INavigation2DMsgs.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
// Autogenerated by Thrift Compiler (0.14.1-yarped)
//
// This is an automatically generated file.
// It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
 
#include <yarp/conf/version.h>
#include <INavigation2DMsgs.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
#include <yarp/os/idl/WireTypes.h>
 
#include <algorithm>
 
namespace
{
    YARP_LOG_COMPONENT(SERVICE_LOG_COMPONENT, "INavigation2DMsgs")
}
 
//INavigation2DMsgs_getRemoteProtocolVersion_helper declaration
class INavigation2DMsgs_getRemoteProtocolVersion_helper :
public yarp::os::Portable
{
public:
    INavigation2DMsgs_getRemoteProtocolVersion_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    yarp::os::ApplicationNetworkProtocolVersion helper_proto;
};
 
bool INavigation2DMsgs_getRemoteProtocolVersion_helper::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(1)) {
        return false;
    }
    if (!writer.writeString("getRemoteProtocolVersion")) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_getRemoteProtocolVersion_helper ::read(yarp::os::ConnectionReader & connection)
 {
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
 
    if (!helper_proto.read(connection)) {
        reader.fail();
        return false;
    }
    return true;
}
 
//ProtocolVersion, client side
yarp::os::ApplicationNetworkProtocolVersion INavigation2DMsgs::getRemoteProtocolVersion()
 {
    if(!yarp().canWrite()) {
        yError(" Missing server method INavigation2DMsgs::getRemoteProtocolVersion");
    }
    INavigation2DMsgs_getRemoteProtocolVersion_helper helper{};
    bool ok = yarp().write(helper, helper);
    if (ok) {
        return helper.helper_proto;}
    else {
        yarp::os::ApplicationNetworkProtocolVersion failureproto;
        return failureproto;}
}
 
//ProtocolVersion, client side
bool INavigation2DMsgs::checkProtocolVersion()
 {
        auto locproto = this->getLocalProtocolVersion();
        auto remproto = this->getRemoteProtocolVersion();
        if (remproto.protocol_version != locproto.protocol_version)
        {
            yCError(SERVICE_LOG_COMPONENT) << "Invalid communication protocol.";
            yCError(SERVICE_LOG_COMPONENT) << "Local Protocol Version: " << locproto.toString();
            yCError(SERVICE_LOG_COMPONENT) << "Remote Protocol Version: " << remproto.toString();
            return false;
        }
        return true;
}
 
//ProtocolVersion, server side
yarp::os::ApplicationNetworkProtocolVersion INavigation2DMsgs::getLocalProtocolVersion()
{
    yarp::os::ApplicationNetworkProtocolVersion myproto;
    //myproto.protocol_version using default value = 0
    //to change this value add the following line to the .thrift file:
    //const i16 protocol_version = <your_number_here>
    myproto.protocol_version = 0;
    myproto.yarp_major = YARP_VERSION_MAJOR;
    myproto.yarp_minor = YARP_VERSION_MINOR;
    myproto.yarp_patch = YARP_VERSION_PATCH;
    return myproto;
}
 
// stop_navigation_RPC helper class declaration
class INavigation2DMsgs_stop_navigation_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_stop_navigation_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"stop_navigation_RPC"};
    static constexpr size_t s_tag_len{3};
    static constexpr size_t s_cmd_len{3};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::stop_navigation_RPC()"};
    static constexpr const char* s_help{""};
};
 
// resume_navigation_RPC helper class declaration
class INavigation2DMsgs_resume_navigation_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_resume_navigation_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"resume_navigation_RPC"};
    static constexpr size_t s_tag_len{3};
    static constexpr size_t s_cmd_len{3};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::resume_navigation_RPC()"};
    static constexpr const char* s_help{""};
};
 
// suspend_navigation_RPC helper class declaration
class INavigation2DMsgs_suspend_navigation_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_suspend_navigation_RPC_helper() = default;
    explicit INavigation2DMsgs_suspend_navigation_RPC_helper(const double time_s);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        explicit Command(const double time_s);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        double time_s{0.0};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const double);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"suspend_navigation_RPC"};
    static constexpr size_t s_tag_len{3};
    static constexpr size_t s_cmd_len{4};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::suspend_navigation_RPC(const double time_s)"};
    static constexpr const char* s_help{""};
};
 
