug2X83JkYKN z1ypw8ZfYkZ%ggmCXbee_$1+|<1xSomJ8a5)lN5{j4m*aZK9!K|uqaOSN@1VodPYPVsc2VtOez-)YxRc24XjJ4UPn(~+x2;yI(23lmr*e96m7?S&JMes`|;eE#*9SDz@{#Xhi3)WL-IJS4D; zd8`9<%=141IU37=my*94lf+F9?Z7J)WLtn+UxDuhPN~4hZ^GXK{I&}E0^%3PaJ30d zi%;mP-UD6f zY$n;O52ev^WGtH@OU+cRs3_ZGMv-Ibfe2y@d0Z5>q*h^cKSFKi>yxhwWt}NlpzD_T zS#nStGUd#3+3(;L#nh{J@HyfY2mdAF8y)-;#9!VgWWuq4=fi2%!t*(!Y|g^-*hGHb z!t*tT{DOs-_e&(*|9if^XmEQ`_%IbUe$9^y|id-1P43FL2YSvxUK=(#rD|V;~fzYi^AP~>QqM+ zX4T?VV~u*MV+9oEc9u$|xda?8*4z$d&mh>^?B6^JLUhyzcEw}Y)M8=w#mEh8rh01A zFJPvADsoMIQuVx2_pGS<$&4p*1Na|T;!VZrO)vN$n$K4I%i7Fj;Uv}t z;Sb4phaZehciaOrm+%A8;;Z4lXz|@}Z@74)Pn~Ys4)l@O&iAlS=NcAECH4G!UZbJ; z3dJ*4d?!}C-d%hnT-x}1b?Smg-SfM`pRm6N2Ez}92g47CwF|>bb>eB`NI;b1q&zZY zliY(F0XG6}1l$O?5pW~mM!=1L8v!>0ZUo#2{EtMyWBb~;ywTBvJ%{$jvt#3_bTT&p zUnvLeIySlXxnwS%%4P(fbxlyo=(OM z_!Ky-7t+Q+bL*h+Z1sK&zh~mNFXOFJDGhiM@C@J?K>T)jY`#=F2Uz`fsq{-g18^g} zhQM#Jm^_ah7M=;eXX~1kwWo>4H3scqk8cJ<_e%MNZ#!gLu?)NfIa+&M z?Ax;Uu6wp`Loxb&2!3FS8D@yj*czTo34RA2kl%Kg4j#@8P91;f6^PM^~0tMByrJAJkC zd**M!ydV6y-|H}tZgL~wM!=1L8v!>0ZUo#2xDjw8;6{KW!0Q@$9V1MEWMW*yinPvg zEtMN-vFL}W%@P^)yVQ1S0R2z^3^6S zjuGN|Q%v`_JX=Jg)geI{d3e_ z_%bZZ96y+b$?~ft|2vhr9pv`E2fRM~1A653tBPVe;`OP#9+lUh?(gc_t2Fiv6*5La z*%N??eN%HmmYN@H2?m0#ftH;n|L+^*g%zyz++h}VFT9iB_3IWI)<$~;uTQu0)#A~L zern3&%&xzpJihGwO2OmM&esa=PdmR#@HnvZs|AlYI}f9mt}8pgMkp2ewIW!N_m%f& z*!|QAzE15tI8m&OnfHoy<@NVgsTWp;&sEglP~OL2*WXya-t9bGofXEXSKL~@KJEIO zg$P+0Gw+3~Jy?i$A^Eco{!ZfgK52Rp;-ip( zQCn^g)`zJFeja!m#P>Z(!T}fOW4(OeWgg!NdBpN~J_&rK_CF)_{UW4522zU&;G?qs zdEh;_)p$}Bi3`Q_v1e&GFLbGg6RWEb%3tCn9c{m8SD1&@*+=lDDc zykgPg>=VGRtJ*C1zRLVrd+lA|ktei(=CA@*$I zG13pwc-}?gm&m`L^!b1A3h?MBNIa>FH^|RUs#m_l1mQLEFki6))GcG zm)G>dgupk~>7zphO_)i9Q^bg4j+hUk%QeD>|L>YN(im{lLx~G zqFr{0+#~}Oym!|kDtS=54-0L7>`-SorXA|(ITGpBdc&Qu2zr%UYvTEWJg4{HOp{FL zhR!BSyKzDx+jblcwahIypljcMqb2fLZB)-BaBoiZ5NIV*8Lf~{CWJh7e#y_3V7oAY zrj$P_fOIIIrz+%rAZeV|Gb06k1iHcgB>>c6QxJy{cMDbA0%YHGWIrkCA3rt-5y(%D z8Tt^Qku!0WbEypMKN=T-Ox8#SMlyxKcrH7h%o&pwYN(Kc9b%~jQQ^*LlcA3YsXnUb zM@1kpnSm-yG;*edzLMAq8pv|Vw2lTMAfpr*Pa6Ucfsrg^jN}9yajb%7R(4(>IZC5* zGy(QpGVRS_YFcm}oa@EkGDY|rzT6mWRTY|qcLj69D56`9b7 zHGLKeIHzHIe(q)D`60KT^%x%mdz>S2nV*jt6{^hHexk)RWH6>|&(G0}3N@JPcb@;( zz!p_lj(@c>5%PSM*k%3yO%Pb^6|!SwcWlpP#-|+i{QS6e1IDY44s-hZ zzQdm91B^VM=lY%F_lIQ9@fQkd5}uWbm1ur-S@_%KLwv`dnuGBiPni?D=_qp$SMxtY?;%%FMq70vvl>fBCr? 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b/build/uwrt_mars_rover_description/CTestTestfile.cmake new file mode 100644 index 00000000..0e66e3d9 --- /dev/null +++ b/build/uwrt_mars_rover_description/CTestTestfile.cmake @@ -0,0 +1,12 @@ +# CMake generated Testfile for +# Source directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_description +# Build directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +add_test(copyright "/usr/bin/python3" "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/test_results/uwrt_mars_rover_description/copyright.xunit.xml" "--package-name" "uwrt_mars_rover_description" "--output-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_copyright/copyright.txt" "--command" 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-DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/CMakeFiles /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/CMakeFiles/progress.marks + $(MAKE) -f CMakeFiles/Makefile2 all + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + $(MAKE) -f CMakeFiles/Makefile2 clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +#============================================================================= +# Target rules for targets named uwrt_mars_rover_description_uninstall + +# Build rule for target. +uwrt_mars_rover_description_uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uwrt_mars_rover_description_uninstall +.PHONY : uwrt_mars_rover_description_uninstall + +# fast build rule for target. +uwrt_mars_rover_description_uninstall/fast: + $(MAKE) -f CMakeFiles/uwrt_mars_rover_description_uninstall.dir/build.make CMakeFiles/uwrt_mars_rover_description_uninstall.dir/build +.PHONY : uwrt_mars_rover_description_uninstall/fast + +#============================================================================= +# Target rules for targets named uninstall + +# Build rule for target. +uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uninstall +.PHONY : uninstall + +# fast build rule for target. +uninstall/fast: + $(MAKE) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build +.PHONY : uninstall/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... uwrt_mars_rover_description_uninstall" + @echo "... uninstall" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/package.cmake b/build/uwrt_mars_rover_description/ament_cmake_core/package.cmake new file mode 100644 index 00000000..50cbc1d1 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/package.cmake @@ -0,0 +1,14 @@ +set(_AMENT_PACKAGE_NAME "uwrt_mars_rover_description") +set(uwrt_mars_rover_description_VERSION "0.0.0") +set(uwrt_mars_rover_description_MAINTAINER "Keyon Jerome ") +set(uwrt_mars_rover_description_BUILD_DEPENDS ) +set(uwrt_mars_rover_description_BUILDTOOL_DEPENDS "ament_cmake") +set(uwrt_mars_rover_description_BUILD_EXPORT_DEPENDS ) +set(uwrt_mars_rover_description_BUILDTOOL_EXPORT_DEPENDS ) +set(uwrt_mars_rover_description_EXEC_DEPENDS ) +set(uwrt_mars_rover_description_TEST_DEPENDS "ament_lint_auto" "ament_lint_common") +set(uwrt_mars_rover_description_GROUP_DEPENDS ) +set(uwrt_mars_rover_description_MEMBER_OF_GROUPS ) +set(uwrt_mars_rover_description_DEPRECATED "") +set(uwrt_mars_rover_description_EXPORT_TAGS) +list(APPEND uwrt_mars_rover_description_EXPORT_TAGS "ament_cmake") diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 00000000..ee49c9f1 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 00000000..6fb3fe78 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package.xml.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 00000000..b6da31b6 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,19 @@ + + + + uwrt_mars_rover_description + 0.0.0 + Package containing URDF and description files of the UWRT rover's full robot, combining description packages for individual subsystems. + Keyon Jerome + + MIT + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 00000000..2269b638 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import evaluate_condition +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/path.sh.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 00000000..b7c0faf1 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [l.replace('\\', '/') for l in lines] + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig-version.cmake b/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig-version.cmake new file mode 100644 index 00000000..7beb7328 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig.cmake b/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig.cmake new file mode 100644 index 00000000..d71e822e --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_uwrt_mars_rover_description_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED uwrt_mars_rover_description_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(uwrt_mars_rover_description_FOUND FALSE) + elseif(NOT uwrt_mars_rover_description_FOUND) + # use separate condition to avoid uninitialized variable warning + set(uwrt_mars_rover_description_FOUND FALSE) + endif() + return() +endif() +set(_uwrt_mars_rover_description_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT uwrt_mars_rover_description_FIND_QUIETLY) + message(STATUS "Found uwrt_mars_rover_description: 0.0.0 (${uwrt_mars_rover_description_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'uwrt_mars_rover_description' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${uwrt_mars_rover_description_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(uwrt_mars_rover_description_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${uwrt_mars_rover_description_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.bash b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.dsv b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 00000000..1182f84e --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/uwrt_mars_rover_description/environment/ament_prefix_path.sh +source;share/uwrt_mars_rover_description/environment/path.sh diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.sh b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 00000000..076c73c9 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_description/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_description/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.zsh b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/package.dsv b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 00000000..fcfac906 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/uwrt_mars_rover_description/local_setup.bash +source;share/uwrt_mars_rover_description/local_setup.dsv +source;share/uwrt_mars_rover_description/local_setup.sh +source;share/uwrt_mars_rover_description/local_setup.zsh diff --git a/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/path.dsv b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_description b/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_description new file mode 100644 index 00000000..25ce83ab --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_description @@ -0,0 +1 @@ +ament_lint_auto;ament_lint_common \ No newline at end of file diff --git a/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_description b/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_description new file mode 100644 index 00000000..e69de29b diff --git a/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_description b/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_description new file mode 100644 index 00000000..19f5b6d2 --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_description @@ -0,0 +1 @@ +/opt/ros/galactic \ No newline at end of file diff --git a/build/uwrt_mars_rover_description/ament_cmake_package_templates/templates.cmake b/build/uwrt_mars_rover_description/ament_cmake_package_templates/templates.cmake new file mode 100644 index 00000000..d41b791d --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/uwrt_mars_rover_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/uwrt_mars_rover_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 00000000..6745208a --- /dev/null +++ b/build/uwrt_mars_rover_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/uwrt_mars_rover_description/cmake_args.last b/build/uwrt_mars_rover_description/cmake_args.last new file mode 100644 index 00000000..4af18322 --- /dev/null +++ b/build/uwrt_mars_rover_description/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/uwrt_mars_rover_description/cmake_install.cmake b/build/uwrt_mars_rover_description/cmake_install.cmake new file mode 100644 index 00000000..52a65293 --- /dev/null +++ b/build/uwrt_mars_rover_description/cmake_install.cmake @@ -0,0 +1,108 @@ +# Install script for directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_description + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_description") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_description") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_environment_hooks/local_setup.bash") +endif() + 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"/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig.cmake" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/ament_cmake_core/uwrt_mars_rover_descriptionConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_description/package.xml") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/uwrt_mars_rover_description/colcon_build.rc b/build/uwrt_mars_rover_description/colcon_build.rc new file mode 100644 index 00000000..573541ac --- /dev/null +++ b/build/uwrt_mars_rover_description/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh b/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh new file mode 100644 index 00000000..f9867d51 --- /dev/null +++ b/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh @@ -0,0 +1 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh.env b/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh.env new file mode 100644 index 00000000..5854a6e9 --- /dev/null +++ b/build/uwrt_mars_rover_description/colcon_command_prefix_build.sh.env @@ -0,0 +1,63 @@ +AMENT_PREFIX_PATH=/opt/ros/galactic +COLCON=1 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+MANAGERPID=1425 +OLDPWD=/home/uwrt/xbox_test_ws +PATH=/opt/ros/galactic/bin:/home/uwrt/miniconda3/condabin:/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:/home/uwrt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/uwrt/.local/bin +PWD=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_description +PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=galactic +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/uwrt-Lenovo-Yoga710-15ISK:@/tmp/.ICE-unix/1681,unix/uwrt-Lenovo-Yoga710-15ISK:/tmp/.ICE-unix/1681 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_PID=1643 +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +TERM=xterm-256color +USER=uwrt +USERNAME=uwrt +VTE_VERSION=6003 +WINDOWPATH=2 +XAUTHORITY=/run/user/1000/gdm/Xauthority +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=x11 +XMODIFIERS=@im=ibus +_=/usr/bin/colcon +_CE_CONDA= +_CE_M= diff --git a/build/uwrt_mars_rover_description/install_manifest.txt b/build/uwrt_mars_rover_description/install_manifest.txt new file mode 100644 index 00000000..d9450215 --- /dev/null +++ b/build/uwrt_mars_rover_description/install_manifest.txt @@ -0,0 +1,15 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/environment/ament_prefix_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/environment/ament_prefix_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/environment/path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/environment/path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/local_setup.bash +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/local_setup.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/local_setup.zsh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/local_setup.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/package.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/ament_index/resource_index/packages/uwrt_mars_rover_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/cmake/uwrt_mars_rover_descriptionConfig.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/cmake/uwrt_mars_rover_descriptionConfig-version.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_description/share/uwrt_mars_rover_description/package.xml \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain/CMakeCache.txt b/build/uwrt_mars_rover_drivetrain/CMakeCache.txt new file mode 100644 index 00000000..c3d84d1c --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/CMakeCache.txt @@ -0,0 +1,456 @@ +# This is the CMakeCache file. +# For build in directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Generate environment files in the CMAKE_INSTALL_PREFIX +AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF + +//Generate environment files in the package share folder +AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON + +//Generate marker file containing the parent prefix path +AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF + +//Generate an uninstall target to revert the effects of the install +// step +AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON + +//The path where test results are generated +AMENT_TEST_RESULTS_DIR:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/test_results + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the C compiler during RELEASE builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=uwrt_mars_rover_drivetrain + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING= + +//Name of the computer/site where compile is being run +SITE:STRING=uwrt-Lenovo-Yoga710-15ISK + +//The directory containing a CMake configuration file for ament_cmake. +ament_cmake_DIR:PATH=/opt/ros/galactic/share/ament_cmake/cmake + +//The directory containing a CMake configuration file for ament_cmake_core. +ament_cmake_core_DIR:PATH=/opt/ros/galactic/share/ament_cmake_core/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_definitions. +ament_cmake_export_definitions_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_definitions/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_dependencies. 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*/ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover_drivetrain/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover_drivetrain/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover_drivetrain/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover_drivetrain/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 zcmeHOe{3699e<9KHtkx+{k4X6TW+P5(v7%ImWH$})K22`jNEo>lP!>C$HjIM3&#%j znI_XZT2h9r5~#FFOai28NC>n_1O6BSX^^U02Z*s%LR(QmM6hZZDqS`h3ed%Tzwf?Z z=kDSTiSZBUp5*(y_xb*K@4oNd`QF`opO3_PsyrUS$tylCuoUu}Oo#;jy_5k6iFUCT zj<<{3#0n@^OU{&sOaQ5wE?3#HmUu59+SOyG0^VlQP=lGcg@|Z(v($(Ug2X83JkYKN z1ypw8ZfYkZ%ggmCXbee_$1+|<1xSomJ8a5)lN5{j4m*aZK9!K|uqaOSN@1VodPYPVsc2VtOez-)YxRc24XjJ4UPn(~+x2;yI(23lmr*e96m7?S&JMes`|;eE#*9SDz@{#Xhi3)WL-IJS4D; zd8`9<%=141IU37=my*94lf+F9?Z7J)WLtn+UxDuhPN~4hZ^GXK{I&}E0^%3PaJ30d zi%;mP-UD6f zY$n;O52ev^WGtH@OU+cRs3_ZGMv-Ibfe2y@d0Z5>q*h^cKSFKi>yxhwWt}NlpzD_T zS#nStGUd#3+3(;L#nh{J@HyfY2mdAF8y)-;#9!VgWWuq4=fi2%!t*(!Y|g^-*hGHb z!t*tT{DOs-_e&(*|9if^XmEQ`_%IbUe$9^y|id-1P43FL2YSvxUK=(#rD|V;~fzYi^AP~>QqM+ zX4T?VV~u*MV+9oEc9u$|xda?8*4z$d&mh>^?B6^JLUhyzcEw}Y)M8=w#mEh8rh01A zFJPvADsoMIQuVx2_pGS<$&4p*1Na|T;!VZrO)vN$n$K4I%i7Fj;Uv}t z;Sb4phaZehciaOrm+%A8;;Z4lXz|@}Z@74)Pn~Ys4)l@O&iAlS=NcAECH4G!UZbJ; z3dJ*4d?!}C-d%hnT-x}1b?Smg-SfM`pRm6N2Ez}92g47CwF|>bb>eB`NI;b1q&zZY zliY(F0XG6}1l$O?5pW~mM!