 ;;; --- Generated by genom 3.1. Do not edit ------------------------------

(

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation|
    :invocation (! (nhfc_set_saturation $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation $RqstId $output))
                 (~> (IR $mod set_saturation $RqstId $ACTID))
		 (~> (FR $mod set_saturation $RqstId $report $data))
                 (! (PRINTIF "RS: set_saturation reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_input (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))))
or a VarArg of the form (VarArg  (sat.x <double>) (sat.v <double>) (sat.ix <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation report|
    :invocation (! (nhfc_set_saturation_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation $RqstId $output))
                 (~> (IR $mod set_saturation $RqstId $ACTID))
		 (~> (FR $mod set_saturation $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_saturation reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_input (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))))
or a VarArg of the form (VarArg  (sat.x <double>) (sat.v <double>) (sat.ix <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation async|
    :invocation (! (nhfc_set_saturation_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_input (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))))
or a VarArg of the form (VarArg  (sat.x <double>) (sat.v <double>) (sat.ix <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation_weights|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation_weights|
    :invocation (! (nhfc_set_saturation_weights $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation_weights $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation_weights: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation_weights $RqstId $output))
                 (~> (IR $mod set_saturation_weights $RqstId $ACTID))
		 (~> (FR $mod set_saturation_weights $RqstId $report $data))
                 (! (PRINTIF "RS: set_saturation_weights reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_weights_input (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (tilt $float_2) (head $float_3))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation_weights report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation_weights report|
    :invocation (! (nhfc_set_saturation_weights_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation_weights $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation_weights: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation_weights $RqstId $output))
                 (~> (IR $mod set_saturation_weights $RqstId $ACTID))
		 (~> (FR $mod set_saturation_weights $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_saturation_weights reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_weights_input (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (tilt $float_2) (head $float_3))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_saturation_weights async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_saturation_weights async|
    :invocation (! (nhfc_set_saturation_weights_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_saturation_weights_input (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (tilt $float_2) (head $float_3))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_servo_gain|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_servo_gain|
    :invocation (! (nhfc_set_servo_gain $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
              (^ (FR $mod set_servo_gain $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_servo_gain: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_servo_gain $RqstId $output))
                 (~> (IR $mod set_servo_gain $RqstId $ACTID))
		 (~> (FR $mod set_servo_gain $RqstId $report $data))
                 (! (PRINTIF "RS: set_servo_gain reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_servo_gain_input (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_0) (Kpz $float_1) (Kqxy $float_2) (Kqz $float_3) (Kvxy $float_4) (Kvz $float_5) (Kwxy $float_6) (Kwz $float_7) (Kixy $float_8) (Kiz $float_9))))
or a VarArg of the form (VarArg  (gain.Kpxy <double>) (gain.Kpz <double>) (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kvxy <double>) (gain.Kvz <double>) (gain.Kwxy <double>) (gain.Kwz <double>) (gain.Kixy <double>) (gain.Kiz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_servo_gain report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_servo_gain report|
    :invocation (! (nhfc_set_servo_gain_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
              (^ (FR $mod set_servo_gain $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_servo_gain: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_servo_gain $RqstId $output))
                 (~> (IR $mod set_servo_gain $RqstId $ACTID))
		 (~> (FR $mod set_servo_gain $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_servo_gain reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_servo_gain_input (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_0) (Kpz $float_1) (Kqxy $float_2) (Kqz $float_3) (Kvxy $float_4) (Kvz $float_5) (Kwxy $float_6) (Kwz $float_7) (Kixy $float_8) (Kiz $float_9))))
or a VarArg of the form (VarArg  (gain.Kpxy <double>) (gain.Kpz <double>) (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kvxy <double>) (gain.Kvz <double>) (gain.Kwxy <double>) (gain.Kwz <double>) (gain.Kixy <double>) (gain.Kiz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_servo_gain async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_servo_gain async|
    :invocation (! (nhfc_set_servo_gain_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_servo_gain_input (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_0) (Kpz $float_1) (Kqxy $float_2) (Kqz $float_3) (Kvxy $float_4) (Kvz $float_5) (Kwxy $float_6) (Kwz $float_7) (Kixy $float_8) (Kiz $float_9))))
or a VarArg of the form (VarArg  (gain.Kpxy <double>) (gain.Kpz <double>) (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kvxy <double>) (gain.Kvz <double>) (gain.Kwxy <double>) (gain.Kwz <double>) (gain.Kixy <double>) (gain.Kiz <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_control_mode|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_control_mode|