// recompute_current_navigation_path_RPC helper class declaration
class INavigation2DMsgs_recompute_current_navigation_path_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_recompute_current_navigation_path_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"recompute_current_navigation_path_RPC"};
    static constexpr size_t s_tag_len{5};
    static constexpr size_t s_cmd_len{5};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::recompute_current_navigation_path_RPC()"};
    static constexpr const char* s_help{""};
};
 
// get_navigation_status_RPC helper class declaration
class INavigation2DMsgs_get_navigation_status_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_navigation_status_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_navigation_status return_helper{};
    };
 
    using funcptr_t = return_get_navigation_status (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_navigation_status_RPC"};
    static constexpr size_t s_tag_len{4};
    static constexpr size_t s_cmd_len{4};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_navigation_status INavigation2DMsgs::get_navigation_status_RPC()"};
    static constexpr const char* s_help{""};
};
 
// get_current_nav_waypoint_RPC helper class declaration
class INavigation2DMsgs_get_current_nav_waypoint_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_current_nav_waypoint_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_current_nav_waypoint return_helper{};
    };
 
    using funcptr_t = return_get_current_nav_waypoint (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_current_nav_waypoint_RPC"};
    static constexpr size_t s_tag_len{5};
    static constexpr size_t s_cmd_len{5};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_current_nav_waypoint INavigation2DMsgs::get_current_nav_waypoint_RPC()"};
    static constexpr const char* s_help{""};
};
 
// get_all_navigation_waypoints_RPC helper class declaration
class INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper() = default;
    explicit INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        explicit Command(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type{};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_all_nav_waypoints return_helper{};
    };
 
    using funcptr_t = return_get_all_nav_waypoints (*)(const yarp::dev::Nav2D::TrajectoryTypeEnum);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_all_navigation_waypoints_RPC"};
    static constexpr size_t s_tag_len{5};
    static constexpr size_t s_cmd_len{6};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_all_nav_waypoints INavigation2DMsgs::get_all_navigation_waypoints_RPC(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type)"};
    static constexpr const char* s_help{""};
};
 
// get_current_navigation_map_RPC helper class declaration
class INavigation2DMsgs_get_current_navigation_map_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_current_navigation_map_RPC_helper() = default;
    explicit INavigation2DMsgs_get_current_navigation_map_RPC_helper(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        explicit Command(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        yarp::dev::Nav2D::NavigationMapTypeEnum map_type{};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_current_nav_map return_helper{};
    };
 
    using funcptr_t = return_get_current_nav_map (*)(const yarp::dev::Nav2D::NavigationMapTypeEnum);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_current_navigation_map_RPC"};
    static constexpr size_t s_tag_len{5};
    static constexpr size_t s_cmd_len{6};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_current_nav_map INavigation2DMsgs::get_current_navigation_map_RPC(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type)"};
    static constexpr const char* s_help{""};
};
 
// goto_target_by_absolute_location_RPC helper class declaration
class INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper() = default;
    explicit INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper(const yarp::dev::Nav2D::Map2DLocation& loc);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        explicit Command(const yarp::dev::Nav2D::Map2DLocation& loc);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        yarp::dev::Nav2D::Map2DLocation loc{};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const yarp::dev::Nav2D::Map2DLocation&);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"goto_target_by_absolute_location_RPC"};
    static constexpr size_t s_tag_len{6};
    static constexpr size_t s_cmd_len{7};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_absolute_location_RPC(const yarp::dev::Nav2D::Map2DLocation& loc)"};
    static constexpr const char* s_help{""};
};
 
// follow_path_RPC helper class declaration
class INavigation2DMsgs_follow_path_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_follow_path_RPC_helper() = default;
    explicit INavigation2DMsgs_follow_path_RPC_helper(const yarp::dev::Nav2D::Map2DPath& path);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        explicit Command(const yarp::dev::Nav2D::Map2DPath& path);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        yarp::dev::Nav2D::Map2DPath path{};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const yarp::dev::Nav2D::Map2DPath&);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"follow_path_RPC"};
    static constexpr size_t s_tag_len{3};
    static constexpr size_t s_cmd_len{4};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::follow_path_RPC(const yarp::dev::Nav2D::Map2DPath& path)"};
    static constexpr const char* s_help{""};
};
 