=1L8v!>0ZUo#2{EtMyWBb~;ywTBvJ%{$jvt#3_bTT&p zUnvLeIySlXxnwS%%4P(fbxlyo=(OM z_!Ky-7t+Q+bL*h+Z1sK&zh~mNFXOFJDGhiM@C@J?K>T)jY`#=F2Uz`fsq{-g18^g} zhQM#Jm^_ah7M=;eXX~1kwWo>4H3scqk8cJ<_e%MNZ#!gLu?)NfIa+&M z?Ax;Uu6wp`Loxb&2!3FS8D@yj*czTo34RA2kl%Kg4j#@8P91;f6^PM^~0tMByrJAJkC zd**M!ydV6y-|H}tZgL~wM!=1L8v!>0ZUo#2xDjw8;6{KW!0Q@$9V1MEWMW*yinPvg zEtMN-vFL}W%@P^)yVQ1S0R2z^3^6S zjuGN|Q%v`_JX=Jg)geI{d3e_ z_%bZZ96y+b$?~ft|2vhr9pv`E2fRM~1A653tBPVe;`OP#9+lUh?(gc_t2Fiv6*5La z*%N??eN%HmmYN@H2?m0#ftH;n|L+^*g%zyz++h}VFT9iB_3IWI)<$~;uTQu0)#A~L zern3&%&xzpJihGwO2OmM&esa=PdmR#@HnvZs|AlYI}f9mt}8pgMkp2ewIW!N_m%f& z*!|QAzE15tI8m&OnfHoy<@NVgsTWp;&sEglP~OL2*WXya-t9bGofXEXSKL~@KJEIO zg$P+0Gw+3~Jy?i$A^Eco{!ZfgK52Rp;-ip( zQCn^g)`zJFeja!m#P>Z(!T}fOW4(OeWgg!NdBpN~J_&rK_CF)_{UW4522zU&;G?qs zdEh;_)p$}Bi3`Q_v1e&GFLbGg6RWEb%3tCn9c{m8SD1&@*+=lDDc zykgPg>=VGRtJ*C1zRLVrd+lA|ktei(=CA@*$I zG13pwc-}?gm&m`L^!b1A3h?MBNIa>FH^|RUs#m_l1mQLEFki6))GcG zm)G>dgupk~>7zphO_)i9Q^bg4j+hUk%QeD>|L>YN(im{lLx~G zqFr{0+#~}Oym!|kDtS=54-0L7>`-SorXA|(ITGpBdc&Qu2zr%UYvTEWJg4{HOp{FL zhR!BSyKzDx+jblcwahIypljcMqb2fLZB)-BaBoiZ5NIV*8Lf~{CWJh7e#y_3V7oAY zrj$P_fOIIIrz+%rAZeV|Gb06k1iHcgB>>c6QxJy{cMDbA0%YHGWIrkCA3rt-5y(%D z8Tt^Qku!0WbEypMKN=T-Ox8#SMlyxKcrH7h%o&pwYN(Kc9b%~jQQ^*LlcA3YsXnUb zM@1kpnSm-yG;*edzLMAq8pv|Vw2lTMAfpr*Pa6Ucfsrg^jN}9yajb%7R(4(>IZC5* zGy(QpGVRS_YFcm}oa@EkGDY|rzT6mWRTY|qcLj69D56`9b7 zHGLKeIHzHIe(q)D`60KT^%x%mdz>S2nV*jt6{^hHexk)RWH6>|&(G0}3N@JPcb@;( zz!p_lj(@c>5%PSM*k%3yO%Pb^6|!SwcWlpP#-|+i{QS6e1IDY44s-hZ zzQdm91B^VM=lY%F_lIQ9@fQkd5}uWbm1ur-S@_%KLwv`dnuGBiPni?D=_qp$SMxtY?;%%FMq70vvl>fBCr? 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b/build/uwrt_mars_rover_drivetrain/CTestConfiguration.ini @@ -0,0 +1,105 @@ +# This file is configured by CMake automatically as DartConfiguration.tcl +# If you choose not to use CMake, this file may be hand configured, by +# filling in the required variables. + + +# Configuration directories and files +SourceDirectory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain +BuildDirectory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain + +# Where to place the cost data store +CostDataFile: + +# Site is something like machine.domain, i.e. pragmatic.crd +Site: uwrt-Lenovo-Yoga710-15ISK + +# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++ +BuildName: + +# Subprojects +LabelsForSubprojects: + +# Submission information +SubmitURL: + +# Dashboard start time +NightlyStartTime: + +# Commands for the build/test/submit cycle +ConfigureCommand: "/usr/bin/cmake" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain" +MakeCommand: +DefaultCTestConfigurationType: + +# version control +UpdateVersionOnly: + +# CVS options +# Default is "-d -P -A" +CVSCommand: +CVSUpdateOptions: + +# Subversion options +SVNCommand: +SVNOptions: +SVNUpdateOptions: + +# Git options +GITCommand: +GITInitSubmodules: +GITUpdateOptions: +GITUpdateCustom: + +# Perforce options +P4Command: +P4Client: +P4Options: +P4UpdateOptions: +P4UpdateCustom: + +# Generic update command +UpdateCommand: +UpdateOptions: +UpdateType: + +# Compiler info +Compiler: /usr/bin/c++ +CompilerVersion: 9.4.0 + +# Dynamic analysis (MemCheck) +PurifyCommand: +ValgrindCommand: +ValgrindCommandOptions: +MemoryCheckType: +MemoryCheckSanitizerOptions: +MemoryCheckCommand: +MemoryCheckCommandOptions: +MemoryCheckSuppressionFile: + +# Coverage +CoverageCommand: +CoverageExtraFlags: + +# Cluster commands +SlurmBatchCommand: +SlurmRunCommand: + +# Testing options +# TimeOut is the amount of time in seconds to wait for processes +# to complete during testing. After TimeOut seconds, the +# process will be summarily terminated. +# Currently set to 25 minutes +TimeOut: + +# During parallel testing CTest will not start a new test if doing +# so would cause the system load to exceed this value. +TestLoad: + +UseLaunchers: +CurlOptions: +# warning, if you add new options here that have to do with submit, +# you have to update cmCTestSubmitCommand.cxx + +# For CTest submissions that timeout, these options +# specify behavior for retrying the submission +CTestSubmitRetryDelay: +CTestSubmitRetryCount: diff --git a/build/uwrt_mars_rover_drivetrain/CTestCustom.cmake b/build/uwrt_mars_rover_drivetrain/CTestCustom.cmake new file mode 100644 index 00000000..14956f31 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/CTestCustom.cmake @@ -0,0 +1,2 @@ +set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) +set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/build/uwrt_mars_rover_drivetrain/CTestTestfile.cmake b/build/uwrt_mars_rover_drivetrain/CTestTestfile.cmake new file mode 100644 index 00000000..e6f2c91f --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/CTestTestfile.cmake @@ -0,0 +1,8 @@ +# CMake generated Testfile for +# Source directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain +# Build directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/test_results/uwrt_mars_rover_drivetrain/xmllint.xunit.xml" "--package-name" "uwrt_mars_rover_drivetrain" "--output-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_xmllint/xmllint.txt" "--command" "/opt/ros/galactic/bin/ament_xmllint" "--xunit-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/test_results/uwrt_mars_rover_drivetrain/xmllint.xunit.xml") +set_tests_properties(xmllint PROPERTIES LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain" _BACKTRACE_TRIPLES "/opt/ros/galactic/share/ament_cmake_test/cmake/ament_add_test.cmake;124;add_test;/opt/ros/galactic/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain/CMakeLists.txt;9;ament_xmllint;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain/CMakeLists.txt;0;") diff --git a/build/uwrt_mars_rover_drivetrain/Makefile b/build/uwrt_mars_rover_drivetrain/Makefile new file mode 100644 index 00000000..5440868b --- /dev/null +++ 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rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: 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/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + $(MAKE) -f CMakeFiles/Makefile2 clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +#============================================================================= +# Target rules for targets named uwrt_mars_rover_drivetrain_uninstall + +# Build rule for target. +uwrt_mars_rover_drivetrain_uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uwrt_mars_rover_drivetrain_uninstall +.PHONY : uwrt_mars_rover_drivetrain_uninstall + +# fast build rule for target. +uwrt_mars_rover_drivetrain_uninstall/fast: + $(MAKE) -f CMakeFiles/uwrt_mars_rover_drivetrain_uninstall.dir/build.make CMakeFiles/uwrt_mars_rover_drivetrain_uninstall.dir/build +.PHONY : uwrt_mars_rover_drivetrain_uninstall/fast + +#============================================================================= +# Target rules for targets named uninstall + +# Build rule for target. +uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uninstall +.PHONY : uninstall + +# fast build rule for target. +uninstall/fast: + $(MAKE) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build +.PHONY : uninstall/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... install/local" + @echo "... uwrt_mars_rover_drivetrain_uninstall" + @echo "... uninstall" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/package.cmake b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/package.cmake new file mode 100644 index 00000000..9340ef02 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/package.cmake @@ -0,0 +1,14 @@ +set(_AMENT_PACKAGE_NAME "uwrt_mars_rover_drivetrain") +set(uwrt_mars_rover_drivetrain_VERSION "0.0.0") +set(uwrt_mars_rover_drivetrain_MAINTAINER "Orson Marmon ") +set(uwrt_mars_rover_drivetrain_BUILD_DEPENDS ) +set(uwrt_mars_rover_drivetrain_BUILDTOOL_DEPENDS "ament_cmake") +set(uwrt_mars_rover_drivetrain_BUILD_EXPORT_DEPENDS ) +set(uwrt_mars_rover_drivetrain_BUILDTOOL_EXPORT_DEPENDS ) +set(uwrt_mars_rover_drivetrain_EXEC_DEPENDS "uwrt_mars_rover_drivetrain_hw" "uwrt_mars_rover_drivetrain_description") +set(uwrt_mars_rover_drivetrain_TEST_DEPENDS "ament_cmake_xmllint") +set(uwrt_mars_rover_drivetrain_GROUP_DEPENDS ) +set(uwrt_mars_rover_drivetrain_MEMBER_OF_GROUPS ) +set(uwrt_mars_rover_drivetrain_DEPRECATED "") +set(uwrt_mars_rover_drivetrain_EXPORT_TAGS) +list(APPEND uwrt_mars_rover_drivetrain_EXPORT_TAGS "ament_cmake") diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 00000000..ee49c9f1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 00000000..6fb3fe78 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package.xml.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 00000000..e73efe72 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,25 @@ + + + + uwrt_mars_rover_drivetrain + 0.0.0 + Package grouping all the packages written for the UWRT's drivetrain + + Orson Marmon + + MIT + + Orson Marmon + Melvin Wang + + ament_cmake + + uwrt_mars_rover_drivetrain_hw + uwrt_mars_rover_drivetrain_description + + ament_cmake_xmllint + + + ament_cmake + + diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 00000000..2269b638 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import evaluate_condition +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/path.sh.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 00000000..b7c0faf1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [l.replace('\\', '/') for l in lines] + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig-version.cmake b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig-version.cmake new file mode 100644 index 00000000..7beb7328 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig.cmake b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig.cmake new file mode 100644 index 00000000..fc0ea284 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_uwrt_mars_rover_drivetrain_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED uwrt_mars_rover_drivetrain_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(uwrt_mars_rover_drivetrain_FOUND FALSE) + elseif(NOT uwrt_mars_rover_drivetrain_FOUND) + # use separate condition to avoid uninitialized variable warning + set(uwrt_mars_rover_drivetrain_FOUND FALSE) + endif() + return() +endif() +set(_uwrt_mars_rover_drivetrain_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT uwrt_mars_rover_drivetrain_FIND_QUIETLY) + message(STATUS "Found uwrt_mars_rover_drivetrain: 0.0.0 (${uwrt_mars_rover_drivetrain_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'uwrt_mars_rover_drivetrain' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${uwrt_mars_rover_drivetrain_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(uwrt_mars_rover_drivetrain_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${uwrt_mars_rover_drivetrain_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.bash b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.dsv b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 00000000..f1052775 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/uwrt_mars_rover_drivetrain/environment/ament_prefix_path.sh +source;share/uwrt_mars_rover_drivetrain/environment/path.sh diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.sh b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 00000000..f8e0b22a --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.zsh b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/package.dsv b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 00000000..d3a842c3 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/uwrt_mars_rover_drivetrain/local_setup.bash +source;share/uwrt_mars_rover_drivetrain/local_setup.dsv +source;share/uwrt_mars_rover_drivetrain/local_setup.sh +source;share/uwrt_mars_rover_drivetrain/local_setup.zsh diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/path.dsv b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain b/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain new file mode 100644 index 00000000..11f3af2b --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain @@ -0,0 +1 @@ +uwrt_mars_rover_drivetrain_hw;uwrt_mars_rover_drivetrain_description;ament_cmake_xmllint \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain b/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain new file mode 100644 index 00000000..e69de29b diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain b/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain new file mode 100644 index 00000000..a66534b2 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain @@ -0,0 +1 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/opt/ros/galactic \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_package_templates/templates.cmake b/build/uwrt_mars_rover_drivetrain/ament_cmake_package_templates/templates.cmake new file mode 100644 index 00000000..d41b791d --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/uwrt_mars_rover_drivetrain/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/uwrt_mars_rover_drivetrain/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 00000000..0a3efa19 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/uwrt_mars_rover_drivetrain/cmake_args.last b/build/uwrt_mars_rover_drivetrain/cmake_args.last new file mode 100644 index 00000000..4af18322 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain/cmake_install.cmake b/build/uwrt_mars_rover_drivetrain/cmake_install.cmake new file mode 100644 index 00000000..d3a10870 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/cmake_install.cmake @@ -0,0 +1,108 @@ +# Install script for directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.bash") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.zsh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/local_setup.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_environment_hooks/package.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain/cmake" TYPE FILE FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig.cmake" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/ament_cmake_core/uwrt_mars_rover_drivetrainConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain/package.xml") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/uwrt_mars_rover_drivetrain/colcon_build.rc b/build/uwrt_mars_rover_drivetrain/colcon_build.rc new file mode 100644 index 00000000..573541ac --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh b/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh new file mode 100644 index 00000000..a9661e20 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/package.sh" +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/package.sh" diff --git a/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh.env b/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh.env new file mode 100644 index 00000000..1a6c3cbd --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/colcon_command_prefix_build.sh.env @@ -0,0 +1,64 @@ +AMENT_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/opt/ros/galactic +CMAKE_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw:/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description +COLCON=1 +COLORTERM=truecolor +CONDA_EXE=/home/uwrt/miniconda3/bin/conda +CONDA_PYTHON_EXE=/home/uwrt/miniconda3/bin/python +CONDA_SHLVL=0 +DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus +DESKTOP_SESSION=ubuntu +DISPLAY=:1 +GDMSESSION=ubuntu +GJS_DEBUG_OUTPUT=stderr +GJS_DEBUG_TOPICS=JS ERROR;JS LOG +GNOME_DESKTOP_SESSION_ID=this-is-deprecated +GNOME_SHELL_SESSION_MODE=ubuntu +GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/2af5f99a_ab57_4976_a5a7_551017e8573a +GNOME_TERMINAL_SERVICE=:1.152 +GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 +GTK_MODULES=gail:atk-bridge +HOME=/home/uwrt +IM_CONFIG_PHASE=1 +INVOCATION_ID=568d2ebd0ec341f3b1313028e74dc3be +JOURNAL_STREAM=8:40800 +LANG=en_CA.UTF-8 +LANGUAGE=en_CA:en +LD_LIBRARY_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib +LESSCLOSE=/usr/bin/lesspipe %s %s +LESSOPEN=| /usr/bin/lesspipe %s +LOGNAME=uwrt +LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: +MANAGERPID=1425 +OLDPWD=/home/uwrt/xbox_test_ws +PATH=/opt/ros/galactic/bin:/home/uwrt/miniconda3/condabin:/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:/home/uwrt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/uwrt/.local/bin +PWD=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain +PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=galactic +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/uwrt-Lenovo-Yoga710-15ISK:@/tmp/.ICE-unix/1681,unix/uwrt-Lenovo-Yoga710-15ISK:/tmp/.ICE-unix/1681 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_PID=1643 +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +TERM=xterm-256color +USER=uwrt +USERNAME=uwrt +VTE_VERSION=6003 +WINDOWPATH=2 +XAUTHORITY=/run/user/1000/gdm/Xauthority +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=x11 +XMODIFIERS=@im=ibus +_=/usr/bin/colcon +_CE_CONDA= +_CE_M= diff --git a/build/uwrt_mars_rover_drivetrain/install_manifest.txt b/build/uwrt_mars_rover_drivetrain/install_manifest.txt new file mode 100644 index 00000000..c573f77d --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain/install_manifest.txt @@ -0,0 +1,15 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/environment/ament_prefix_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/environment/ament_prefix_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/environment/path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/environment/path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/local_setup.bash +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/local_setup.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/local_setup.zsh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/local_setup.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/package.