    :invocation (! (nhfc_set_control_mode $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
              (^ (FR $mod set_control_mode $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_control_mode: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_control_mode $RqstId $output))
                 (~> (IR $mod set_control_mode $RqstId $ACTID))
		 (~> (FR $mod set_control_mode $RqstId $report $data))
                 (! (PRINTIF "RS: set_control_mode reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_control_mode_input (att_mode $t_nhfc_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_nhfc_attitude_control_mode>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_control_mode report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_control_mode report|
    :invocation (! (nhfc_set_control_mode_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
              (^ (FR $mod set_control_mode $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_control_mode: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_control_mode $RqstId $output))
                 (~> (IR $mod set_control_mode $RqstId $ACTID))
		 (~> (FR $mod set_control_mode $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_control_mode reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_control_mode_input (att_mode $t_nhfc_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_nhfc_attitude_control_mode>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_control_mode async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_control_mode async|
    :invocation (! (nhfc_set_control_mode_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_control_mode_input (att_mode $t_nhfc_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_nhfc_attitude_control_mode>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_wlimit|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_wlimit|
    :invocation (! (nhfc_set_wlimit $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
              (^ (FR $mod set_wlimit $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_wlimit: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_wlimit $RqstId $output))
                 (~> (IR $mod set_wlimit $RqstId $ACTID))
		 (~> (FR $mod set_wlimit $RqstId $report $data))
                 (! (PRINTIF "RS: set_wlimit reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_wlimit report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_wlimit report|
    :invocation (! (nhfc_set_wlimit_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
              (^ (FR $mod set_wlimit $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_wlimit: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_wlimit $RqstId $output))
                 (~> (IR $mod set_wlimit $RqstId $ACTID))
		 (~> (FR $mod set_wlimit $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_wlimit reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_wlimit async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_wlimit async|
    :invocation (! (nhfc_set_wlimit_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_mass|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_mass|
    :invocation (! (nhfc_set_mass $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
              (^ (FR $mod set_mass $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_mass: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_mass $RqstId $output))
                 (~> (IR $mod set_mass $RqstId $ACTID))
		 (~> (FR $mod set_mass $RqstId $report $data))
                 (! (PRINTIF "RS: set_mass reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_mass report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_mass report|
    :invocation (! (nhfc_set_mass_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
              (^ (FR $mod set_mass $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_mass: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_mass $RqstId $output))
                 (~> (IR $mod set_mass $RqstId $ACTID))
		 (~> (FR $mod set_mass $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_mass reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_mass async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_mass async|
    :invocation (! (nhfc_set_mass_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_geom|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_geom|
    :invocation (! (nhfc_set_geom $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_geom $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_geom: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_geom $RqstId $output))
                 (~> (IR $mod set_geom $RqstId $ACTID))
		 (~> (FR $mod set_geom $RqstId $report $data))
                 (! (PRINTIF "RS: set_geom reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_geom_input (mass $float_0) (G $array48_1) (J $array9_2))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>) (J <array9_double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_geom report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_geom report|
    :invocation (! (nhfc_set_geom_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_geom $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_geom: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_geom $RqstId $output))
                 (~> (IR $mod set_geom $RqstId $ACTID))
		 (~> (FR $mod set_geom $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_geom reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_geom_input (mass $float_0) (G $array48_1) (J $array9_2))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>) (J <array9_double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_geom async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_geom async|
    :invocation (! (nhfc_set_geom_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_geom_input (mass $float_0) (G $array48_1) (J $array9_2))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>) (J <array9_double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_gtmrp_geom|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_gtmrp_geom|
    :invocation (! (nhfc_set_gtmrp_geom $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_gtmrp_geom $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_gtmrp_geom: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_gtmrp_geom $RqstId $output))