// goto_target_by_relative_location1_RPC helper class declaration
class INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper() = default;
    INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper(const double x, const double y);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        Command(const double x, const double y);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        double x{0.0};
        double y{0.0};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const double, const double);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"goto_target_by_relative_location1_RPC"};
    static constexpr size_t s_tag_len{6};
    static constexpr size_t s_cmd_len{8};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_relative_location1_RPC(const double x, const double y)"};
    static constexpr const char* s_help{""};
};
 
// goto_target_by_relative_location2_RPC helper class declaration
class INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper() = default;
    INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper(const double x, const double y, const double theta);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        Command(const double x, const double y, const double theta);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        double x{0.0};
        double y{0.0};
        double theta{0.0};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const double, const double, const double);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"goto_target_by_relative_location2_RPC"};
    static constexpr size_t s_tag_len{6};
    static constexpr size_t s_cmd_len{9};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_relative_location2_RPC(const double x, const double y, const double theta)"};
    static constexpr const char* s_help{""};
};
 
// get_absolute_location_of_current_target_RPC helper class declaration
class INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_abs_loc_of_curr_target return_helper{};
    };
 
    using funcptr_t = return_get_abs_loc_of_curr_target (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_absolute_location_of_current_target_RPC"};
    static constexpr size_t s_tag_len{7};
    static constexpr size_t s_cmd_len{7};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_abs_loc_of_curr_target INavigation2DMsgs::get_absolute_location_of_current_target_RPC()"};
    static constexpr const char* s_help{""};
};
 
// get_relative_location_of_current_target_RPC helper class declaration
class INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_rel_loc_of_curr_target return_helper{};
    };
 
    using funcptr_t = return_get_rel_loc_of_curr_target (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_relative_location_of_current_target_RPC"};
    static constexpr size_t s_tag_len{7};
    static constexpr size_t s_cmd_len{7};
    static constexpr size_t s_reply_len{4};
    static constexpr const char* s_prototype{"return_get_rel_loc_of_curr_target INavigation2DMsgs::get_relative_location_of_current_target_RPC()"};
    static constexpr const char* s_help{""};
};
 
// goto_target_by_absolute_location_and_set_name_RPC helper class declaration
class INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper() = default;
    INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        Command(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        yarp::dev::Nav2D::Map2DLocation loc{};
        std::string name{};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const yarp::dev::Nav2D::Map2DLocation&, const std::string&);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"goto_target_by_absolute_location_and_set_name_RPC"};
    static constexpr size_t s_tag_len{9};
    static constexpr size_t s_cmd_len{11};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_absolute_location_and_set_name_RPC(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name)"};
    static constexpr const char* s_help{""};
};
 
// apply_velocity_command_RPC helper class declaration
class INavigation2DMsgs_apply_velocity_command_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_apply_velocity_command_RPC_helper() = default;
    INavigation2DMsgs_apply_velocity_command_RPC_helper(const double x_vel, const double y_vel, const double theta_vel, const double timeout);
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        Command(const double x_vel, const double y_vel, const double theta_vel, const double timeout);
 
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
 
        double x_vel{0.0};
        double y_vel{0.0};
        double theta_vel{0.0};
        double timeout{0.0};
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        yarp::dev::ReturnValue return_helper{};
    };
 
    using funcptr_t = yarp::dev::ReturnValue (*)(const double, const double, const double, const double);
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"apply_velocity_command_RPC"};
    static constexpr size_t s_tag_len{4};
    static constexpr size_t s_cmd_len{8};
    static constexpr size_t s_reply_len{1};
    static constexpr const char* s_prototype{"yarp::dev::ReturnValue INavigation2DMsgs::apply_velocity_command_RPC(const double x_vel, const double y_vel, const double theta_vel, const double timeout)"};
    static constexpr const char* s_help{""};
};
 