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/cmake/uwrt_mars_rover_drivetrainConfig.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/cmake/uwrt_mars_rover_drivetrainConfig-version.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain/share/uwrt_mars_rover_drivetrain/package.xml \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_description/CMakeCache.txt b/build/uwrt_mars_rover_drivetrain_description/CMakeCache.txt new file mode 100644 index 00000000..a0b1a575 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/CMakeCache.txt @@ -0,0 +1,462 @@ +# This is the CMakeCache file. +# For build in directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Generate environment files in the CMAKE_INSTALL_PREFIX +AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF + +//Generate environment files in the package share folder +AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON + +//Generate marker file containing the parent prefix path +AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF + +//Generate an uninstall target to revert the effects of the install +// step +AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON + +//The path where test results are generated +AMENT_TEST_RESULTS_DIR:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/test_results + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the C compiler during RELEASE builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the C compiler during RELWITHDEBINFO builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Path to a program. +CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND + +//Flags used by the linker during all build types. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of modules during +// MINSIZEREL builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of modules during +// RELEASE builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=uwrt_mars_rover_drivetrain_description + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING= + +//Name of the computer/site where compile is being run +SITE:STRING=uwrt-Lenovo-Yoga710-15ISK + +//The directory containing a CMake configuration file for ament_cmake. +ament_cmake_DIR:PATH=/opt/ros/galactic/share/ament_cmake/cmake + +//The directory containing a CMake configuration file for ament_cmake_core. +ament_cmake_core_DIR:PATH=/opt/ros/galactic/share/ament_cmake_core/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_definitions. +ament_cmake_export_definitions_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_definitions/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_dependencies. +ament_cmake_export_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_include_directories. +ament_cmake_export_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_interfaces. +ament_cmake_export_interfaces_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_interfaces/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_libraries. +ament_cmake_export_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_link_flags. +ament_cmake_export_link_flags_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_link_flags/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_targets. +ament_cmake_export_targets_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_targets/cmake + +//The directory containing a CMake configuration file for ament_cmake_flake8. +ament_cmake_flake8_DIR:PATH=/opt/ros/galactic/share/ament_cmake_flake8/cmake + +//The directory containing a CMake configuration file for ament_cmake_include_directories. +ament_cmake_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_libraries. +ament_cmake_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_python. +ament_cmake_python_DIR:PATH=/opt/ros/galactic/share/ament_cmake_python/cmake + +//The directory containing a CMake configuration file for ament_cmake_target_dependencies. +ament_cmake_target_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_target_dependencies/cmake + +//The directory 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COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover_drivetrain_description/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover_drivetrain_description/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover_drivetrain_description/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover_drivetrain_description/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 zcmeHOe{3699e<9KHtkx+{k4X6TW+P5(v7%ImWH$})K22`jNEo>lP!>C$HjIM3&#%j znI_XZT2h9r5~#FFOai28NC>n_1O6BSX^^U02Z*s%LR(QmM6hZZDqS`h3ed%Tzwf?Z z=kDSTiSZBUp5*(y_xb*K@4oNd`QF`opO3_PsyrUS$tylCuoUu}Oo#;jy_5k6iFUCT zj<<{3#0n@^OU{&sOaQ5wE?3#HmUu59+SOyG0^VlQP=lGcg@|Z(v($(Ug2X83JkYKN z1ypw8ZfYkZ%ggmCXbee_$1+|<1xSomJ8a5)lN5{j4m*aZK9!K|uqaOSN@1VodPYPVsc2VtOez-)YxRc24XjJ4UPn(~+x2;yI(23lmr*e96m7?S&JMes`|;eE#*9SDz@{#Xhi3)WL-IJS4D; zd8`9<%=141IU37=my*94lf+F9?Z7J)WLtn+UxDuhPN~4hZ^GXK{I&}E0^%3PaJ30d zi%;mP-UD6f zY$n;O52ev^WGtH@OU+cRs3_ZGMv-Ibfe2y@d0Z5>q*h^cKSFKi>yxhwWt}NlpzD_T zS#nStGUd#3+3(;L#nh{J@HyfY2mdAF8y)-;#9!VgWWuq4=fi2%!t*(!Y|g^-*hGHb z!t*tT{DOs-_e&(*|9if^XmEQ`_%IbUe$9^y|id-1P43FL2YSvxUK=(#rD|V;~fzYi^AP~>QqM+ zX4T?VV~u*MV+9oEc9u$|xda?8*4z$d&mh>^?B6^JLUhyzcEw}Y)M8=w#mEh8rh01A zFJPvADsoMIQuVx2_pGS<$&4p*1Na|T;!VZrO)vN$n$K4I%i7Fj;Uv}t z;Sb4phaZehciaOrm+%A8;;Z4lXz|@}Z@74)Pn~Ys4)l@O&iAlS=NcAECH4G!UZbJ; z3dJ*4d?!}C-d%hnT-x}1b?Smg-SfM`pRm6N2Ez}92g47CwF|>bb>eB`NI;b1q&zZY zliY(F0XG6}1l$O?5pW~mM!=1L8v!>0ZUo#2{EtMyWBb~;ywTBvJ%{$jvt#3_bTT&p zUnvLeIySlXxnwS%%4P(fbxlyo=(OM z_!Ky-7t+Q+bL*h+Z1sK&zh~mNFXOFJDGhiM@C@J?K>T)jY`#=F2Uz`fsq{-g18^g} zhQM#Jm^_ah7M=;eXX~1kwWo>4H3scqk8cJ<_e%MNZ#!gLu?)NfIa+&M z?Ax;Uu6wp`Loxb&2!3FS8D@yj*czTo34RA2kl%Kg4j#@8P91;f6^PM^~0tMByrJAJkC zd**M!ydV6y-|H}tZgL~wM!=1L8v!>0ZUo#2xDjw8;6{KW!0Q@$9V1MEWMW*yinPvg zEtMN-vFL}W%@P^)yVQ1S0R2z^3^6S zjuGN|Q%v`_JX=Jg)geI{d3e_ z_%bZZ96y+b$?~ft|2vhr9pv`E2fRM~1A653tBPVe;`OP#9+lUh?(gc_t2Fiv6*5La z*%N??eN%HmmYN@H2?m0#ftH;n|L+^*g%zyz++h}VFT9iB_3IWI)<$~;uTQu0)#A~L zern3&%&xzpJihGwO2OmM&esa=PdmR#@HnvZs|AlYI}f9mt}8pgMkp2ewIW!N_m%f& z*!|QAzE15tI8m&OnfHoy<@NVgsTWp;&sEglP~OL2*WXya-t9bGofXEXSKL~@KJEIO zg$P+0Gw+3~Jy?i$A^Eco{!ZfgK52Rp;-ip( zQCn^g)`zJFeja!m#P>Z(!T}fOW4(OeWgg!NdBpN~J_&rK_CF)_{UW4522zU&;G?qs zdEh;_)p$}Bi3`Q_v1e&GFLbGg6RWEb%3tCn9c{m8SD1&@*+=lDDc zykgPg>=VGRtJ*C1zRLVrd+lA|ktei(=CA@*$I zG13pwc-}?gm&m`L^!b1A3h?MBNIa>FH^|RUs#m_l1mQLEFki6))GcG zm)G>dgupk~>7zphO_)i9Q^bg4j+hUk%QeD>|L>YN(im{lLx~G zqFr{0+#~}Oym!|kDtS=54-0L7>`-SorXA|(ITGpBdc&Qu2zr%UYvTEWJg4{HOp{FL zhR!BSyKzDx+jblcwahIypljcMqb2fLZB)-BaBoiZ5NIV*8Lf~{CWJh7e#y_3V7oAY zrj$P_fOIIIrz+%rAZeV|Gb06k1iHcgB>>c6QxJy{cMDbA0%YHGWIrkCA3rt-5y(%D z8Tt^Qku!0WbEypMKN=T-Ox8#SMlyxKcrH7h%o&pwYN(Kc9b%~jQQ^*LlcA3YsXnUb zM@1kpnSm-yG;*edzLMAq8pv|Vw2lTMAfpr*Pa6Ucfsrg^jN}9yajb%7R(4(>IZC5* zGy(QpGVRS_YFcm}oa@EkGDY|rzT6mWRTY|qcLj69D56`9b7 zHGLKeIHzHIe(q)D`60KT^%x%mdz>S2nV*jt6{^hHexk)RWH6>|&(G0}3N@JPcb@;( zz!p_lj(@c>5%PSM*k%3yO%Pb^6|!SwcWlpP#-|+i{QS6e1IDY44s-hZ zzQdm91B^VM=lY%F_lIQ9@fQkd5}uWbm1ur-S@_%KLwv`dnuGBiPni?D=_qp$SMxtY?;%%FMq70vvl>fBCr? 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options +# Default is "-d -P -A" +CVSCommand: +CVSUpdateOptions: + +# Subversion options +SVNCommand: +SVNOptions: +SVNUpdateOptions: + +# Git options +GITCommand: +GITInitSubmodules: +GITUpdateOptions: +GITUpdateCustom: + +# Perforce options +P4Command: +P4Client: +P4Options: +P4UpdateOptions: +P4UpdateCustom: + +# Generic update command +UpdateCommand: +UpdateOptions: +UpdateType: + +# Compiler info +Compiler: /usr/bin/c++ +CompilerVersion: 9.4.0 + +# Dynamic analysis (MemCheck) +PurifyCommand: +ValgrindCommand: +ValgrindCommandOptions: +MemoryCheckType: +MemoryCheckSanitizerOptions: +MemoryCheckCommand: +MemoryCheckCommandOptions: +MemoryCheckSuppressionFile: + +# Coverage +CoverageCommand: +CoverageExtraFlags: + +# Cluster commands +SlurmBatchCommand: +SlurmRunCommand: + +# Testing options +# TimeOut is the amount of time in seconds to wait for processes +# to complete during testing. After TimeOut seconds, the +# process will be summarily terminated. +# Currently set to 25 minutes +TimeOut: + +# During parallel testing CTest will not start a new test if doing +# so would cause the system load to exceed this value. +TestLoad: + +UseLaunchers: +CurlOptions: +# warning, if you add new options here that have to do with submit, +# you have to update cmCTestSubmitCommand.cxx + +# For CTest submissions that timeout, these options +# specify behavior for retrying the submission +CTestSubmitRetryDelay: +CTestSubmitRetryCount: diff --git a/build/uwrt_mars_rover_drivetrain_description/CTestCustom.cmake b/build/uwrt_mars_rover_drivetrain_description/CTestCustom.cmake new file mode 100644 index 00000000..14956f31 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/CTestCustom.cmake @@ -0,0 +1,2 @@ +set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) +set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/build/uwrt_mars_rover_drivetrain_description/CTestTestfile.cmake b/build/uwrt_mars_rover_drivetrain_description/CTestTestfile.cmake new file mode 100644 index 00000000..6a207a89 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/CTestTestfile.cmake @@ -0,0 +1,10 @@ +# CMake generated Testfile for +# Source directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description +# Build directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +add_test(flake8 "/usr/bin/python3" "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/test_results/uwrt_mars_rover_drivetrain_description/flake8.xunit.xml" "--package-name" "uwrt_mars_rover_drivetrain_description" "--output-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_flake8/flake8.txt" "--command" "/opt/ros/galactic/bin/ament_flake8" "--xunit-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/test_results/uwrt_mars_rover_drivetrain_description/flake8.xunit.xml" "CONFIG_FILE" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/../../.flake8") +set_tests_properties(flake8 PROPERTIES LABELS "flake8;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description" _BACKTRACE_TRIPLES "/opt/ros/galactic/share/ament_cmake_test/cmake/ament_add_test.cmake;124;add_test;/opt/ros/galactic/share/ament_cmake_flake8/cmake/ament_flake8.cmake;48;ament_add_test;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt;19;ament_flake8;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt;0;") +add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/test_results/uwrt_mars_rover_drivetrain_description/xmllint.xunit.xml" "--package-name" "uwrt_mars_rover_drivetrain_description" "--output-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_xmllint/xmllint.txt" "--command" "/opt/ros/galactic/bin/ament_xmllint" "--xunit-file" "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/test_results/uwrt_mars_rover_drivetrain_description/xmllint.xunit.xml") +set_tests_properties(xmllint PROPERTIES LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description" _BACKTRACE_TRIPLES "/opt/ros/galactic/share/ament_cmake_test/cmake/ament_add_test.cmake;124;add_test;/opt/ros/galactic/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt;25;ament_xmllint;/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/CMakeLists.txt;0;") diff --git a/build/uwrt_mars_rover_drivetrain_description/Makefile b/build/uwrt_mars_rover_drivetrain_description/Makefile new file mode 100644 index 00000000..cf624221 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/Makefile @@ -0,0 +1,224 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/CMakeFiles /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/CMakeFiles/progress.marks + $(MAKE) -f CMakeFiles/Makefile2 all + $(CMAKE_COMMAND) -E cmake_progress_start /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + $(MAKE) -f CMakeFiles/Makefile2 clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +#============================================================================= +# Target rules for targets named uwrt_mars_rover_drivetrain_description_uninstall + +# Build rule for target. +uwrt_mars_rover_drivetrain_description_uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uwrt_mars_rover_drivetrain_description_uninstall +.PHONY : uwrt_mars_rover_drivetrain_description_uninstall + +# fast build rule for target. +uwrt_mars_rover_drivetrain_description_uninstall/fast: + $(MAKE) -f CMakeFiles/uwrt_mars_rover_drivetrain_description_uninstall.dir/build.make CMakeFiles/uwrt_mars_rover_drivetrain_description_uninstall.dir/build +.PHONY : uwrt_mars_rover_drivetrain_description_uninstall/fast + +#============================================================================= +# Target rules for targets named uninstall + +# Build rule for target. +uninstall: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 uninstall +.PHONY : uninstall + +# fast build rule for target. +uninstall/fast: + $(MAKE) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build +.PHONY : uninstall/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... uwrt_mars_rover_drivetrain_description_uninstall" + @echo "... uninstall" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/package.cmake b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/package.cmake new file mode 100644 index 00000000..c4b60ab1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/package.cmake @@ -0,0 +1,14 @@ +set(_AMENT_PACKAGE_NAME "uwrt_mars_rover_drivetrain_description") +set(uwrt_mars_rover_drivetrain_description_VERSION "0.0.0") +set(uwrt_mars_rover_drivetrain_description_MAINTAINER "Orson Marmon ") +set(uwrt_mars_rover_drivetrain_description_BUILD_DEPENDS ) +set(uwrt_mars_rover_drivetrain_description_BUILDTOOL_DEPENDS "ament_cmake") +set(uwrt_mars_rover_drivetrain_description_BUILD_EXPORT_DEPENDS ) +set(uwrt_mars_rover_drivetrain_description_BUILDTOOL_EXPORT_DEPENDS ) +set(uwrt_mars_rover_drivetrain_description_EXEC_DEPENDS "joint_state_publisher" "joint_state_publisher_gui" "robot_state_publisher" "ros2_control" "gazebo_ros2_control" "gazebo_ros" "gazebo_ros_pkgs" "ros2launch" "rviz2" "xacro") +set(uwrt_mars_rover_drivetrain_description_TEST_DEPENDS "ament_cmake_flake8" "ament_cmake_xmllint") +set(uwrt_mars_rover_drivetrain_description_GROUP_DEPENDS ) +set(uwrt_mars_rover_drivetrain_description_MEMBER_OF_GROUPS ) +set(uwrt_mars_rover_drivetrain_description_DEPRECATED "") +set(uwrt_mars_rover_drivetrain_description_EXPORT_TAGS) +list(APPEND uwrt_mars_rover_drivetrain_description_EXPORT_TAGS "ament_cmake") diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 00000000..ee49c9f1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 00000000..6fb3fe78 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package.xml.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 00000000..c7628071 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,35 @@ + + + + uwrt_mars_rover_drivetrain_description + 0.0.0 + Package containing URDF and description files of the UWRT rover's differential drivetrain. + + Orson Marmon + + MIT + + Orson Marmon + Melvin Wang + Keyon Jerome + + ament_cmake + + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + ros2_control + gazebo_ros2_control + gazebo_ros + gazebo_ros_pkgs + ros2launch + rviz2 + xacro + + ament_cmake_flake8 + ament_cmake_xmllint + + + ament_cmake + + diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 00000000..2269b638 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import evaluate_condition +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/path.sh.