                 (~> (IR $mod set_gtmrp_geom $RqstId $ACTID))
		 (~> (FR $mod set_gtmrp_geom $RqstId $report $data))
                 (! (PRINTIF "RS: set_gtmrp_geom reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (mbodyw $float_6) (mbodyh $float_7) (mmotor $float_8) (rx $float_9) (ry $float_10) (rz $short_11) (cf $float_12) (ct $float_13))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (mbodyw <double>) (mbodyh <double>) (mmotor <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_gtmrp_geom report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_gtmrp_geom report|
    :invocation (! (nhfc_set_gtmrp_geom_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_gtmrp_geom $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_gtmrp_geom: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_gtmrp_geom $RqstId $output))
                 (~> (IR $mod set_gtmrp_geom $RqstId $ACTID))
		 (~> (FR $mod set_gtmrp_geom $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_gtmrp_geom reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (mbodyw $float_6) (mbodyh $float_7) (mmotor $float_8) (rx $float_9) (ry $float_10) (rz $short_11) (cf $float_12) (ct $float_13))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (mbodyw <double>) (mbodyh <double>) (mmotor <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_gtmrp_geom async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_gtmrp_geom async|
    :invocation (! (nhfc_set_gtmrp_geom_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (mbodyw $float_6) (mbodyh $float_7) (mmotor $float_8) (rx $float_9) (ry $float_10) (rz $short_11) (cf $float_12) (ct $float_13))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (mbodyw <double>) (mbodyh <double>) (mmotor <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_emerg|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_emerg|
    :invocation (! (nhfc_set_emerg $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
              (^ (FR $mod set_emerg $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_emerg: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_emerg $RqstId $output))
                 (~> (IR $mod set_emerg $RqstId $ACTID))
		 (~> (FR $mod set_emerg $RqstId $report $data))
                 (! (PRINTIF "RS: set_emerg reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_emerg_input (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_0) (dx $float_1) (dq $float_2) (dv $float_3) (dw $float_4))))
or a VarArg of the form (VarArg  (emerg.descent <double>) (emerg.dx <double>) (emerg.dq <double>) (emerg.dv <double>) (emerg.dw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_emerg report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_emerg report|
    :invocation (! (nhfc_set_emerg_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
              (^ (FR $mod set_emerg $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_emerg: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_emerg $RqstId $output))
                 (~> (IR $mod set_emerg $RqstId $ACTID))
		 (~> (FR $mod set_emerg $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_emerg reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_emerg_input (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_0) (dx $float_1) (dq $float_2) (dv $float_3) (dw $float_4))))
or a VarArg of the form (VarArg  (emerg.descent <double>) (emerg.dx <double>) (emerg.dq <double>) (emerg.dv <double>) (emerg.dw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_emerg async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_emerg async|
    :invocation (! (nhfc_set_emerg_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_emerg_input (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_0) (dx $float_1) (dq $float_2) (dv $float_3) (dw $float_4))))
or a VarArg of the form (VarArg  (emerg.descent <double>) (emerg.dx <double>) (emerg.dq <double>) (emerg.dv <double>) (emerg.dw <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_servo_parameters|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_servo_parameters|
    :invocation (! (nhfc_get_servo_parameters $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_servo_parameters $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_servo_parameters: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_servo_parameters $RqstId $output))
                 (~> (IR $mod get_servo_parameters $RqstId $ACTID))
		 (~> (FR $mod get_servo_parameters $RqstId $report $data))
                 (! (PRINTIF "RS: get_servo_parameters reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_servo_parameters_output (servo (t_nhfc_ids_servo_s (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))) (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_4) (thrust $float_5) (tilt $float_6) (head $float_7))) (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_9) (Kpz $float_10) (Kqxy $float_11) (Kqz $float_12) (Kvxy $float_13) (Kvz $float_14) (Kwxy $float_15) (Kwz $float_16) (Kixy $float_17) (Kiz $float_18))) (att_mode $t_nhfc_attitude_control_mode) (ramp $float_21) (scale $float_22) (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_23) (dx $float_24) (dq $float_25) (dv $float_26) (dw $float_27))))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_servo_parameters report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_servo_parameters report|
    :invocation (! (nhfc_get_servo_parameters_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_servo_parameters $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_servo_parameters: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_servo_parameters $RqstId $output))
                 (~> (IR $mod get_servo_parameters $RqstId $ACTID))
		 (~> (FR $mod get_servo_parameters $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_servo_parameters reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_servo_parameters_output (servo (t_nhfc_ids_servo_s (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))) (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_4) (thrust $float_5) (tilt $float_6) (head $float_7))) (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_9) (Kpz $float_10) (Kqxy $float_11) (Kqz $float_12) (Kvxy $float_13) (Kvz $float_14) (Kwxy $float_15) (Kwz $float_16) (Kixy $float_17) (Kiz $float_18))) (att_mode $t_nhfc_attitude_control_mode) (ramp $float_21) (scale $float_22) (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_23) (dx $float_24) (dq $float_25) (dv $float_26) (dw $float_27))))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_servo_parameters async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_servo_parameters async|