// get_last_velocity_command_RPC helper class declaration
class INavigation2DMsgs_get_last_velocity_command_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_last_velocity_command_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_last_velocity_command return_helper{};
    };
 
    using funcptr_t = return_get_last_velocity_command (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_last_velocity_command_RPC"};
    static constexpr size_t s_tag_len{5};
    static constexpr size_t s_cmd_len{5};
    static constexpr size_t s_reply_len{4};
    static constexpr const char* s_prototype{"return_get_last_velocity_command INavigation2DMsgs::get_last_velocity_command_RPC()"};
    static constexpr const char* s_help{""};
};
 
// get_name_of_current_target_RPC helper class declaration
class INavigation2DMsgs_get_name_of_current_target_RPC_helper :
        public yarp::os::Portable
{
public:
    INavigation2DMsgs_get_name_of_current_target_RPC_helper() = default;
    bool write(yarp::os::ConnectionWriter& connection) const override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    class Command :
            public yarp::os::idl::WirePortable
    {
    public:
        Command() = default;
        ~Command() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool writeTag(const yarp::os::idl::WireWriter& writer) const;
        bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
 
        bool read(yarp::os::idl::WireReader& reader) override;
        bool readTag(yarp::os::idl::WireReader& reader);
        bool readArgs(yarp::os::idl::WireReader& reader);
    };
 
    class Reply :
            public yarp::os::idl::WirePortable
    {
    public:
        Reply() = default;
        ~Reply() override = default;
 
        bool write(yarp::os::ConnectionWriter& connection) const override;
        bool read(yarp::os::ConnectionReader& connection) override;
 
        bool write(const yarp::os::idl::WireWriter& writer) const override;
        bool read(yarp::os::idl::WireReader& reader) override;
 
        return_get_name_of_current_target return_helper{};
    };
 
    using funcptr_t = return_get_name_of_current_target (*)();
    void call(INavigation2DMsgs* ptr);
 
    Command cmd;
    Reply reply;
 
    static constexpr const char* s_tag{"get_name_of_current_target_RPC"};
    static constexpr size_t s_tag_len{6};
    static constexpr size_t s_cmd_len{6};
    static constexpr size_t s_reply_len{2};
    static constexpr const char* s_prototype{"return_get_name_of_current_target INavigation2DMsgs::get_name_of_current_target_RPC()"};
    static constexpr const char* s_help{""};
};
 
// stop_navigation_RPC helper class implementation
bool INavigation2DMsgs_stop_navigation_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_stop_navigation_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_stop_navigation_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->stop_navigation_RPC();
}
 
// resume_navigation_RPC helper class implementation
bool INavigation2DMsgs_resume_navigation_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_resume_navigation_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_resume_navigation_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->resume_navigation_RPC();
}
 
// suspend_navigation_RPC helper class implementation
INavigation2DMsgs_suspend_navigation_RPC_helper::INavigation2DMsgs_suspend_navigation_RPC_helper(const double time_s) :
        cmd{time_s}
{
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_suspend_navigation_RPC_helper::Command::Command(const double time_s) :
        time_s{time_s}
{
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeFloat64(time_s)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(time_s)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_suspend_navigation_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_suspend_navigation_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->suspend_navigation_RPC(cmd.time_s);
}
 
// recompute_current_navigation_path_RPC helper class implementation
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->recompute_current_navigation_path_RPC();
}
 
// get_navigation_status_RPC helper class implementation
bool INavigation2DMsgs_get_navigation_status_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_navigation_status_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_navigation_status_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_navigation_status_RPC();
}
 
// get_current_nav_waypoint_RPC helper class implementation
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_current_nav_waypoint_RPC();
}
 
// get_all_navigation_waypoints_RPC helper class implementation
INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type) :
        cmd{trajectory_type}
{
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::Command(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type) :
        trajectory_type{trajectory_type}
{
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeVocab32(static_cast<yarp::conf::vocab32_t>(trajectory_type))) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    yarp::conf::vocab32_t _ecast;
    if (!reader.readVocab32(_ecast)) {
        reader.fail();
        return false;
    }
    trajectory_type = static_cast<yarp::dev::Nav2D::TrajectoryTypeEnum>(_ecast);
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_all_navigation_waypoints_RPC(cmd.trajectory_type);
}
 