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 00000000..b7c0faf1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [l.replace('\\', '/') for l in lines] + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig-version.cmake b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig-version.cmake new file mode 100644 index 00000000..7beb7328 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig.cmake b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig.cmake new file mode 100644 index 00000000..bd97cced --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_uwrt_mars_rover_drivetrain_description_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED uwrt_mars_rover_drivetrain_description_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(uwrt_mars_rover_drivetrain_description_FOUND FALSE) + elseif(NOT uwrt_mars_rover_drivetrain_description_FOUND) + # use separate condition to avoid uninitialized variable warning + set(uwrt_mars_rover_drivetrain_description_FOUND FALSE) + endif() + return() +endif() +set(_uwrt_mars_rover_drivetrain_description_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT uwrt_mars_rover_drivetrain_description_FIND_QUIETLY) + message(STATUS "Found uwrt_mars_rover_drivetrain_description: 0.0.0 (${uwrt_mars_rover_drivetrain_description_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'uwrt_mars_rover_drivetrain_description' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${uwrt_mars_rover_drivetrain_description_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(uwrt_mars_rover_drivetrain_description_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${uwrt_mars_rover_drivetrain_description_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.bash b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.dsv b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 00000000..71d79d2a --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/uwrt_mars_rover_drivetrain_description/environment/ament_prefix_path.sh +source;share/uwrt_mars_rover_drivetrain_description/environment/path.sh diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.sh b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 00000000..c865d222 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain_description/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain_description/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.zsh b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/package.dsv b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 00000000..d2d6513e --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/uwrt_mars_rover_drivetrain_description/local_setup.bash +source;share/uwrt_mars_rover_drivetrain_description/local_setup.dsv +source;share/uwrt_mars_rover_drivetrain_description/local_setup.sh +source;share/uwrt_mars_rover_drivetrain_description/local_setup.zsh diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/path.dsv b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_description b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_description new file mode 100644 index 00000000..77fc2278 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_description @@ -0,0 +1 @@ +joint_state_publisher;joint_state_publisher_gui;robot_state_publisher;ros2_control;gazebo_ros2_control;gazebo_ros;gazebo_ros_pkgs;ros2launch;rviz2;xacro;ament_cmake_flake8;ament_cmake_xmllint \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_description b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_description new file mode 100644 index 00000000..e69de29b diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_description b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_description new file mode 100644 index 00000000..19f5b6d2 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_description @@ -0,0 +1 @@ +/opt/ros/galactic \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_package_templates/templates.cmake b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_package_templates/templates.cmake new file mode 100644 index 00000000..d41b791d --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/uwrt_mars_rover_drivetrain_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 00000000..753439d3 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/uwrt_mars_rover_drivetrain_description/cmake_args.last b/build/uwrt_mars_rover_drivetrain_description/cmake_args.last new file mode 100644 index 00000000..4af18322 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_description/cmake_install.cmake b/build/uwrt_mars_rover_drivetrain_description/cmake_install.cmake new file mode 100644 index 00000000..24fba7b1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/cmake_install.cmake @@ -0,0 +1,117 @@ +# Install script for directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE DIRECTORY FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/rviz" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_description") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_description") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.bash") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.zsh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/local_setup.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_environment_hooks/package.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_description") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description/cmake" TYPE FILE FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig.cmake" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/ament_cmake_core/uwrt_mars_rover_drivetrain_descriptionConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_description" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/package.xml") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/uwrt_mars_rover_drivetrain_description/colcon_build.rc b/build/uwrt_mars_rover_drivetrain_description/colcon_build.rc new file mode 100644 index 00000000..573541ac --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh b/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh new file mode 100644 index 00000000..f9867d51 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh @@ -0,0 +1 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh.env b/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh.env new file mode 100644 index 00000000..90ab93ad --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/colcon_command_prefix_build.sh.env @@ -0,0 +1,63 @@ +AMENT_PREFIX_PATH=/opt/ros/galactic +COLCON=1 +COLORTERM=truecolor +CONDA_EXE=/home/uwrt/miniconda3/bin/conda +CONDA_PYTHON_EXE=/home/uwrt/miniconda3/bin/python +CONDA_SHLVL=0 +DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus +DESKTOP_SESSION=ubuntu +DISPLAY=:1 +GDMSESSION=ubuntu +GJS_DEBUG_OUTPUT=stderr +GJS_DEBUG_TOPICS=JS ERROR;JS LOG +GNOME_DESKTOP_SESSION_ID=this-is-deprecated +GNOME_SHELL_SESSION_MODE=ubuntu +GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/2af5f99a_ab57_4976_a5a7_551017e8573a +GNOME_TERMINAL_SERVICE=:1.152 +GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 +GTK_MODULES=gail:atk-bridge +HOME=/home/uwrt +IM_CONFIG_PHASE=1 +INVOCATION_ID=568d2ebd0ec341f3b1313028e74dc3be +JOURNAL_STREAM=8:40800 +LANG=en_CA.UTF-8 +LANGUAGE=en_CA:en +LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib +LESSCLOSE=/usr/bin/lesspipe %s %s +LESSOPEN=| /usr/bin/lesspipe %s +LOGNAME=uwrt +LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: +MANAGERPID=1425 +OLDPWD=/home/uwrt/xbox_test_ws +PATH=/opt/ros/galactic/bin:/home/uwrt/miniconda3/condabin:/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:/home/uwrt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/uwrt/.local/bin +PWD=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_description +PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=galactic +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/uwrt-Lenovo-Yoga710-15ISK:@/tmp/.ICE-unix/1681,unix/uwrt-Lenovo-Yoga710-15ISK:/tmp/.ICE-unix/1681 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_PID=1643 +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +TERM=xterm-256color +USER=uwrt +USERNAME=uwrt +VTE_VERSION=6003 +WINDOWPATH=2 +XAUTHORITY=/run/user/1000/gdm/Xauthority +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=x11 +XMODIFIERS=@im=ibus +_=/usr/bin/colcon +_CE_CONDA= +_CE_M= diff --git a/build/uwrt_mars_rover_drivetrain_description/install_manifest.txt b/build/uwrt_mars_rover_drivetrain_description/install_manifest.txt new file mode 100644 index 00000000..bcfeb691 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_description/install_manifest.txt @@ -0,0 +1,22 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/config/physical_parameters.yaml +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/launch/simulation.launch.py +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/launch/display.launch.py +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/rviz/urdf.rviz +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.ros2control.xacro +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/environment/ament_prefix_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/environment/ament_prefix_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/environment/path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/environment/path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/local_setup.bash +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/local_setup.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/local_setup.zsh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/local_setup.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/package.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_description +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/cmake/uwrt_mars_rover_drivetrain_descriptionConfig.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/cmake/uwrt_mars_rover_drivetrain_descriptionConfig-version.cmake +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/package.xml \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_hw/CMakeCache.txt b/build/uwrt_mars_rover_drivetrain_hw/CMakeCache.txt new file mode 100644 index 00000000..09756b08 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/CMakeCache.txt @@ -0,0 +1,762 @@ +# This is the CMakeCache file. +# For build in directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Generate environment files in the CMAKE_INSTALL_PREFIX +AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF + +//Generate environment files in the package share folder +AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON + +//Generate marker file containing the parent prefix path 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option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate 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the creation of modules during +// RELWITHDEBINFO builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=uwrt_mars_rover_drivetrain_hw + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL 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+ +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a library. +FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/galactic/lib/libfastcdr.so + +//Path to a file. +FastRTPS_INCLUDE_DIR:PATH=/opt/ros/galactic/include + +//Path to a library. +FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/galactic/lib/libfastrtps.so + +//Path to a library. +OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so + +//Path to a file. +OPENSSL_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING= + +//Name of the computer/site where compile is being run +SITE:STRING=uwrt-Lenovo-Yoga710-15ISK + +//Path to a file. +TINYXML2_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +TINYXML2_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so + +//The directory containing a CMake configuration file for TinyXML2. +TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND + +//Path to a library. +_lib:FILEPATH=/opt/ros/galactic/lib/libclass_loader.so + +//The directory containing a CMake configuration file for action_msgs. +action_msgs_DIR:PATH=/opt/ros/galactic/share/action_msgs/cmake + +//Path to a program. +ament_clang_format_BIN:FILEPATH=/opt/ros/galactic/bin/ament_clang_format + +//Path to a program. +ament_clang_tidy_BIN:FILEPATH=/opt/ros/galactic/bin/ament_clang_tidy + +//The directory containing a CMake configuration file for ament_cmake. +ament_cmake_DIR:PATH=/opt/ros/galactic/share/ament_cmake/cmake + +//The directory containing a CMake configuration file for ament_cmake_clang_format. +ament_cmake_clang_format_DIR:PATH=/opt/ros/galactic/share/ament_cmake_clang_format/cmake + +//The directory containing a CMake configuration file for ament_cmake_clang_tidy. +ament_cmake_clang_tidy_DIR:PATH=/opt/ros/galactic/share/ament_cmake_clang_tidy/cmake + +//The directory containing a CMake configuration file for ament_cmake_core. +ament_cmake_core_DIR:PATH=/opt/ros/galactic/share/ament_cmake_core/cmake + +//The directory containing a CMake configuration file for ament_cmake_cppcheck. +ament_cmake_cppcheck_DIR:PATH=/opt/ros/galactic/share/ament_cmake_cppcheck/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_definitions. +ament_cmake_export_definitions_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_definitions/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_dependencies. +ament_cmake_export_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_include_directories. +ament_cmake_export_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_interfaces. +ament_cmake_export_interfaces_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_interfaces/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_libraries. +ament_cmake_export_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_link_flags. +ament_cmake_export_link_flags_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_link_flags/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_targets. +ament_cmake_export_targets_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_targets/cmake + +//The directory containing a CMake configuration file for ament_cmake_flake8. +ament_cmake_flake8_DIR:PATH=/opt/ros/galactic/share/ament_cmake_flake8/cmake + +//The directory containing a CMake configuration file for ament_cmake_include_directories. +ament_cmake_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_libraries. +ament_cmake_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_python. +ament_cmake_python_DIR:PATH=/opt/ros/galactic/share/ament_cmake_python/cmake + +//The directory containing a CMake configuration file for ament_cmake_target_dependencies. +ament_cmake_target_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_target_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_test. +ament_cmake_test_DIR:PATH=/opt/ros/galactic/share/ament_cmake_test/cmake + +//The directory containing a CMake configuration file for ament_cmake_version. +ament_cmake_version_DIR:PATH=/opt/ros/galactic/share/ament_cmake_version/cmake + +//The directory containing a CMake configuration file for ament_cmake_xmllint. +ament_cmake_xmllint_DIR:PATH=/opt/ros/galactic/share/ament_cmake_xmllint/cmake + +//Path to a program. +ament_cppcheck_BIN:FILEPATH=/opt/ros/galactic/bin/ament_cppcheck + +//Path to a program. +ament_flake8_BIN:FILEPATH=/opt/ros/galactic/bin/ament_flake8 + +//The directory containing a CMake configuration file for ament_index_cpp. +ament_index_cpp_DIR:PATH=/opt/ros/galactic/share/ament_index_cpp/cmake + +//Path to a program. +ament_xmllint_BIN:FILEPATH=/opt/ros/galactic/bin/ament_xmllint + +//The directory containing a CMake configuration file for builtin_interfaces. +builtin_interfaces_DIR:PATH=/opt/ros/galactic/share/builtin_interfaces/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/galactic/share/class_loader/cmake + +//The directory containing a CMake configuration file for console_bridge. +console_bridge_DIR:PATH=/opt/ros/galactic/lib/x86_64-linux-gnu/console_bridge/cmake + +//The directory containing a CMake configuration file for control_msgs. +control_msgs_DIR:PATH=/opt/ros/galactic/share/control_msgs/cmake + +//The directory containing a CMake configuration file for fastcdr. +fastcdr_DIR:PATH=/opt/ros/galactic/lib/cmake/fastcdr + +//The directory containing a CMake configuration file for fastrtps. +fastrtps_DIR:PATH=/opt/ros/galactic/share/fastrtps/cmake + +//The directory containing a CMake configuration file for fastrtps_cmake_module. +fastrtps_cmake_module_DIR:PATH=/opt/ros/galactic/share/fastrtps_cmake_module/cmake + +//The directory containing a CMake configuration file for foonathan_memory. +foonathan_memory_DIR:PATH=/opt/ros/galactic/lib/foonathan_memory/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/galactic/share/geometry_msgs/cmake + +//The directory containing a CMake configuration file for hardware_interface. +hardware_interface_DIR:PATH=/opt/ros/galactic/share/hardware_interface/cmake + +//The directory containing a CMake configuration file for libstatistics_collector. +libstatistics_collector_DIR:PATH=/opt/ros/galactic/share/libstatistics_collector/cmake + +//The directory containing a CMake configuration file for libyaml_vendor. +libyaml_vendor_DIR:PATH=/opt/ros/galactic/share/libyaml_vendor/cmake + +//The directory containing a CMake configuration file for lifecycle_msgs. +lifecycle_msgs_DIR:PATH=/opt/ros/galactic/share/lifecycle_msgs/cmake + +//Path to a library. +pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so + +//Path to a library. +pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/galactic/share/pluginlib/cmake + +//The directory containing a CMake configuration file for rcl. +rcl_DIR:PATH=/opt/ros/galactic/share/rcl/cmake + +//The directory containing a CMake configuration file for rcl_interfaces. +rcl_interfaces_DIR:PATH=/opt/ros/galactic/share/rcl_interfaces/cmake + +//The directory containing a CMake configuration file for rcl_lifecycle. +rcl_lifecycle_DIR:PATH=/opt/ros/galactic/share/rcl_lifecycle/cmake + +//The directory containing a CMake configuration file for rcl_logging_interface. +rcl_logging_interface_DIR:PATH=/opt/ros/galactic/share/rcl_logging_interface/cmake + +//The directory containing a CMake configuration file for rcl_logging_spdlog. +rcl_logging_spdlog_DIR:PATH=/opt/ros/galactic/share/rcl_logging_spdlog/cmake + +//The directory containing a CMake configuration file for rcl_yaml_param_parser. +rcl_yaml_param_parser_DIR:PATH=/opt/ros/galactic/share/rcl_yaml_param_parser/cmake + +//The directory containing a CMake configuration file for rclcpp. +rclcpp_DIR:PATH=/opt/ros/galactic/share/rclcpp/cmake + +//The directory containing a CMake configuration file for rclcpp_lifecycle. +rclcpp_lifecycle_DIR:PATH=/opt/ros/galactic/share/rclcpp_lifecycle/cmake + +//The directory containing a CMake configuration file for rcpputils. +rcpputils_DIR:PATH=/opt/ros/galactic/share/rcpputils/cmake + +//The directory containing a CMake configuration file for rcutils. +rcutils_DIR:PATH=/opt/ros/galactic/share/rcutils/cmake + +//The directory containing a CMake configuration file for rmw. +rmw_DIR:PATH=/opt/ros/galactic/share/rmw/cmake + +//The directory containing a CMake configuration file for rmw_cyclonedds_cpp. +rmw_cyclonedds_cpp_DIR:PATH=/opt/ros/galactic/share/rmw_cyclonedds_cpp/cmake + +//The directory containing a CMake configuration file for rmw_dds_common. +rmw_dds_common_DIR:PATH=/opt/ros/galactic/share/rmw_dds_common/cmake + +//The directory containing a CMake configuration file for rmw_implementation. +rmw_implementation_DIR:PATH=/opt/ros/galactic/share/rmw_implementation/cmake + +//The directory containing a CMake configuration file for rmw_implementation_cmake. +rmw_implementation_cmake_DIR:PATH=/opt/ros/galactic/share/rmw_implementation_cmake/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/galactic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for rosidl_adapter. +rosidl_adapter_DIR:PATH=/opt/ros/galactic/share/rosidl_adapter/cmake + +//The directory containing a CMake configuration file for rosidl_cmake. +rosidl_cmake_DIR:PATH=/opt/ros/galactic/share/rosidl_cmake/cmake + +//The directory containing a CMake configuration file for