    :invocation (! (nhfc_get_servo_parameters_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_servo_parameters_output (servo (t_nhfc_ids_servo_s (sat (t_nhfc_ids_servo_s_sat_s (x $float_0) (v $float_1) (ix $float_2))) (satweight (t_nhfc_ids_servo_s_satweight_s (enable $bool_4) (thrust $float_5) (tilt $float_6) (head $float_7))) (gain (t_nhfc_ids_servo_s_gain_s (Kpxy $float_9) (Kpz $float_10) (Kqxy $float_11) (Kqz $float_12) (Kvxy $float_13) (Kvz $float_14) (Kwxy $float_15) (Kwz $float_16) (Kixy $float_17) (Kiz $float_18))) (att_mode $t_nhfc_attitude_control_mode) (ramp $float_21) (scale $float_22) (emerg (t_nhfc_ids_servo_s_emerg_s (descent $float_23) (dx $float_24) (dq $float_25) (dv $float_26) (dw $float_27))))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_body_parameters|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_body_parameters|
    :invocation (! (nhfc_get_body_parameters $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_body_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_body_parameters $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_body_parameters: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_body_parameters $RqstId $output))
                 (~> (IR $mod get_body_parameters $RqstId $ACTID))
		 (~> (FR $mod get_body_parameters $RqstId $report $data))
                 (! (PRINTIF "RS: get_body_parameters reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_body_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_body_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_body_parameters_output (body (t_nhfc_ids_body_s (G $array48_0) (iG $array48_1) (J $array9_2) (mass $float_3) (rotors $ushort_4) (wmin $float_5) (wmax $float_6) (wrench_min $array6_7) (wrench_max $array6_8) (init $bool_9))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_body_parameters report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_body_parameters report|
    :invocation (! (nhfc_get_body_parameters_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_body_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_body_parameters $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_body_parameters: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_body_parameters $RqstId $output))
                 (~> (IR $mod get_body_parameters $RqstId $ACTID))
		 (~> (FR $mod get_body_parameters $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_body_parameters reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_body_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_body_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_body_parameters_output (body (t_nhfc_ids_body_s (G $array48_0) (iG $array48_1) (J $array9_2) (mass $float_3) (rotors $ushort_4) (wmin $float_5) (wmax $float_6) (wrench_min $array6_7) (wrench_max $array6_8) (init $bool_9))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_body_parameters async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_body_parameters async|
    :invocation (! (nhfc_get_body_parameters_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_body_parameters
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_body_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_body_parameters $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_body_parameters_output (body (t_nhfc_ids_body_s (G $array48_0) (iG $array48_1) (J $array9_2) (mass $float_3) (rotors $ushort_4) (wmin $float_5) (wmax $float_6) (wrench_min $array6_7) (wrench_max $array6_8) (init $bool_9))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_reference|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_reference|
    :invocation (! (nhfc_get_reference $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
              (^ (FR $mod get_reference $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_reference: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_reference $RqstId $output))
                 (~> (IR $mod get_reference $RqstId $ACTID))
		 (~> (FR $mod get_reference $RqstId $report $data))
                 (! (PRINTIF "RS: get_reference reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_reference_output (reference (t_or_rigid_body_state (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (pos $optional_4) (att $optional_5) (vel $optional_6) (avel $optional_7) (acc $optional_8) (aacc $optional_9) (jerk $optional_10) (snap $optional_11))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_reference report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_reference report|
    :invocation (! (nhfc_get_reference_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
              (^ (FR $mod get_reference $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_reference: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_reference $RqstId $output))
                 (~> (IR $mod get_reference $RqstId $ACTID))
		 (~> (FR $mod get_reference $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_reference reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_reference_output (reference (t_or_rigid_body_state (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (pos $optional_4) (att $optional_5) (vel $optional_6) (avel $optional_7) (acc $optional_8) (aacc $optional_9) (jerk $optional_10) (snap $optional_11))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc get_reference async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc get_reference async|
    :invocation (! (nhfc_get_reference_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_get_reference_output (reference (t_or_rigid_body_state (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (pos $optional_4) (att $optional_5) (vel $optional_6) (avel $optional_7) (acc $optional_8) (aacc $optional_9) (jerk $optional_10) (snap $optional_11))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc servo|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc servo|
    :invocation (! (nhfc_servo $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