// get_current_navigation_map_RPC helper class implementation
INavigation2DMsgs_get_current_navigation_map_RPC_helper::INavigation2DMsgs_get_current_navigation_map_RPC_helper(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type) :
        cmd{map_type}
{
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::Command(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type) :
        map_type{map_type}
{
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeVocab32(static_cast<yarp::conf::vocab32_t>(map_type))) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    yarp::conf::vocab32_t _ecast;
    if (!reader.readVocab32(_ecast)) {
        reader.fail();
        return false;
    }
    map_type = static_cast<yarp::dev::Nav2D::NavigationMapTypeEnum>(_ecast);
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_current_navigation_map_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_current_navigation_map_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_current_navigation_map_RPC(cmd.map_type);
}
 
// goto_target_by_absolute_location_RPC helper class implementation
INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper(const yarp::dev::Nav2D::Map2DLocation& loc) :
        cmd{loc}
{
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::Command(const yarp::dev::Nav2D::Map2DLocation& loc) :
        loc{loc}
{
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeNested(loc)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readNested(loc)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->goto_target_by_absolute_location_RPC(cmd.loc);
}
 
// follow_path_RPC helper class implementation
INavigation2DMsgs_follow_path_RPC_helper::INavigation2DMsgs_follow_path_RPC_helper(const yarp::dev::Nav2D::Map2DPath& path) :
        cmd{path}
{
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_follow_path_RPC_helper::Command::Command(const yarp::dev::Nav2D::Map2DPath& path) :
        path{path}
{
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeNested(path)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readNested(path)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_follow_path_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_follow_path_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->follow_path_RPC(cmd.path);
}
 
// goto_target_by_relative_location1_RPC helper class implementation
INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper(const double x, const double y) :
        cmd{x, y}
{
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::Command(const double x, const double y) :
        x{x},
        y{y}
{
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeFloat64(x)) {
        return false;
    }
    if (!writer.writeFloat64(y)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(x)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(y)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->goto_target_by_relative_location1_RPC(cmd.x, cmd.y);
}
 
// goto_target_by_relative_location2_RPC helper class implementation
INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper(const double x, const double y, const double theta) :
        cmd{x, y, theta}
{
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::Command(const double x, const double y, const double theta) :
        x{x},
        y{y},
        theta{theta}
{
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeFloat64(x)) {
        return false;
    }
    if (!writer.writeFloat64(y)) {
        return false;
    }
    if (!writer.writeFloat64(theta)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(x)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(y)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(theta)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->goto_target_by_relative_location2_RPC(cmd.x, cmd.y, cmd.theta);
}
 
// get_absolute_location_of_current_target_RPC helper class implementation
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_absolute_location_of_current_target_RPC();
}
 
// get_relative_location_of_current_target_RPC helper class implementation
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_relative_location_of_current_target_RPC();
}
 
// goto_target_by_absolute_location_and_set_name_RPC helper class implementation
INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name) :
        cmd{loc, name}
{
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::Command(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name) :
        loc{loc},
        name{name}
{
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeNested(loc)) {
        return false;
    }
    if (!writer.writeString(name)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readNested(loc)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readString(name)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->goto_target_by_absolute_location_and_set_name_RPC(cmd.loc, cmd.name);
}
 
// apply_velocity_command_RPC helper class implementation
INavigation2DMsgs_apply_velocity_command_RPC_helper::INavigation2DMsgs_apply_velocity_command_RPC_helper(const double x_vel, const double y_vel, const double theta_vel, const double timeout) :
        cmd{x_vel, y_vel, theta_vel, timeout}
{
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::Command(const double x_vel, const double y_vel, const double theta_vel, const double timeout) :
        x_vel{x_vel},
        y_vel{y_vel},
        theta_vel{theta_vel},
        timeout{timeout}
{
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeFloat64(x_vel)) {
        return false;
    }
    if (!writer.writeFloat64(y_vel)) {
        return false;
    }
    if (!writer.writeFloat64(theta_vel)) {
        return false;
    }
    if (!writer.writeFloat64(timeout)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(x_vel)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(y_vel)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(theta_vel)) {
        reader.fail();
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.readFloat64(timeout)) {
        reader.fail();
        return false;
    }
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_apply_velocity_command_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_apply_velocity_command_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->apply_velocity_command_RPC(cmd.x_vel, cmd.y_vel, cmd.theta_vel, cmd.timeout);
}
 