rosidl_default_runtime. +rosidl_default_runtime_DIR:PATH=/opt/ros/galactic/share/rosidl_default_runtime/cmake + +//The directory containing a CMake configuration file for rosidl_generator_c. +rosidl_generator_c_DIR:PATH=/opt/ros/galactic/share/rosidl_generator_c/cmake + +//The directory containing a CMake configuration file for rosidl_generator_cpp. +rosidl_generator_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_generator_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_runtime_c. +rosidl_runtime_c_DIR:PATH=/opt/ros/galactic/share/rosidl_runtime_c/cmake + +//The directory containing a CMake configuration file for rosidl_runtime_cpp. +rosidl_runtime_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_runtime_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_c. +rosidl_typesupport_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_cpp. +rosidl_typesupport_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c. +rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_fastrtps_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp. +rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_fastrtps_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_interface. +rosidl_typesupport_interface_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_interface/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c. +rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_introspection_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp. +rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_introspection_cpp/cmake + +//The directory containing a CMake configuration file for spdlog. +spdlog_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/spdlog + +//The directory containing a CMake configuration file for spdlog_vendor. +spdlog_vendor_DIR:PATH=/opt/ros/galactic/share/spdlog_vendor/cmake + +//The directory containing a CMake configuration file for statistics_msgs. +statistics_msgs_DIR:PATH=/opt/ros/galactic/share/statistics_msgs/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/galactic/share/std_msgs/cmake + +//The directory containing a CMake configuration file for tinyxml2_vendor. +tinyxml2_vendor_DIR:PATH=/opt/ros/galactic/share/tinyxml2_vendor/cmake + +//The directory containing a CMake configuration file for tracetools. +tracetools_DIR:PATH=/opt/ros/galactic/share/tracetools/cmake + +//The directory containing a CMake configuration file for trajectory_msgs. +trajectory_msgs_DIR:PATH=/opt/ros/galactic/share/trajectory_msgs/cmake + +//The directory containing a CMake configuration file for transmission_interface. +transmission_interface_DIR:PATH=/opt/ros/galactic/share/transmission_interface/cmake + +//The directory containing a CMake configuration file for unique_identifier_msgs. +unique_identifier_msgs_DIR:PATH=/opt/ros/galactic/share/unique_identifier_msgs/cmake + +//Value Computed by CMake +uwrt_mars_rover_drivetrain_hw_BINARY_DIR:STATIC=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw + +//Dependencies for the target 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% 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover_drivetrain_hw/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover_drivetrain_hw/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover_drivetrain_hw/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover_drivetrain_hw/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 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zFL{Tp{;I^I@hbrJ{|M^8mHlS@Y3v_m)EjC1d%IA75%b~3*PHoo6Y3A|9K8Sh4C-&V z5$7MEece0EpC3h*f41VoaOTbRQ4vt?*;V_W4}3nirH`Oe`fuU3-yQ7zUUpc`7>XrzYxry z-$4DJ3H3*^-~9QtS%0-paQ+F*+vd+{q5eRZ;Qj9asJ}1!&HU5YA6=ee#Rs$gnL_Msqk{t}`73{Zb5sQ>)Uc>jr{^NM#| zQ2w#vLuAF>@_S>LH}{`-=56z5B=IQ!B2fPkP=BUSe-isU81N78kLceE@2Sn(mU;%@o9 zw}krRnYYcK)k6Kbp#D>!{)0mON$j`nKNl3>{WG0;+x{O(Jj%a}>(?JY{RiqF&wg|N z%nmXCCCr=8e-$uqUOyR^iGd8E{^+i1{wMKxdyjvs(trN-lRvJPeO4tHDw)lPBaNlnPlMVbefPXIg z{c-lcZw&i8`Jdohl}ezzX75uAm^Z#GFphci^FHr?{u$!Ekuu5;BrzZ9e<9!cx%;1f zi~S~_#(c~?|0~t4$*(3Jjb9$;S2|g7-uTr4`FZ`AZjZ>lTzxinyz00") +set(uwrt_mars_rover_drivetrain_hw_BUILD_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle" "transmission_interface") +set(uwrt_mars_rover_drivetrain_hw_BUILDTOOL_DEPENDS "ament_cmake") +set(uwrt_mars_rover_drivetrain_hw_BUILD_EXPORT_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle" "transmission_interface") +set(uwrt_mars_rover_drivetrain_hw_BUILDTOOL_EXPORT_DEPENDS ) +set(uwrt_mars_rover_drivetrain_hw_EXEC_DEPENDS "controller_manager" "diff_drive_controller" "joint_state_broadcaster" "robot_state_publisher" "ros2launch" "rviz2" "uwrt_mars_rover_drivetrain_description" "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle" "transmission_interface") +set(uwrt_mars_rover_drivetrain_hw_TEST_DEPENDS "ament_cmake_clang_format" "ament_cmake_clang_tidy" "ament_cmake_cppcheck" "ament_cmake_flake8" "ament_cmake_xmllint") +set(uwrt_mars_rover_drivetrain_hw_GROUP_DEPENDS ) +set(uwrt_mars_rover_drivetrain_hw_MEMBER_OF_GROUPS ) +set(uwrt_mars_rover_drivetrain_hw_DEPRECATED "") +set(uwrt_mars_rover_drivetrain_hw_EXPORT_TAGS) +list(APPEND uwrt_mars_rover_drivetrain_hw_EXPORT_TAGS "ament_cmake") diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp new file mode 100644 index 00000000..4e27a3b3 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp @@ -0,0 +1,92 @@ +# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in + +set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;transmission_interface") + +find_package(ament_cmake_libraries QUIET REQUIRED) + +# find_package() all dependencies +# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS +# variables to uwrt_mars_rover_drivetrain_hw_DEFINITIONS, uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS, +# uwrt_mars_rover_drivetrain_hw_LIBRARIES, and uwrt_mars_rover_drivetrain_hw_LINK_FLAGS. +# Additionally collect the direct dependency names in +# uwrt_mars_rover_drivetrain_hw_DEPENDENCIES as well as the recursive dependency names +# in uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES. +if(NOT _exported_dependencies STREQUAL "") + find_package(ament_cmake_core QUIET REQUIRED) + set(uwrt_mars_rover_drivetrain_hw_DEPENDENCIES ${_exported_dependencies}) + set(uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES ${_exported_dependencies}) + set(_libraries) + foreach(_dep ${_exported_dependencies}) + if(NOT ${_dep}_FOUND) + find_package("${_dep}" QUIET REQUIRED) + endif() + # if a package provides modern CMake interface targets use them + # exclusively assuming the classic CMake variables only exist for + # backward compatibility + set(use_modern_cmake FALSE) + if(NOT "${${_dep}_TARGETS}" STREQUAL "") + foreach(_target ${${_dep}_TARGETS}) + # only use actual targets + # in case a package uses this variable for other content + if(TARGET "${_target}") + get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES) + if(_include_dirs) + list_append_unique(uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${_include_dirs}") + endif() + + get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS) + if(_imported_configurations) + string(TOUPPER "${_imported_configurations}" _imported_configurations) + if(DEBUG_CONFIGURATIONS) + string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase) + else() + set(_debug_configurations_uppercase "DEBUG") + endif() + foreach(_imported_config ${_imported_configurations}) + get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config}) + if(_imported_implib) + set(_imported_implib_config "optimized") + if(${_imported_config} IN_LIST _debug_configurations_uppercase) + set(_imported_implib_config "debug") + endif() + list(APPEND _libraries ${_imported_implib_config} ${_imported_implib}) + else() + get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config}) + if(_imported_location) + list(APPEND _libraries "${_imported_location}") + endif() + endif() + endforeach() + endif() + + get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES) + if(_link_libraries) + list(APPEND _libraries "${_link_libraries}") + endif() + set(use_modern_cmake TRUE) + endif() + endforeach() + endif() + if(NOT use_modern_cmake) + if(${_dep}_DEFINITIONS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_DEFINITIONS "${${_dep}_DEFINITIONS}") + endif() + if(${_dep}_INCLUDE_DIRS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") + endif() + if(${_dep}_LIBRARIES) + list(APPEND _libraries "${${_dep}_LIBRARIES}") + endif() + if(${_dep}_LINK_FLAGS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_LINK_FLAGS "${${_dep}_LINK_FLAGS}") + endif() + if(${_dep}_RECURSIVE_DEPENDENCIES) + list_append_unique(uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}") + endif() + endif() + if(_libraries) + ament_libraries_deduplicate(_libraries "${_libraries}") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_libraries}") + endif() + endforeach() +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp new file mode 100644 index 00000000..9f603a58 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp @@ -0,0 +1,16 @@ +# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in + +set(_exported_include_dirs "${uwrt_mars_rover_drivetrain_hw_DIR}/../../../include") + +# append include directories to uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS +# warn about not existing paths +if(NOT _exported_include_dirs STREQUAL "") + find_package(ament_cmake_core QUIET REQUIRED) + foreach(_exported_include_dir ${_exported_include_dirs}) + if(NOT IS_DIRECTORY "${_exported_include_dir}") + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports the include directory '${_exported_include_dir}' which doesn't exist") + endif() + normalize_path(_exported_include_dir "${_exported_include_dir}") + list(APPEND uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${_exported_include_dir}") + endforeach() +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp new file mode 100644 index 00000000..bd99ac2e --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_cmake_export_libraries-extras.cmake.stamp @@ -0,0 +1,140 @@ +# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in + +set(_exported_libraries "uwrt_mars_rover_drivetrain_hw") +set(_exported_library_names "") + +# populate uwrt_mars_rover_drivetrain_hw_LIBRARIES +if(NOT _exported_libraries STREQUAL "") + # loop over libraries, either target names or absolute paths + list(LENGTH _exported_libraries _length) + set(_i 0) + while(_i LESS _length) + list(GET _exported_libraries ${_i} _arg) + + # pass linker flags along + if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_arg}") + math(EXPR _i "${_i} + 1") + continue() + endif() + + if("${_arg}" MATCHES "^(debug|optimized|general)$") + # remember build configuration keyword + # and get following library + set(_cfg "${_arg}") + math(EXPR _i "${_i} + 1") + if(_i EQUAL _length) + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' passes the build configuration keyword '${_cfg}' as the last exported library") + endif() + list(GET _exported_libraries ${_i} _library) + else() + # the value is a library without a build configuration keyword + set(_cfg "") + set(_library "${_arg}") + endif() + math(EXPR _i "${_i} + 1") + + if(NOT IS_ABSOLUTE "${_library}") + # search for library target relative to this CMake file + set(_lib "NOTFOUND") + find_library( + _lib NAMES "${_library}" + PATHS "${uwrt_mars_rover_drivetrain_hw_DIR}/../../../lib" + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH + ) + + if(NOT _lib) + # warn about not existing library and ignore it + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' exports the library '${_library}' which couldn't be found") + elseif(NOT IS_ABSOLUTE "${_lib}") + # the found library must be an absolute path + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' found the library '${_library}' at '${_lib}' which is not an absolute path") + elseif(NOT EXISTS "${_lib}") + # the found library must exist + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' found the library '${_lib}' which doesn't exist") + else() + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_lib}") + endif() + + else() + if(NOT EXISTS "${_library}") + # the found library must exist + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports the library '${_library}' which doesn't exist") + else() + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_library}") + endif() + endif() + endwhile() +endif() + +# find_library() library names with optional LIBRARY_DIRS +# and add the libraries to uwrt_mars_rover_drivetrain_hw_LIBRARIES +if(NOT _exported_library_names STREQUAL "") + # loop over library names + # but remember related build configuration keyword if available + list(LENGTH _exported_library_names _length) + set(_i 0) + while(_i LESS _length) + list(GET _exported_library_names ${_i} _arg) + # pass linker flags along + if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_arg}") + math(EXPR _i "${_i} + 1") + continue() + endif() + + if("${_arg}" MATCHES "^(debug|optimized|general)$") + # remember build configuration keyword + # and get following library name + set(_cfg "${_arg}") + math(EXPR _i "${_i} + 1") + if(_i EQUAL _length) + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' passes the build configuration keyword '${_cfg}' as the last exported target") + endif() + list(GET _exported_library_names ${_i} _library) + else() + # the value is a library target without a build configuration keyword + set(_cfg "") + set(_library "${_arg}") + endif() + math(EXPR _i "${_i} + 1") + + # extract optional LIBRARY_DIRS from library name + string(REPLACE ":" ";" _library_dirs "${_library}") + list(GET _library_dirs 0 _library_name) + list(REMOVE_AT _library_dirs 0) + + set(_lib "NOTFOUND") + if(NOT _library_dirs) + # search for library in the common locations + find_library( + _lib + NAMES "${_library_name}" + ) + if(NOT _lib) + # warn about not existing library and later ignore it + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports library '${_library_name}' which couldn't be found") + endif() + else() + # search for library in the specified directories + find_library( + _lib + NAMES "${_library_name}" + PATHS ${_library_dirs} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH + ) + if(NOT _lib) + # warn about not existing library and later ignore it + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found") + endif() + endif() + if(_lib) + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_lib}") + endif() + endwhile() +endif() + +# TODO(dirk-thomas) deduplicate uwrt_mars_rover_drivetrain_hw_LIBRARIES +# while maintaining library order +# as well as build configuration keywords +# as well as linker flags diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/library_path.sh.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/library_path.sh.stamp new file mode 100644 index 00000000..292e518f --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/library_path.sh.stamp @@ -0,0 +1,16 @@ +# copied from ament_package/template/environment_hook/library_path.sh + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +if [ $_IS_DARWIN -eq 0 ]; then + ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" +else + ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" +fi +unset _IS_DARWIN diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 00000000..ee49c9f1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 00000000..6fb3fe78 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package.xml.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 00000000..f2c5259c --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,40 @@ + + + + uwrt_mars_rover_drivetrain_hw + 0.0.0 + Package containing ros2control interface of the UWRT rover's differential drivetrain. + + Orson Marmon + + MIT + + Orson Marmon + Melvin Wang + + ament_cmake + + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + transmission_interface + + controller_manager + diff_drive_controller + joint_state_broadcaster + robot_state_publisher + ros2launch + rviz2 + uwrt_mars_rover_drivetrain_description + + ament_cmake_clang_format + ament_cmake_clang_tidy + ament_cmake_cppcheck + ament_cmake_flake8 + ament_cmake_xmllint + + + ament_cmake + + diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 00000000..2269b638 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import evaluate_condition +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/path.sh.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 00000000..b7c0faf1 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [l.replace('\\', '/') for l in lines] + + +if __name__ == '__main__': + main() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig-version.