              (^ (FR $mod servo $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in servo: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod servo $RqstId $output))
                 (~> (IR $mod servo $RqstId $ACTID))
		 (~> (FR $mod servo $RqstId $report $data))
                 (! (PRINTIF "RS: servo reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc servo report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc servo report|
    :invocation (! (nhfc_servo_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
              (^ (FR $mod servo $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in servo: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod servo $RqstId $output))
                 (~> (IR $mod servo $RqstId $ACTID))
		 (~> (FR $mod servo $RqstId $report1 $data))
                 (! (PRINTIF "RS: servo reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc servo async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc servo async|
    :invocation (! (nhfc_servo_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_state|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_state|
    :invocation (! (nhfc_set_state $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
              (^ (FR $mod set_state $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_state: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_state $RqstId $output))
                 (~> (IR $mod set_state $RqstId $ACTID))
		 (~> (FR $mod set_state $RqstId $report $data))
                 (! (PRINTIF "RS: set_state reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_state_input (pos (t_or_t3d_pos (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (vel (t_or_t3d_vel (vx $float_9) (vy $float_10) (vz $float_11))) (avel (t_or_t3d_avel (wx $float_13) (wy $float_14) (wz $float_15))) (acc (t_or_t3d_acc (ax $float_17) (ay $float_18) (az $float_19))))
or a VarArg of the form (VarArg  (pos.x <double>) (pos.y <double>) (pos.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (vel.vx <double>) (vel.vy <double>) (vel.vz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (acc.ax <double>) (acc.ay <double>) (acc.az <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_state report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_state report|
    :invocation (! (nhfc_set_state_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
              (^ (FR $mod set_state $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_state: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_state $RqstId $output))
                 (~> (IR $mod set_state $RqstId $ACTID))
		 (~> (FR $mod set_state $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_state reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_state_input (pos (t_or_t3d_pos (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (vel (t_or_t3d_vel (vx $float_9) (vy $float_10) (vz $float_11))) (avel (t_or_t3d_avel (wx $float_13) (wy $float_14) (wz $float_15))) (acc (t_or_t3d_acc (ax $float_17) (ay $float_18) (az $float_19))))
or a VarArg of the form (VarArg  (pos.x <double>) (pos.y <double>) (pos.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (vel.vx <double>) (vel.vy <double>) (vel.vz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (acc.ax <double>) (acc.ay <double>) (acc.az <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_state async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_state async|
    :invocation (! (nhfc_set_state_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_state_input (pos (t_or_t3d_pos (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (vel (t_or_t3d_vel (vx $float_9) (vy $float_10) (vz $float_11))) (avel (t_or_t3d_avel (wx $float_13) (wy $float_14) (wz $float_15))) (acc (t_or_t3d_acc (ax $float_17) (ay $float_18) (az $float_19))))
or a VarArg of the form (VarArg  (pos.x <double>) (pos.y <double>) (pos.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (vel.vx <double>) (vel.vy <double>) (vel.vz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (acc.ax <double>) (acc.ay <double>) (acc.az <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_position|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_position|
    :invocation (! (nhfc_set_position $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_position
		   $input
		   $RqstId))
              (^ (FR $mod set_position $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_position: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_position $RqstId $output))
                 (~> (IR $mod set_position $RqstId $ACTID))
		 (~> (FR $mod set_position $RqstId $report $data))
                 (! (PRINTIF "RS: set_position reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_position  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_position_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_position report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_position report|
    :invocation (! (nhfc_set_position_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_position
		   $input
		   $RqstId))
              (^ (FR $mod set_position $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_position: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_position $RqstId $output))
                 (~> (IR $mod set_position $RqstId $ACTID))
		 (~> (FR $mod set_position $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_position reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_position  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_position_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_position async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_position async|
    :invocation (! (nhfc_set_position_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_position
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_position $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_position_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_current_position|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_current_position|
    :invocation (! (nhfc_set_current_position $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_current_position
		   $input
		   $RqstId))