// get_last_velocity_command_RPC helper class implementation
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_last_velocity_command_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_last_velocity_command_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_last_velocity_command_RPC();
}
 
// get_name_of_current_target_RPC helper class implementation
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::write(yarp::os::ConnectionWriter& connection) const
{
    return cmd.write(connection);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::read(yarp::os::ConnectionReader& connection)
{
    return reply.read(connection);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    if (!writer.writeListHeader(s_cmd_len)) {
        return false;
    }
    return write(writer);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
    return read(reader);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writeTag(writer)) {
        return false;
    }
    if (!writeArgs(writer)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::writeTag(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.writeTag(s_tag, 1, s_tag_len)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::writeArgs(const yarp::os::idl::WireWriter& writer [[maybe_unused]]) const
{
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::read(yarp::os::idl::WireReader& reader)
{
    if (!readTag(reader)) {
        return false;
    }
    if (!readArgs(reader)) {
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::readTag(yarp::os::idl::WireReader& reader)
{
    std::string tag = reader.readTag(s_tag_len);
    if (reader.isError()) {
        return false;
    }
    if (tag != s_tag) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Command::readArgs(yarp::os::idl::WireReader& reader)
{
    if (!reader.noMore()) {
        reader.fail();
        return false;
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Reply::write(yarp::os::ConnectionWriter& connection) const
{
    yarp::os::idl::WireWriter writer(connection);
    return write(writer);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Reply::read(yarp::os::ConnectionReader& connection)
{
    yarp::os::idl::WireReader reader(connection);
    return read(reader);
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Reply::write(const yarp::os::idl::WireWriter& writer) const
{
    if (!writer.isNull()) {
        if (!writer.writeListHeader(s_reply_len)) {
            return false;
        }
        if (!writer.write(return_helper)) {
            return false;
        }
    }
    return true;
}
 
bool INavigation2DMsgs_get_name_of_current_target_RPC_helper::Reply::read(yarp::os::idl::WireReader& reader)
{
    if (!reader.readListReturn()) {
        return false;
    }
    if (reader.noMore()) {
        reader.fail();
        return false;
    }
    if (!reader.read(return_helper)) {
        reader.fail();
        return false;
    }
    return true;
}
 
void INavigation2DMsgs_get_name_of_current_target_RPC_helper::call(INavigation2DMsgs* ptr)
{
    reply.return_helper = ptr->get_name_of_current_target_RPC();
}
 
// Constructor
INavigation2DMsgs::INavigation2DMsgs()
{
    yarp().setOwner(*this);
}
 
yarp::dev::ReturnValue INavigation2DMsgs::stop_navigation_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_stop_navigation_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_stop_navigation_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::resume_navigation_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_resume_navigation_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_resume_navigation_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::suspend_navigation_RPC(const double time_s)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_suspend_navigation_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_suspend_navigation_RPC_helper helper{time_s};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::recompute_current_navigation_path_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_recompute_current_navigation_path_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
return_get_navigation_status INavigation2DMsgs::get_navigation_status_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_navigation_status_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_navigation_status_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_navigation_status{};
}
 
return_get_current_nav_waypoint INavigation2DMsgs::get_current_nav_waypoint_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_current_nav_waypoint_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_current_nav_waypoint{};
}
 
return_get_all_nav_waypoints INavigation2DMsgs::get_all_navigation_waypoints_RPC(const yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper helper{trajectory_type};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_all_nav_waypoints{};
}
 