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig-version.cmake new file mode 100644 index 00000000..7beb7328 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig.cmake new file mode 100644 index 00000000..11653c09 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_uwrt_mars_rover_drivetrain_hw_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED uwrt_mars_rover_drivetrain_hw_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(uwrt_mars_rover_drivetrain_hw_FOUND FALSE) + elseif(NOT uwrt_mars_rover_drivetrain_hw_FOUND) + # use separate condition to avoid uninitialized variable warning + set(uwrt_mars_rover_drivetrain_hw_FOUND FALSE) + endif() + return() +endif() +set(_uwrt_mars_rover_drivetrain_hw_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT uwrt_mars_rover_drivetrain_hw_FIND_QUIETLY) + message(STATUS "Found uwrt_mars_rover_drivetrain_hw: 0.0.0 (${uwrt_mars_rover_drivetrain_hw_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'uwrt_mars_rover_drivetrain_hw' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${uwrt_mars_rover_drivetrain_hw_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(uwrt_mars_rover_drivetrain_hw_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_dependencies-extras.cmake") +foreach(_extra ${_extras}) + include("${uwrt_mars_rover_drivetrain_hw_DIR}/${_extra}") +endforeach() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/library_path.dsv b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/library_path.dsv new file mode 100644 index 00000000..89bec935 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/library_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.bash b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.dsv b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 00000000..0dd93b5d --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,3 @@ +source;share/uwrt_mars_rover_drivetrain_hw/environment/ament_prefix_path.sh +source;share/uwrt_mars_rover_drivetrain_hw/environment/library_path.sh +source;share/uwrt_mars_rover_drivetrain_hw/environment/path.sh diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.sh b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 00000000..90b917a5 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,185 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain_hw/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain_hw/environment/library_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/uwrt_mars_rover_drivetrain_hw/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.zsh b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/package.dsv b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 00000000..5d7abb59 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/uwrt_mars_rover_drivetrain_hw/local_setup.bash +source;share/uwrt_mars_rover_drivetrain_hw/local_setup.dsv +source;share/uwrt_mars_rover_drivetrain_hw/local_setup.sh +source;share/uwrt_mars_rover_drivetrain_hw/local_setup.zsh diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/path.dsv b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake new file mode 100644 index 00000000..4e27a3b3 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake @@ -0,0 +1,92 @@ +# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in + +set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;transmission_interface") + +find_package(ament_cmake_libraries QUIET REQUIRED) + +# find_package() all dependencies +# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS +# variables to uwrt_mars_rover_drivetrain_hw_DEFINITIONS, uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS, +# uwrt_mars_rover_drivetrain_hw_LIBRARIES, and uwrt_mars_rover_drivetrain_hw_LINK_FLAGS. +# Additionally collect the direct dependency names in +# uwrt_mars_rover_drivetrain_hw_DEPENDENCIES as well as the recursive dependency names +# in uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES. +if(NOT _exported_dependencies STREQUAL "") + find_package(ament_cmake_core QUIET REQUIRED) + set(uwrt_mars_rover_drivetrain_hw_DEPENDENCIES ${_exported_dependencies}) + set(uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES ${_exported_dependencies}) + set(_libraries) + foreach(_dep ${_exported_dependencies}) + if(NOT ${_dep}_FOUND) + find_package("${_dep}" QUIET REQUIRED) + endif() + # if a package provides modern CMake interface targets use them + # exclusively assuming the classic CMake variables only exist for + # backward compatibility + set(use_modern_cmake FALSE) + if(NOT "${${_dep}_TARGETS}" STREQUAL "") + foreach(_target ${${_dep}_TARGETS}) + # only use actual targets + # in case a package uses this variable for other content + if(TARGET "${_target}") + get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES) + if(_include_dirs) + list_append_unique(uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${_include_dirs}") + endif() + + get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS) + if(_imported_configurations) + string(TOUPPER "${_imported_configurations}" _imported_configurations) + if(DEBUG_CONFIGURATIONS) + string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase) + else() + set(_debug_configurations_uppercase "DEBUG") + endif() + foreach(_imported_config ${_imported_configurations}) + get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config}) + if(_imported_implib) + set(_imported_implib_config "optimized") + if(${_imported_config} IN_LIST _debug_configurations_uppercase) + set(_imported_implib_config "debug") + endif() + list(APPEND _libraries ${_imported_implib_config} ${_imported_implib}) + else() + get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config}) + if(_imported_location) + list(APPEND _libraries "${_imported_location}") + endif() + endif() + endforeach() + endif() + + get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES) + if(_link_libraries) + list(APPEND _libraries "${_link_libraries}") + endif() + set(use_modern_cmake TRUE) + endif() + endforeach() + endif() + if(NOT use_modern_cmake) + if(${_dep}_DEFINITIONS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_DEFINITIONS "${${_dep}_DEFINITIONS}") + endif() + if(${_dep}_INCLUDE_DIRS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") + endif() + if(${_dep}_LIBRARIES) + list(APPEND _libraries "${${_dep}_LIBRARIES}") + endif() + if(${_dep}_LINK_FLAGS) + list_append_unique(uwrt_mars_rover_drivetrain_hw_LINK_FLAGS "${${_dep}_LINK_FLAGS}") + endif() + if(${_dep}_RECURSIVE_DEPENDENCIES) + list_append_unique(uwrt_mars_rover_drivetrain_hw_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}") + endif() + endif() + if(_libraries) + ament_libraries_deduplicate(_libraries "${_libraries}") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_libraries}") + endif() + endforeach() +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake new file mode 100644 index 00000000..9f603a58 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake @@ -0,0 +1,16 @@ +# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in + +set(_exported_include_dirs "${uwrt_mars_rover_drivetrain_hw_DIR}/../../../include") + +# append include directories to uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS +# warn about not existing paths +if(NOT _exported_include_dirs STREQUAL "") + find_package(ament_cmake_core QUIET REQUIRED) + foreach(_exported_include_dir ${_exported_include_dirs}) + if(NOT IS_DIRECTORY "${_exported_include_dir}") + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports the include directory '${_exported_include_dir}' which doesn't exist") + endif() + normalize_path(_exported_include_dir "${_exported_include_dir}") + list(APPEND uwrt_mars_rover_drivetrain_hw_INCLUDE_DIRS "${_exported_include_dir}") + endforeach() +endif() diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake new file mode 100644 index 00000000..bd99ac2e --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake @@ -0,0 +1,140 @@ +# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in + +set(_exported_libraries "uwrt_mars_rover_drivetrain_hw") +set(_exported_library_names "") + +# populate uwrt_mars_rover_drivetrain_hw_LIBRARIES +if(NOT _exported_libraries STREQUAL "") + # loop over libraries, either target names or absolute paths + list(LENGTH _exported_libraries _length) + set(_i 0) + while(_i LESS _length) + list(GET _exported_libraries ${_i} _arg) + + # pass linker flags along + if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_arg}") + math(EXPR _i "${_i} + 1") + continue() + endif() + + if("${_arg}" MATCHES "^(debug|optimized|general)$") + # remember build configuration keyword + # and get following library + set(_cfg "${_arg}") + math(EXPR _i "${_i} + 1") + if(_i EQUAL _length) + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' passes the build configuration keyword '${_cfg}' as the last exported library") + endif() + list(GET _exported_libraries ${_i} _library) + else() + # the value is a library without a build configuration keyword + set(_cfg "") + set(_library "${_arg}") + endif() + math(EXPR _i "${_i} + 1") + + if(NOT IS_ABSOLUTE "${_library}") + # search for library target relative to this CMake file + set(_lib "NOTFOUND") + find_library( + _lib NAMES "${_library}" + PATHS "${uwrt_mars_rover_drivetrain_hw_DIR}/../../../lib" + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH + ) + + if(NOT _lib) + # warn about not existing library and ignore it + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' exports the library '${_library}' which couldn't be found") + elseif(NOT IS_ABSOLUTE "${_lib}") + # the found library must be an absolute path + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' found the library '${_library}' at '${_lib}' which is not an absolute path") + elseif(NOT EXISTS "${_lib}") + # the found library must exist + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' found the library '${_lib}' which doesn't exist") + else() + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_lib}") + endif() + + else() + if(NOT EXISTS "${_library}") + # the found library must exist + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports the library '${_library}' which doesn't exist") + else() + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_library}") + endif() + endif() + endwhile() +endif() + +# find_library() library names with optional LIBRARY_DIRS +# and add the libraries to uwrt_mars_rover_drivetrain_hw_LIBRARIES +if(NOT _exported_library_names STREQUAL "") + # loop over library names + # but remember related build configuration keyword if available + list(LENGTH _exported_library_names _length) + set(_i 0) + while(_i LESS _length) + list(GET _exported_library_names ${_i} _arg) + # pass linker flags along + if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]") + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES "${_arg}") + math(EXPR _i "${_i} + 1") + continue() + endif() + + if("${_arg}" MATCHES "^(debug|optimized|general)$") + # remember build configuration keyword + # and get following library name + set(_cfg "${_arg}") + math(EXPR _i "${_i} + 1") + if(_i EQUAL _length) + message(FATAL_ERROR "Package 'uwrt_mars_rover_drivetrain_hw' passes the build configuration keyword '${_cfg}' as the last exported target") + endif() + list(GET _exported_library_names ${_i} _library) + else() + # the value is a library target without a build configuration keyword + set(_cfg "") + set(_library "${_arg}") + endif() + math(EXPR _i "${_i} + 1") + + # extract optional LIBRARY_DIRS from library name + string(REPLACE ":" ";" _library_dirs "${_library}") + list(GET _library_dirs 0 _library_name) + list(REMOVE_AT _library_dirs 0) + + set(_lib "NOTFOUND") + if(NOT _library_dirs) + # search for library in the common locations + find_library( + _lib + NAMES "${_library_name}" + ) + if(NOT _lib) + # warn about not existing library and later ignore it + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports library '${_library_name}' which couldn't be found") + endif() + else() + # search for library in the specified directories + find_library( + _lib + NAMES "${_library_name}" + PATHS ${_library_dirs} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH + ) + if(NOT _lib) + # warn about not existing library and later ignore it + message(WARNING "Package 'uwrt_mars_rover_drivetrain_hw' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found") + endif() + endif() + if(_lib) + list(APPEND uwrt_mars_rover_drivetrain_hw_LIBRARIES ${_cfg} "${_lib}") + endif() + endwhile() +endif() + +# TODO(dirk-thomas) deduplicate uwrt_mars_rover_drivetrain_hw_LIBRARIES +# while maintaining library order +# as well as build configuration keywords +# as well as linker flags diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/uwrt_mars_rover_drivetrain_hw b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/uwrt_mars_rover_drivetrain_hw new file mode 100644 index 00000000..e6fc75e9 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/uwrt_mars_rover_drivetrain_hw @@ -0,0 +1 @@ +share/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw.xml diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_hw b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_hw new file mode 100644 index 00000000..ff5cbf87 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_hw @@ -0,0 +1 @@ +hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;transmission_interface;controller_manager;diff_drive_controller;joint_state_broadcaster;robot_state_publisher;ros2launch;rviz2;uwrt_mars_rover_drivetrain_description;ament_cmake_clang_format;ament_cmake_clang_tidy;ament_cmake_cppcheck;ament_cmake_flake8;ament_cmake_xmllint \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_hw b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_hw new file mode 100644 index 00000000..e69de29b diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_hw b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_hw new file mode 100644 index 00000000..0885e738 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_hw @@ -0,0 +1 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/opt/ros/galactic \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_package_templates/templates.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_package_templates/templates.cmake new file mode 100644 index 00000000..d41b791d --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 00000000..17f7d833 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/uwrt_mars_rover_drivetrain_hw/cmake_args.last b/build/uwrt_mars_rover_drivetrain_hw/cmake_args.last new file mode 100644 index 00000000..4af18322 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_hw/cmake_install.cmake b/build/uwrt_mars_rover_drivetrain_hw/cmake_install.cmake new file mode 100644 index 00000000..116f00ea --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/cmake_install.cmake @@ -0,0 +1,170 @@ +# Install script for directory: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/libuwrt_mars_rover_drivetrain_hw.so") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so" + OLD_RPATH "/opt/ros/galactic/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libuwrt_mars_rover_drivetrain_hw.so") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE DIRECTORY FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/config" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/launch" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/opt/ros/galactic/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/library_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_hw") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_hw") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/opt/ros/galactic/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/environment" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.bash") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.zsh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/local_setup.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_environment_hooks/package.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_hw") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/hardware_interface__pluginlib__plugin" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/uwrt_mars_rover_drivetrain_hw") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/cmake" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/cmake" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/cmake" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw/cmake" TYPE FILE FILES + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig.cmake" + "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/ament_cmake_core/uwrt_mars_rover_drivetrain_hwConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/uwrt_mars_rover_drivetrain_hw" TYPE FILE FILES "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/package.xml") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/uwrt_mars_rover_drivetrain_hw/colcon_build.rc b/build/uwrt_mars_rover_drivetrain_hw/colcon_build.rc new file mode 100644 index 00000000..573541ac --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh b/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh new file mode 100644 index 00000000..045fabfa --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh @@ -0,0 +1,2 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em +. "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description/share/uwrt_mars_rover_drivetrain_description/package.sh" diff --git a/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh.env b/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh.env new file mode 100644 index 00000000..30992d1b --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/colcon_command_prefix_build.sh.env @@ -0,0 +1,64 @@ +AMENT_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description:/opt/ros/galactic +CMAKE_PREFIX_PATH=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_description +COLCON=1 +COLORTERM=truecolor +CONDA_EXE=/home/uwrt/miniconda3/bin/conda +CONDA_PYTHON_EXE=/home/uwrt/miniconda3/bin/python +CONDA_SHLVL=0 +DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus +DESKTOP_SESSION=ubuntu +DISPLAY=:1 +GDMSESSION=ubuntu +GJS_DEBUG_OUTPUT=stderr +GJS_DEBUG_TOPICS=JS ERROR;JS LOG +GNOME_DESKTOP_SESSION_ID=this-is-deprecated +GNOME_SHELL_SESSION_MODE=ubuntu +GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/2af5f99a_ab57_4976_a5a7_551017e8573a +GNOME_TERMINAL_SERVICE=:1.152 +GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 +GTK_MODULES=gail:atk-bridge +HOME=/home/uwrt +IM_CONFIG_PHASE=1 +INVOCATION_ID=568d2ebd0ec341f3b1313028e74dc3be +JOURNAL_STREAM=8:40800 +LANG=en_CA.UTF-8 +LANGUAGE=en_CA:en +LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib +LESSCLOSE=/usr/bin/lesspipe %s %s +LESSOPEN=| /usr/bin/lesspipe %s +LOGNAME=uwrt +LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: +MANAGERPID=1425 +OLDPWD=/home/uwrt/xbox_test_ws +PATH=/opt/ros/galactic/bin:/home/uwrt/miniconda3/condabin:/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:/home/uwrt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/uwrt/.local/bin +PWD=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw +PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=galactic +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/uwrt-Lenovo-Yoga710-15ISK:@/tmp/.ICE-unix/1681,unix/uwrt-Lenovo-Yoga710-15ISK:/tmp/.ICE-unix/1681 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_PID=1643 +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +TERM=xterm-256color +USER=uwrt +USERNAME=uwrt +VTE_VERSION=6003 +WINDOWPATH=2 +XAUTHORITY=/run/user/1000/gdm/Xauthority +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=x11 +XMODIFIERS=@im=ibus +_=/usr/bin/colcon +_CE_CONDA= +_CE_M= diff --git a/build/uwrt_mars_rover_drivetrain_hw/compile_commands.json b/build/uwrt_mars_rover_drivetrain_hw/compile_commands.json new file mode 100644 index 00000000..c8fd41ce --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/compile_commands.json @@ -0,0 +1,7 @@ +[ +{ + "directory": "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_drivetrain_hw", + "command": "/usr/bin/c++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -DRCUTILS_ENABLE_FAULT_INJECTION -DUWRT_MARS_ROVER_DRIVETRAIN_HW_BUILDING_LIBRARY -Duwrt_mars_rover_drivetrain_hw_EXPORTS -I/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/include -isystem /opt/ros/galactic/include -fPIC -Wall -Wextra -Wpedantic -std=gnu++17 -o CMakeFiles/uwrt_mars_rover_drivetrain_hw.dir/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp.o -c /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp", + "file": "/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_hw/src/uwrt_mars_rover_drivetrain_hw_actuator_interface.cpp" +} +] \ No newline at end of file diff --git a/build/uwrt_mars_rover_drivetrain_hw/install_manifest.txt b/build/uwrt_mars_rover_drivetrain_hw/install_manifest.txt new file mode 100644 index 00000000..d79d4178 --- /dev/null +++ b/build/uwrt_mars_rover_drivetrain_hw/install_manifest.txt @@ -0,0 +1,27 @@ +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw.xml +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/lib/libuwrt_mars_rover_drivetrain_hw.so +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/include/include/uwrt_mars_rover_drivetrain_hw/uwrt_mars_rover_drivetrain_hw_actuator_interface.hpp +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/include/include/uwrt_mars_rover_drivetrain_hw/visibility_control.hpp +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/config/drivetrain_controllers.yaml +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/launch/drivetrain.launch.py +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/library_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/library_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/ament_index/resource_index/package_run_dependencies/uwrt_mars_rover_drivetrain_hw +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/ament_index/resource_index/parent_prefix_path/uwrt_mars_rover_drivetrain_hw +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/ament_prefix_path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/ament_prefix_path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/path.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/environment/path.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/local_setup.bash +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/local_setup.sh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/local_setup.zsh +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/local_setup.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/uwrt_mars_rover_drivetrain_hw/package.dsv +/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/install/uwrt_mars_rover_drivetrain_hw/share/ament_index/resource_index/packages/uwrt_mars_rover_drivetrain_hw 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+//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a library. +FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/galactic/lib/libfastcdr.so + +//Path to a file. +FastRTPS_INCLUDE_DIR:PATH=/opt/ros/galactic/include + +//Path to a library. +FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/galactic/lib/libfastrtps.so + +//Path to a library. +OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so + +//Path to a file. +OPENSSL_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 + +//Path to a file. +PYTHON_INCLUDE_DIR:PATH=/usr/include/python3.8 + +//Path to a library. +PYTHON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpython3.8.so + +//Path to a library. +PYTHON_LIBRARY_DEBUG:FILEPATH=PYTHON_LIBRARY_DEBUG-NOTFOUND + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING= + +//Name of the computer/site where compile is being run +SITE:STRING=uwrt-Lenovo-Yoga710-15ISK + +//The directory containing a CMake configuration file for TinyXML2. +TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND + +//Path to a library. +_lib:FILEPATH=/opt/ros/galactic/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so + +//Path to a file. +_numpy_h:FILEPATH=/usr/include/python3.8/numpy/numpyconfig.h + +//Path to a program. +ament_clang_format_BIN:FILEPATH=/opt/ros/galactic/bin/ament_clang_format + +//Path to a program. +ament_clang_tidy_BIN:FILEPATH=/opt/ros/galactic/bin/ament_clang_tidy + +//The directory containing a CMake configuration file for ament_cmake. +ament_cmake_DIR:PATH=/opt/ros/galactic/share/ament_cmake/cmake + +//The directory containing a CMake configuration file for ament_cmake_clang_format. +ament_cmake_clang_format_DIR:PATH=/opt/ros/galactic/share/ament_cmake_clang_format/cmake + +//The directory containing a CMake configuration file for ament_cmake_clang_tidy. +ament_cmake_clang_tidy_DIR:PATH=/opt/ros/galactic/share/ament_cmake_clang_tidy/cmake + +//The directory containing a CMake configuration file for ament_cmake_core. +ament_cmake_core_DIR:PATH=/opt/ros/galactic/share/ament_cmake_core/cmake + +//The directory containing a CMake configuration file for ament_cmake_cppcheck. +ament_cmake_cppcheck_DIR:PATH=/opt/ros/galactic/share/ament_cmake_cppcheck/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_definitions. +ament_cmake_export_definitions_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_definitions/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_dependencies. +ament_cmake_export_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_include_directories. +ament_cmake_export_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_interfaces. +ament_cmake_export_interfaces_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_interfaces/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_libraries. +ament_cmake_export_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_link_flags. +ament_cmake_export_link_flags_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_link_flags/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_targets. +ament_cmake_export_targets_DIR:PATH=/opt/ros/galactic/share/ament_cmake_export_targets/cmake + +//The directory containing a CMake configuration file for ament_cmake_flake8. +ament_cmake_flake8_DIR:PATH=/opt/ros/galactic/share/ament_cmake_flake8/cmake + +//The directory containing a CMake configuration file for ament_cmake_gmock. +ament_cmake_gmock_DIR:PATH=/opt/ros/galactic/share/ament_cmake_gmock/cmake + +//The directory containing a CMake configuration file for ament_cmake_gtest. +ament_cmake_gtest_DIR:PATH=/opt/ros/galactic/share/ament_cmake_gtest/cmake + +//The directory containing a CMake configuration file for ament_cmake_include_directories. +ament_cmake_include_directories_DIR:PATH=/opt/ros/galactic/share/ament_cmake_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_libraries. +ament_cmake_libraries_DIR:PATH=/opt/ros/galactic/share/ament_cmake_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_pytest. +ament_cmake_pytest_DIR:PATH=/opt/ros/galactic/share/ament_cmake_pytest/cmake + +//The directory containing a CMake configuration file for ament_cmake_python. +ament_cmake_python_DIR:PATH=/opt/ros/galactic/share/ament_cmake_python/cmake + +//The directory containing a CMake configuration file for ament_cmake_ros. +ament_cmake_ros_DIR:PATH=/opt/ros/galactic/share/ament_cmake_ros/cmake + +//The directory containing a CMake configuration file for ament_cmake_target_dependencies. +ament_cmake_target_dependencies_DIR:PATH=/opt/ros/galactic/share/ament_cmake_target_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_test. +ament_cmake_test_DIR:PATH=/opt/ros/galactic/share/ament_cmake_test/cmake + +//The directory containing a CMake configuration file for ament_cmake_version. +ament_cmake_version_DIR:PATH=/opt/ros/galactic/share/ament_cmake_version/cmake + +//The directory containing a CMake configuration file for ament_cmake_xmllint. +ament_cmake_xmllint_DIR:PATH=/opt/ros/galactic/share/ament_cmake_xmllint/cmake + +//Path to a program. +ament_cppcheck_BIN:FILEPATH=/opt/ros/galactic/bin/ament_cppcheck + +//Path to a program. +ament_flake8_BIN:FILEPATH=/opt/ros/galactic/bin/ament_flake8 + +//The directory containing a CMake configuration file for ament_index_cpp. +ament_index_cpp_DIR:PATH=/opt/ros/galactic/share/ament_index_cpp/cmake + +//Path to a program. +ament_xmllint_BIN:FILEPATH=/opt/ros/galactic/bin/ament_xmllint + +//The directory containing a CMake configuration file for builtin_interfaces. +builtin_interfaces_DIR:PATH=/opt/ros/galactic/share/builtin_interfaces/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/galactic/share/class_loader/cmake + +//The directory containing a CMake configuration file for composition_interfaces. +composition_interfaces_DIR:PATH=/opt/ros/galactic/share/composition_interfaces/cmake + +//The directory containing a CMake configuration file for console_bridge. +console_bridge_DIR:PATH=/opt/ros/galactic/lib/x86_64-linux-gnu/console_bridge/cmake + +//Dependencies for the target +coordinateNode_LIB_DEPENDS:STATIC=general;rclcpp::rclcpp;general;rclcpp_components::component_manager;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp; + +//The directory containing a CMake configuration file for fastcdr. +fastcdr_DIR:PATH=/opt/ros/galactic/lib/cmake/fastcdr + +//The directory containing a CMake configuration file for fastrtps. +fastrtps_DIR:PATH=/opt/ros/galactic/share/fastrtps/cmake + +//The directory containing a CMake configuration file for fastrtps_cmake_module. +fastrtps_cmake_module_DIR:PATH=/opt/ros/galactic/share/fastrtps_cmake_module/cmake + +//The directory containing a CMake configuration file for foonathan_memory. +foonathan_memory_DIR:PATH=/opt/ros/galactic/lib/foonathan_memory/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/galactic/share/geometry_msgs/cmake + +//The directory containing a CMake configuration file for libstatistics_collector. +libstatistics_collector_DIR:PATH=/opt/ros/galactic/share/libstatistics_collector/cmake + +//The directory containing a CMake configuration file for libyaml_vendor. +libyaml_vendor_DIR:PATH=/opt/ros/galactic/share/libyaml_vendor/cmake + +//Path to a library. +pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so + +//Path to a library. +pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so + +//The directory containing a CMake configuration file for python_cmake_module. +python_cmake_module_DIR:PATH=/opt/ros/galactic/share/python_cmake_module/cmake + +//The directory containing a CMake configuration file for rcl. +rcl_DIR:PATH=/opt/ros/galactic/share/rcl/cmake + +//The directory containing a CMake configuration file for rcl_interfaces. +rcl_interfaces_DIR:PATH=/opt/ros/galactic/share/rcl_interfaces/cmake + +//The directory containing a CMake configuration file for rcl_logging_interface. +rcl_logging_interface_DIR:PATH=/opt/ros/galactic/share/rcl_logging_interface/cmake + +//The directory containing a CMake configuration file for rcl_logging_spdlog. +rcl_logging_spdlog_DIR:PATH=/opt/ros/galactic/share/rcl_logging_spdlog/cmake + +//The directory containing a CMake configuration file for rcl_yaml_param_parser. +rcl_yaml_param_parser_DIR:PATH=/opt/ros/galactic/share/rcl_yaml_param_parser/cmake + +//The directory containing a CMake configuration file for rclcpp. +rclcpp_DIR:PATH=/opt/ros/galactic/share/rclcpp/cmake + +//The directory containing a CMake configuration file for rclcpp_components. +rclcpp_components_DIR:PATH=/opt/ros/galactic/share/rclcpp_components/cmake + +//The directory containing a CMake configuration file for rcpputils. +rcpputils_DIR:PATH=/opt/ros/galactic/share/rcpputils/cmake + +//The directory containing a CMake configuration file for rcutils. +rcutils_DIR:PATH=/opt/ros/galactic/share/rcutils/cmake + +//The directory containing a CMake configuration file for rmw. +rmw_DIR:PATH=/opt/ros/galactic/share/rmw/cmake + +//The directory containing a CMake configuration file for rmw_cyclonedds_cpp. +rmw_cyclonedds_cpp_DIR:PATH=/opt/ros/galactic/share/rmw_cyclonedds_cpp/cmake + +//The directory containing a CMake configuration file for rmw_dds_common. +rmw_dds_common_DIR:PATH=/opt/ros/galactic/share/rmw_dds_common/cmake + +//The directory containing a CMake configuration file for rmw_implementation. +rmw_implementation_DIR:PATH=/opt/ros/galactic/share/rmw_implementation/cmake + +//The directory containing a CMake configuration file for rmw_implementation_cmake. +rmw_implementation_cmake_DIR:PATH=/opt/ros/galactic/share/rmw_implementation_cmake/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/galactic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for rosidl_adapter. +rosidl_adapter_DIR:PATH=/opt/ros/galactic/share/rosidl_adapter/cmake + +//The directory containing a CMake configuration file for rosidl_cmake. +rosidl_cmake_DIR:PATH=/opt/ros/galactic/share/rosidl_cmake/cmake + +//The directory containing a CMake configuration file for rosidl_default_generators. +rosidl_default_generators_DIR:PATH=/opt/ros/galactic/share/rosidl_default_generators/cmake + +//The directory containing a CMake configuration file for rosidl_default_runtime. +rosidl_default_runtime_DIR:PATH=/opt/ros/galactic/share/rosidl_default_runtime/cmake + +//The directory containing a CMake configuration file for rosidl_generator_c. +rosidl_generator_c_DIR:PATH=/opt/ros/galactic/share/rosidl_generator_c/cmake + +//The directory containing a CMake configuration file for rosidl_generator_cpp. +rosidl_generator_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_generator_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_generator_py. +rosidl_generator_py_DIR:PATH=/opt/ros/galactic/share/rosidl_generator_py/cmake + +//The directory containing a CMake configuration file for rosidl_runtime_c. +rosidl_runtime_c_DIR:PATH=/opt/ros/galactic/share/rosidl_runtime_c/cmake + +//The directory containing a CMake configuration file for rosidl_runtime_cpp. +rosidl_runtime_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_runtime_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_c. +rosidl_typesupport_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_cpp. +rosidl_typesupport_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c. +rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_fastrtps_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp. +rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_fastrtps_cpp/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_interface. +rosidl_typesupport_interface_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_interface/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c. +rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_introspection_c/cmake + +//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp. +rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/galactic/share/rosidl_typesupport_introspection_cpp/cmake + +//The directory containing a CMake configuration file for sensor_msgs. +sensor_msgs_DIR:PATH=/opt/ros/galactic/share/sensor_msgs/cmake + +//The directory containing a CMake configuration file for spdlog. +spdlog_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/spdlog + +//The directory containing a CMake configuration file for spdlog_vendor. +spdlog_vendor_DIR:PATH=/opt/ros/galactic/share/spdlog_vendor/cmake + +//The directory containing a CMake configuration file for statistics_msgs. +statistics_msgs_DIR:PATH=/opt/ros/galactic/share/statistics_msgs/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/galactic/share/std_msgs/cmake + +//The directory containing a CMake configuration file for tracetools. +tracetools_DIR:PATH=/opt/ros/galactic/share/tracetools/cmake + +//Value Computed by CMake +uwrt_mars_rover_xbox_controller_BINARY_DIR:STATIC=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_xbox_controller + +//Value Computed by CMake +uwrt_mars_rover_xbox_controller_SOURCE_DIR:STATIC=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__python_LIB_DEPENDS:STATIC=general;uwrt_mars_rover_xbox_controller__rosidl_generator_c;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_c;general;/opt/ros/galactic/share/std_msgs/cmake/../../../lib/libstd_msgs__python.so;general;/opt/ros/galactic/share/builtin_interfaces/cmake/../../../lib/libbuiltin_interfaces__python.so; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_generator_c_LIB_DEPENDS:STATIC=general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_c_LIB_DEPENDS:STATIC=general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_c__pyext_LIB_DEPENDS:STATIC=general;uwrt_mars_rover_xbox_controller__python;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_c;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_c;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librmw.so;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librosidl_runtime_c.so;general;rcutils::rcutils; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp_LIB_DEPENDS:STATIC=general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_cpp::rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_fastrtps_c_LIB_DEPENDS:STATIC=general;rmw::rmw;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;/opt/ros/galactic/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;/opt/ros/galactic/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so;general;uwrt_mars_rover_xbox_controller__rosidl_generator_c;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_fastrtps_cpp; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_fastrtps_c__pyext_LIB_DEPENDS:STATIC=general;uwrt_mars_rover_xbox_controller__python;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_fastrtps_c;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_c;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librmw.so;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librosidl_runtime_c.so;general;rcutils::rcutils; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_fastrtps_cpp_LIB_DEPENDS:STATIC=general;rmw::rmw;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;/opt/ros/galactic/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;/opt/ros/galactic/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so;general;uwrt_mars_rover_xbox_controller__rosidl_generator_cpp;general;fastrtps;general;fastcdr; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c_LIB_DEPENDS:STATIC=general;uwrt_mars_rover_xbox_controller__rosidl_generator_c;general;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c__pyext_LIB_DEPENDS:STATIC=general;uwrt_mars_rover_xbox_controller__python;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_c;general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_c::rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librmw.so;general;rosidl_runtime_c::rosidl_runtime_c;general;/opt/ros/galactic/lib/librosidl_runtime_c.so;general;rcutils::rcutils; + +//Dependencies for the target +uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_cpp_LIB_DEPENDS:STATIC=general;rosidl_runtime_c::rosidl_runtime_c;general;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_generator_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_c;general;std_msgs::std_msgs__rosidl_typesupport_c;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;std_msgs::std_msgs__rosidl_typesupport_cpp;general;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_generator_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;general;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp; + +//Dependencies for the target +xbox_controller_LIB_DEPENDS:STATIC=general;rclcpp::rclcpp;general;rclcpp_components::component_manager;general;geometry_msgs::geometry_msgs__rosidl_generator_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_c;general;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;general;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;general;sensor_msgs::sensor_msgs__rosidl_generator_c;general;sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_c;general;sensor_msgs::sensor_msgs__rosidl_typesupport_c;general;sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_cpp;general;sensor_msgs::sensor_msgs__rosidl_typesupport_cpp;general;uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp; + +//Path to a program. +xmllint_BIN:FILEPATH=/usr/bin/xmllint + +//The directory containing a CMake configuration file for yaml. +yaml_DIR:PATH=/opt/ros/galactic/cmake + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: CMAKE_ADDR2LINE +CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_AR +CMAKE_AR-ADVANCED:INTERNAL=1 +//This is the directory where this CMakeCache.txt was created +CMAKE_CACHEFILE_DIR:INTERNAL=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_xbox_controller +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 +//Minor version of cmake used to create the current loaded cache +CMAKE_CACHE_MINOR_VERSION:INTERNAL=16 +//Patch version of cmake used to create the current loaded cache +CMAKE_CACHE_PATCH_VERSION:INTERNAL=3 +//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE +CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1 +//Path to CMake executable. +CMAKE_COMMAND:INTERNAL=/usr/bin/cmake +//Path to cpack program executable. +CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack +//Path to ctest program executable. +CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest +//ADVANCED property for variable: CMAKE_CXX_COMPILER +CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR +CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB +CMAKE_CXX_COMPILER_RANLIB-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_FLAGS +CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG +CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL +CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE +CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO +CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_COMPILER +CMAKE_C_COMPILER-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_COMPILER_AR +CMAKE_C_COMPILER_AR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_COMPILER_RANLIB +CMAKE_C_COMPILER_RANLIB-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_FLAGS +CMAKE_C_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG +CMAKE_C_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_FLAGS_MINSIZEREL +CMAKE_C_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_FLAGS_RELEASE +CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO +CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_DLLTOOL +CMAKE_DLLTOOL-ADVANCED:INTERNAL=1 +//Executable file format +CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF +//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS +CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG +CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE +CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS +CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1 +CMAKE_EXPORT_COMPILE_COMMANDS:INTERNAL=ON +//Name of external makefile project generator. +CMAKE_EXTRA_GENERATOR:INTERNAL= +//Name of generator. +CMAKE_GENERATOR:INTERNAL=Unix Makefiles +//Generator instance identifier. +CMAKE_GENERATOR_INSTANCE:INTERNAL= +//Name of generator platform. +CMAKE_GENERATOR_PLATFORM:INTERNAL= +//Name of generator toolset. +CMAKE_GENERATOR_TOOLSET:INTERNAL= +//Test CMAKE_HAVE_LIBC_PTHREAD +CMAKE_HAVE_LIBC_PTHREAD:INTERNAL= +//Have library pthreads +CMAKE_HAVE_PTHREADS_CREATE:INTERNAL= +//Have library pthread +CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1 +//Have include pthread.h +CMAKE_HAVE_PTHREAD_H:INTERNAL=1 +//Source directory with the top level CMakeLists.txt file for this +// project +CMAKE_HOME_DIRECTORY:INTERNAL=/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller +//Install .so files without execute permission. +CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1 +//ADVANCED property for variable: CMAKE_LINKER +CMAKE_LINKER-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MAKE_PROGRAM +CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS +CMAKE_MODULE_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_DEBUG +CMAKE_MODULE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELEASE +CMAKE_MODULE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_NM +CMAKE_NM-ADVANCED:INTERNAL=1 +//number of local generators +CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=2 +//ADVANCED property for variable: CMAKE_OBJCOPY +CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_OBJDUMP +CMAKE_OBJDUMP-ADVANCED:INTERNAL=1 +//Platform information initialized +CMAKE_PLATFORM_INFO_INITIALIZED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_RANLIB +CMAKE_RANLIB-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_READELF +CMAKE_READELF-ADVANCED:INTERNAL=1 +//Path to CMake installation. +CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.16 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS +CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG +CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE +CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SKIP_INSTALL_RPATH +CMAKE_SKIP_INSTALL_RPATH-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SKIP_RPATH +CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS +CMAKE_STATIC_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_DEBUG +CMAKE_STATIC_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELEASE +CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STRIP +CMAKE_STRIP-ADVANCED:INTERNAL=1 +//uname command +CMAKE_UNAME:INTERNAL=/usr/bin/uname +//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE +CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1 +//Details about finding FastRTPS +FIND_PACKAGE_MESSAGE_DETAILS_FastRTPS:INTERNAL=[/opt/ros/galactic/include][/opt/ros/galactic/lib/libfastrtps.so;/opt/ros/galactic/lib/libfastcdr.so][v()] +//Details about finding OpenSSL +FIND_PACKAGE_MESSAGE_DETAILS_OpenSSL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libcrypto.so][/usr/include][c ][v1.1.1f()] +//Details about finding PythonExtra +FIND_PACKAGE_MESSAGE_DETAILS_PythonExtra:INTERNAL=[.so][/usr/include/python3.8][/usr/lib/x86_64-linux-gnu/libpython3.8.so][.cpython-38-x86_64-linux-gnu][v()] +//Details about finding PythonInterp +FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python3][v3.8.10(3.5)] +//Details about finding PythonLibs +FIND_PACKAGE_MESSAGE_DETAILS_PythonLibs:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpython3.8.so][/usr/include/python3.8][v3.8.10(3.5)] +//Details about finding Threads +FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()] +//ADVANCED property for variable: OPENSSL_CRYPTO_LIBRARY +OPENSSL_CRYPTO_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: OPENSSL_INCLUDE_DIR +OPENSSL_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: OPENSSL_SSL_LIBRARY +OPENSSL_SSL_LIBRARY-ADVANCED:INTERNAL=1 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COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100755 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 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pthread_exit(NULL); + + return 0; +} + +Determining if the function pthread_create exists in the pthreads failed with the following output: +Change Dir: /home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_xbox_controller/CMakeFiles/CMakeTmp + +Run Build Command(s):/usr/bin/make cmTC_26010/fast && /usr/bin/make -f CMakeFiles/cmTC_26010.dir/build.make CMakeFiles/cmTC_26010.dir/build +make[1]: Entering directory '/home/uwrt/xbox_test_ws/src/uwrt_mars_rover/build/uwrt_mars_rover_xbox_controller/CMakeFiles/CMakeTmp' +Building C object CMakeFiles/cmTC_26010.dir/CheckFunctionExists.c.o +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_26010.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c +Linking C executable cmTC_26010 +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_26010.dir/link.txt --verbose=1 +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_26010.dir/CheckFunctionExists.c.o -o cmTC_26010 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"${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/uwrt_mars_rover_xbox_controller__rosidl_generator_cExport-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_generator_cppExport.cmake 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+set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_generator_cpp) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_generator_cpp +add_library(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_generator_cpp INTERFACE IMPORTED) + +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_generator_cpp PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_cpp::rosidl_runtime_cpp" +) + +if(CMAKE_VERSION VERSION_LESS 3.0.0) + message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.") +endif() + +# Load information for each installed configuration. +get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/uwrt_mars_rover_xbox_controller__rosidl_generator_cppExport-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport-noconfig.cmake b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport-noconfig.cmake new file mode 100644 index 00000000..282cb537 --- /dev/null +++ b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport-noconfig.cmake @@ -0,0 +1,19 @@ +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Import target "uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c" for configuration "" +set_property(TARGET uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG) +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c PROPERTIES + IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libuwrt_mars_rover_xbox_controller__rosidl_typesupport_c.so" + IMPORTED_SONAME_NOCONFIG "libuwrt_mars_rover_xbox_controller__rosidl_typesupport_c.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c ) +list(APPEND _IMPORT_CHECK_FILES_FOR_uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libuwrt_mars_rover_xbox_controller__rosidl_typesupport_c.so" ) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport.cmake b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport.cmake new file mode 100644 index 00000000..7f57c310 --- /dev/null +++ b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport.cmake @@ -0,0 +1,99 @@ +# Generated by CMake + +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5) + message(FATAL_ERROR "CMake >= 2.6.0 required") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.6) +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Protect against multiple inclusion, which would fail when already imported targets are added once more. +set(_targetsDefined) +set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c +add_library(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c SHARED IMPORTED) + +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_c PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c;rosidl_typesupport_interface::rosidl_typesupport_interface;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp" +) + +if(CMAKE_VERSION VERSION_LESS 2.8.12) + message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.") +endif() + +# Load information for each installed configuration. +get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cExport-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport-noconfig.cmake b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport-noconfig.cmake new file mode 100644 index 00000000..bf667906 --- /dev/null +++ b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport-noconfig.cmake @@ -0,0 +1,19 @@ +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Import target "uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp" for configuration "" +set_property(TARGET uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG) +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp PROPERTIES + IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libuwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp.so" + IMPORTED_SONAME_NOCONFIG "libuwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp ) +list(APPEND _IMPORT_CHECK_FILES_FOR_uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libuwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp.so" ) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport.cmake b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport.cmake new file mode 100644 index 00000000..b414fd8f --- /dev/null +++ b/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport.cmake @@ -0,0 +1,99 @@ +# Generated by CMake + +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5) + message(FATAL_ERROR "CMake >= 2.6.0 required") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.6) +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Protect against multiple inclusion, which would fail when already imported targets are added once more. +set(_targetsDefined) +set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp +add_library(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp SHARED IMPORTED) + +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_cpp PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_cpp::rosidl_typesupport_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp" +) + +if(CMAKE_VERSION VERSION_LESS 2.8.12) + message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.") +endif() + +# Load information for each installed configuration. +get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/uwrt_mars_rover_xbox_controller__rosidl_typesupport_cppExport-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/build/uwrt_mars_rover_xbox_controller/CMakeFiles/Export/share/uwrt_mars_rover_xbox_controller/cmake/uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_cExport-noconfig.cmake 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Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c +add_library(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c SHARED IMPORTED) + +set_target_properties(uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_typesupport_introspection_c PROPERTIES + INTERFACE_LINK_LIBRARIES 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Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# Make sure the targets which have been exported in some other +# export set exist. +unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets) +foreach(_target "uwrt_mars_rover_xbox_controller::uwrt_mars_rover_xbox_controller__rosidl_generator_c" ) + if(NOT TARGET "${_target}" ) + set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}") + endif() +endforeach() + +if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets) + if(CMAKE_FIND_PACKAGE_NAME) + set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE) + set( 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