              (^ (FR $mod set_current_position $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_current_position: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_current_position $RqstId $output))
                 (~> (IR $mod set_current_position $RqstId $ACTID))
		 (~> (FR $mod set_current_position $RqstId $report $data))
                 (! (PRINTIF "RS: set_current_position reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_current_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_current_position  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_current_position report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_current_position report|
    :invocation (! (nhfc_set_current_position_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_current_position
		   $input
		   $RqstId))
              (^ (FR $mod set_current_position $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_current_position: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_current_position $RqstId $output))
                 (~> (IR $mod set_current_position $RqstId $ACTID))
		 (~> (FR $mod set_current_position $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_current_position reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_current_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_current_position  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_current_position async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_current_position async|
    :invocation (! (nhfc_set_current_position_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_current_position
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_current_position to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_current_position $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_velocity|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_velocity|
    :invocation (! (nhfc_set_velocity $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_velocity
		   $input
		   $RqstId))
              (^ (FR $mod set_velocity $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_velocity: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_velocity $RqstId $output))
                 (~> (IR $mod set_velocity $RqstId $ACTID))
		 (~> (FR $mod set_velocity $RqstId $report $data))
                 (! (PRINTIF "RS: set_velocity reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_velocity to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_velocity  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_velocity_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_velocity report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_velocity report|
    :invocation (! (nhfc_set_velocity_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_velocity
		   $input
		   $RqstId))
              (^ (FR $mod set_velocity $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_velocity: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_velocity $RqstId $output))
                 (~> (IR $mod set_velocity $RqstId $ACTID))
		 (~> (FR $mod set_velocity $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_velocity reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_velocity to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_velocity  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_velocity_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc set_velocity async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc set_velocity async|
    :invocation (! (nhfc_set_velocity_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_velocity
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_velocity to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_velocity $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_set_velocity_input (x $float_0) (y $float_1) (z $float_2) (yaw $float_3))
or a VarArg of the form (VarArg  (x <double>) (y <double>) (z <double>) (yaw <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc hover|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc hover|
    :invocation (! (nhfc_hover $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod hover
		   $input
		   $RqstId))
              (^ (FR $mod hover $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in hover: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod hover $RqstId $output))
                 (~> (IR $mod hover $RqstId $ACTID))
		 (~> (FR $mod hover $RqstId $report $data))
                 (! (PRINTIF "RS: hover reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send hover to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod hover  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc hover report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc hover report|
    :invocation (! (nhfc_hover_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod hover
		   $input
		   $RqstId))
              (^ (FR $mod hover $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in hover: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod hover $RqstId $output))
                 (~> (IR $mod hover $RqstId $ACTID))
		 (~> (FR $mod hover $RqstId $report1 $data))
                 (! (PRINTIF "RS: hover reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send hover to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod hover  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc hover async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc hover async|
    :invocation (! (nhfc_hover_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod hover
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send hover to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod hover $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc reset|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc reset|
    :invocation (! (nhfc_reset $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod reset
		   $input
		   $RqstId))
              (^ (FR $mod reset $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in reset: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod reset $RqstId $output))
                 (~> (IR $mod reset $RqstId $ACTID))
		 (~> (FR $mod reset $RqstId $report $data))
                 (! (PRINTIF "RS: reset reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send reset to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod reset  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc reset report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc reset report|