return_get_current_nav_map INavigation2DMsgs::get_current_navigation_map_RPC(const yarp::dev::Nav2D::NavigationMapTypeEnum map_type)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_current_navigation_map_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_current_navigation_map_RPC_helper helper{map_type};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_current_nav_map{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_absolute_location_RPC(const yarp::dev::Nav2D::Map2DLocation& loc)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper helper{loc};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::follow_path_RPC(const yarp::dev::Nav2D::Map2DPath& path)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_follow_path_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_follow_path_RPC_helper helper{path};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_relative_location1_RPC(const double x, const double y)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper helper{x, y};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_relative_location2_RPC(const double x, const double y, const double theta)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper helper{x, y, theta};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
return_get_abs_loc_of_curr_target INavigation2DMsgs::get_absolute_location_of_current_target_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_abs_loc_of_curr_target{};
}
 
return_get_rel_loc_of_curr_target INavigation2DMsgs::get_relative_location_of_current_target_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_rel_loc_of_curr_target{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::goto_target_by_absolute_location_and_set_name_RPC(const yarp::dev::Nav2D::Map2DLocation& loc, const std::string& name)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper helper{loc, name};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
yarp::dev::ReturnValue INavigation2DMsgs::apply_velocity_command_RPC(const double x_vel, const double y_vel, const double theta_vel, const double timeout)
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_apply_velocity_command_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_apply_velocity_command_RPC_helper helper{x_vel, y_vel, theta_vel, timeout};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : yarp::dev::ReturnValue{};
}
 
return_get_last_velocity_command INavigation2DMsgs::get_last_velocity_command_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_last_velocity_command_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_last_velocity_command_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_last_velocity_command{};
}
 
return_get_name_of_current_target INavigation2DMsgs::get_name_of_current_target_RPC()
{
    if (!yarp().canWrite()) {
        yError("Missing server method '%s'?", INavigation2DMsgs_get_name_of_current_target_RPC_helper::s_prototype);
    }
    INavigation2DMsgs_get_name_of_current_target_RPC_helper helper{};
    bool ok = yarp().write(helper, helper);
    return ok ? helper.reply.return_helper : return_get_name_of_current_target{};
}
 
// help method
std::vector<std::string> INavigation2DMsgs::help(const std::string& functionName)
{
    bool showAll = (functionName == "--all");
    std::vector<std::string> helpString;
    if (showAll) {
        helpString.emplace_back("*** Available commands:");
        helpString.emplace_back(INavigation2DMsgs_stop_navigation_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_resume_navigation_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_suspend_navigation_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_navigation_status_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_current_navigation_map_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_follow_path_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_apply_velocity_command_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_last_velocity_command_RPC_helper::s_tag);
        helpString.emplace_back(INavigation2DMsgs_get_name_of_current_target_RPC_helper::s_tag);
        helpString.emplace_back("help");
    } else {
        if (functionName == INavigation2DMsgs_stop_navigation_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_stop_navigation_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_resume_navigation_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_resume_navigation_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_suspend_navigation_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_suspend_navigation_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_navigation_status_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_navigation_status_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_current_navigation_map_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_current_navigation_map_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_follow_path_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_follow_path_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_apply_velocity_command_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_apply_velocity_command_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_last_velocity_command_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_last_velocity_command_RPC_helper::s_prototype);
        }
        if (functionName == INavigation2DMsgs_get_name_of_current_target_RPC_helper::s_tag) {
            helpString.emplace_back(INavigation2DMsgs_get_name_of_current_target_RPC_helper::s_prototype);
        }
        if (functionName == "help") {
            helpString.emplace_back("std::vector<std::string> help(const std::string& functionName = \"--all\")");
            helpString.emplace_back("Return list of available commands, or help message for a specific function");
            helpString.emplace_back("@param functionName name of command for which to get a detailed description. If none or '--all' is provided, print list of available commands");
            helpString.emplace_back("@return list of strings (one string per line)");
        }
    }
    if (helpString.empty()) {
        helpString.emplace_back("Command not found");
    }
    return helpString;
}
 
// read from ConnectionReader
bool INavigation2DMsgs::read(yarp::os::ConnectionReader& connection)
{
    constexpr size_t max_tag_len = 9;
    size_t tag_len = 1;
 
    yarp::os::idl::WireReader reader(connection);
    reader.expectAccept();
    if (!reader.readListHeader()) {
        reader.fail();
        return false;
    }
 
    std::string tag = reader.readTag(1);
    bool direct = (tag == "__direct__");
    if (direct) {
        tag = reader.readTag(1);
    }
    while (tag_len <= max_tag_len && !reader.isError()) {
        if(tag == "getRemoteProtocolVersion") {
            if (!reader.noMore()) {
                yError("Reader invalid protocol?! %s:%d - %s", __FILE__, __LINE__, __YFUNCTION__);
                reader.fail();
                return false;
            }
 
            auto proto = getLocalProtocolVersion();
 
            yarp::os::idl::WireWriter writer(reader);
           if (!writer.writeListHeader(1)) {
                yWarning("Writer invalid protocol?! %s:%d - %s", __FILE__, __LINE__, __YFUNCTION__);
               return false;}
            if (!writer.write(proto)) {
                yWarning("Writer invalid protocol?! %s:%d - %s", __FILE__, __LINE__, __YFUNCTION__);
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_stop_navigation_RPC_helper::s_tag) {
            INavigation2DMsgs_stop_navigation_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_resume_navigation_RPC_helper::s_tag) {
            INavigation2DMsgs_resume_navigation_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_suspend_navigation_RPC_helper::s_tag) {
            INavigation2DMsgs_suspend_navigation_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_recompute_current_navigation_path_RPC_helper::s_tag) {
            INavigation2DMsgs_recompute_current_navigation_path_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_navigation_status_RPC_helper::s_tag) {
            INavigation2DMsgs_get_navigation_status_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_current_nav_waypoint_RPC_helper::s_tag) {
            INavigation2DMsgs_get_current_nav_waypoint_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper::s_tag) {
            INavigation2DMsgs_get_all_navigation_waypoints_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_current_navigation_map_RPC_helper::s_tag) {
            INavigation2DMsgs_get_current_navigation_map_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper::s_tag) {
            INavigation2DMsgs_goto_target_by_absolute_location_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_follow_path_RPC_helper::s_tag) {
            INavigation2DMsgs_follow_path_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper::s_tag) {
            INavigation2DMsgs_goto_target_by_relative_location1_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper::s_tag) {
            INavigation2DMsgs_goto_target_by_relative_location2_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper::s_tag) {
            INavigation2DMsgs_get_absolute_location_of_current_target_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper::s_tag) {
            INavigation2DMsgs_get_relative_location_of_current_target_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper::s_tag) {
            INavigation2DMsgs_goto_target_by_absolute_location_and_set_name_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_apply_velocity_command_RPC_helper::s_tag) {
            INavigation2DMsgs_apply_velocity_command_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_last_velocity_command_RPC_helper::s_tag) {
            INavigation2DMsgs_get_last_velocity_command_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == INavigation2DMsgs_get_name_of_current_target_RPC_helper::s_tag) {
            INavigation2DMsgs_get_name_of_current_target_RPC_helper helper;
            if (!helper.cmd.readArgs(reader)) {
                return false;
            }
 
            helper.call(this);
 
            yarp::os::idl::WireWriter writer(reader);
            if (!helper.reply.write(writer)) {
                return false;
            }
            reader.accept();
            return true;
        }
        if (tag == "help") {
            std::string functionName;
            if (!reader.readString(functionName)) {
                functionName = "--all";
            }
            auto help_strings = help(functionName);
            yarp::os::idl::WireWriter writer(reader);
            if (!writer.isNull()) {
                if (!writer.writeListHeader(2)) {
                    return false;
                }
                if (!writer.writeTag("many", 1, 0)) {
                    return false;
                }
                if (!writer.writeListBegin(0, help_strings.size())) {
                    return false;
                }
                for (const auto& help_string : help_strings) {
                    if (!writer.writeString(help_string)) {
                        return false;
                    }
                }
                if (!writer.writeListEnd()) {
                    return false;
                }
            }
            reader.accept();
            return true;
        }
        if (reader.noMore()) {
            reader.fail();
            return false;
        }
        std::string next_tag = reader.readTag(1);
        if (next_tag.empty()) {
            break;
        }
        tag.append("_").append(next_tag);
        tag_len = std::count(tag.begin(), tag.end(), '_') + 1;
    }
    return false;
}