    :invocation (! (nhfc_reset_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod reset
		   $input
		   $RqstId))
              (^ (FR $mod reset $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in reset: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod reset $RqstId $output))
                 (~> (IR $mod reset $RqstId $ACTID))
		 (~> (FR $mod reset $RqstId $report1 $data))
                 (! (PRINTIF "RS: reset reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send reset to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod reset  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc reset async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc reset async|
    :invocation (! (nhfc_reset_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod reset
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send reset to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod reset $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log|
    :invocation (! (nhfc_log $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
              (^ (FR $mod log $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log $RqstId $output))
                 (~> (IR $mod log $RqstId $ACTID))
		 (~> (FR $mod log $RqstId $report $data))
                 (! (PRINTIF "RS: log reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log report|
    :invocation (! (nhfc_log_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
              (^ (FR $mod log $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log $RqstId $output))
                 (~> (IR $mod log $RqstId $ACTID))
		 (~> (FR $mod log $RqstId $report1 $data))
                 (! (PRINTIF "RS: log reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log async|
    :invocation (! (nhfc_log_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (nhfc_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_stop|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_stop|
    :invocation (! (nhfc_log_stop $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
              (^ (FR $mod log_stop $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_stop: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log_stop $RqstId $output))
                 (~> (IR $mod log_stop $RqstId $ACTID))
		 (~> (FR $mod log_stop $RqstId $report $data))
                 (! (PRINTIF "RS: log_stop reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_stop report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_stop report|
    :invocation (! (nhfc_log_stop_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
              (^ (FR $mod log_stop $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_stop: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log_stop $RqstId $output))
                 (~> (IR $mod log_stop $RqstId $ACTID))
		 (~> (FR $mod log_stop $RqstId $report1 $data))
                 (! (PRINTIF "RS: log_stop reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_stop async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_stop async|
    :invocation (! (nhfc_log_stop_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_info|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_info|
    :invocation (! (nhfc_log_info $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
              (^ (FR $mod log_info $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_info: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log_info $RqstId $output))
                 (~> (IR $mod log_info $RqstId $ACTID))
		 (~> (FR $mod log_info $RqstId $report $data))
                 (! (PRINTIF "RS: log_info reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_log_info_output (miss $ulong_0) (total $ulong_1))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_info report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_info report|
    :invocation (! (nhfc_log_info_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
              (^ (FR $mod log_info $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_info: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log_info $RqstId $output))
                 (~> (IR $mod log_info $RqstId $ACTID))
		 (~> (FR $mod log_info $RqstId $report1 $data))
                 (! (PRINTIF "RS: log_info reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_log_info_output (miss $ulong_0) (total $ulong_1))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc log_info async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc log_info async|
    :invocation (! (nhfc_log_info_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (nhfc_log_info_output (miss $ulong_0) (total $ulong_1))"
)


;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc rotor_input|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc rotor_input|
    :invocation (! (read_nhfc_rotor_input $mod))
    :body ((IF (! (READ-PORT-INTERNAL $mod rotor_input $data))
	      (=> (nhfc_rotor_input $mod $data))    	     
            ELSE  
              (! (PRINTIF "RS: Fail reading port rotor_input from $mod\n"))
	      (! (FAILED))
           ))
 :documentation "Read rotor_input and store (nhfc_rotor_input nhfc (nhfc_rotor_input (t_or_rotorcraft_input (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (control $t_or_rotorcraft_control_type) (desired $seq8_4))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |nhfc wrench_measure|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |nhfc wrench_measure|
    :invocation (! (read_nhfc_wrench_measure $mod))
    :body ((IF (! (READ-PORT-INTERNAL $mod wrench_measure $data))
	      (=> (nhfc_wrench_measure $mod $data))    	     
            ELSE  
              (! (PRINTIF "RS: Fail reading port wrench_measure from $mod\n"))
	      (! (FAILED))
           ))
 :documentation "Read wrench_measure and store (nhfc_wrench_measure nhfc (nhfc_wrench_measure (t_or_wrench_estimator_state (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (force $optional_4) (force_cov $optional_5) (torque $optional_6) (torque_cov $optional_7))))"
)


(defop |Make New nhfc Module| 
:invocation (! (Make_New_nhfc_Module $MOD-NAME))
:action (MAKE-NEW-NHFC-MODULE $MOD-NAME)
:documentation "This action will create a new instance of a nhfc module named $MOD-NAME."
)
)
