Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/GetJointProperties.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_GetJointProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetJointProperties_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class GetJointPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef const char* _joint_name_type;
garyservin 0:9e9b7db60fd5 17 _joint_name_type joint_name;
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 GetJointPropertiesRequest():
garyservin 0:9e9b7db60fd5 20 joint_name("")
garyservin 0:9e9b7db60fd5 21 {
garyservin 0:9e9b7db60fd5 22 }
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 int offset = 0;
garyservin 0:9e9b7db60fd5 27 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:9e9b7db60fd5 28 varToArr(outbuffer + offset, length_joint_name);
garyservin 0:9e9b7db60fd5 29 offset += 4;
garyservin 0:9e9b7db60fd5 30 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:9e9b7db60fd5 31 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_joint_name;
garyservin 0:9e9b7db60fd5 39 arrToVar(length_joint_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:9e9b7db60fd5 42 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:9e9b7db60fd5 45 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 46 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 47 return offset;
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 const char * getType(){ return GETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 51 const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 };
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 class GetJointPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 public:
garyservin 0:9e9b7db60fd5 58 typedef uint8_t _type_type;
garyservin 0:9e9b7db60fd5 59 _type_type type;
garyservin 0:9e9b7db60fd5 60 uint32_t damping_length;
garyservin 0:9e9b7db60fd5 61 typedef double _damping_type;
garyservin 0:9e9b7db60fd5 62 _damping_type st_damping;
garyservin 0:9e9b7db60fd5 63 _damping_type * damping;
garyservin 0:9e9b7db60fd5 64 uint32_t position_length;
garyservin 0:9e9b7db60fd5 65 typedef double _position_type;
garyservin 0:9e9b7db60fd5 66 _position_type st_position;
garyservin 0:9e9b7db60fd5 67 _position_type * position;
garyservin 0:9e9b7db60fd5 68 uint32_t rate_length;
garyservin 0:9e9b7db60fd5 69 typedef double _rate_type;
garyservin 0:9e9b7db60fd5 70 _rate_type st_rate;
garyservin 0:9e9b7db60fd5 71 _rate_type * rate;
garyservin 0:9e9b7db60fd5 72 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 73 _success_type success;
garyservin 0:9e9b7db60fd5 74 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 75 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 76 enum { REVOLUTE = 0 };
garyservin 0:9e9b7db60fd5 77 enum { CONTINUOUS = 1 };
garyservin 0:9e9b7db60fd5 78 enum { PRISMATIC = 2 };
garyservin 0:9e9b7db60fd5 79 enum { FIXED = 3 };
garyservin 0:9e9b7db60fd5 80 enum { BALL = 4 };
garyservin 0:9e9b7db60fd5 81 enum { UNIVERSAL = 5 };
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 GetJointPropertiesResponse():
garyservin 0:9e9b7db60fd5 84 type(0),
garyservin 0:9e9b7db60fd5 85 damping_length(0), damping(NULL),
garyservin 0:9e9b7db60fd5 86 position_length(0), position(NULL),
garyservin 0:9e9b7db60fd5 87 rate_length(0), rate(NULL),
garyservin 0:9e9b7db60fd5 88 success(0),
garyservin 0:9e9b7db60fd5 89 status_message("")
garyservin 0:9e9b7db60fd5 90 {
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 94 {
garyservin 0:9e9b7db60fd5 95 int offset = 0;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->damping_length);
garyservin 0:9e9b7db60fd5 103 for( uint32_t i = 0; i < damping_length; i++){
garyservin 0:9e9b7db60fd5 104 union {
garyservin 0:9e9b7db60fd5 105 double real;
garyservin 0:9e9b7db60fd5 106 uint64_t base;
garyservin 0:9e9b7db60fd5 107 } u_dampingi;
garyservin 0:9e9b7db60fd5 108 u_dampingi.real = this->damping[i];
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 offset += sizeof(this->damping[i]);
garyservin 0:9e9b7db60fd5 118 }
garyservin 0:9e9b7db60fd5 119 *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 120 *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 121 *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 124 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 125 union {
garyservin 0:9e9b7db60fd5 126 double real;
garyservin 0:9e9b7db60fd5 127 uint64_t base;
garyservin 0:9e9b7db60fd5 128 } u_positioni;
garyservin 0:9e9b7db60fd5 129 u_positioni.real = this->position[i];
garyservin 0:9e9b7db60fd5 130 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 134 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 135 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 offset += sizeof(this->position[i]);
garyservin 0:9e9b7db60fd5 139 }
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 0) = (this->rate_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 1) = (this->rate_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 2) = (this->rate_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 3) = (this->rate_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->rate_length);
garyservin 0:9e9b7db60fd5 145 for( uint32_t i = 0; i < rate_length; i++){
garyservin 0:9e9b7db60fd5 146 union {
garyservin 0:9e9b7db60fd5 147 double real;
garyservin 0:9e9b7db60fd5 148 uint64_t base;
garyservin 0:9e9b7db60fd5 149 } u_ratei;
garyservin 0:9e9b7db60fd5 150 u_ratei.real = this->rate[i];
garyservin 0:9e9b7db60fd5 151 *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 156 *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 159 offset += sizeof(this->rate[i]);
garyservin 0:9e9b7db60fd5 160 }
garyservin 0:9e9b7db60fd5 161 union {
garyservin 0:9e9b7db60fd5 162 bool real;
garyservin 0:9e9b7db60fd5 163 uint8_t base;
garyservin 0:9e9b7db60fd5 164 } u_success;
garyservin 0:9e9b7db60fd5 165 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 166 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 167 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 168 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 169 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 170 offset += 4;
garyservin 0:9e9b7db60fd5 171 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 172 offset += length_status_message;
garyservin 0:9e9b7db60fd5 173 return offset;
garyservin 0:9e9b7db60fd5 174 }
garyservin 0:9e9b7db60fd5 175
garyservin 0:9e9b7db60fd5 176 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 177 {
garyservin 0:9e9b7db60fd5 178 int offset = 0;
garyservin 0:9e9b7db60fd5 179 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 181 uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 182 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 183 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 184 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 185 offset += sizeof(this->damping_length);
garyservin 0:9e9b7db60fd5 186 if(damping_lengthT > damping_length)
garyservin 0:9e9b7db60fd5 187 this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 188 damping_length = damping_lengthT;
garyservin 0:9e9b7db60fd5 189 for( uint32_t i = 0; i < damping_length; i++){
garyservin 0:9e9b7db60fd5 190 union {
garyservin 0:9e9b7db60fd5 191 double real;
garyservin 0:9e9b7db60fd5 192 uint64_t base;
garyservin 0:9e9b7db60fd5 193 } u_st_damping;
garyservin 0:9e9b7db60fd5 194 u_st_damping.base = 0;
garyservin 0:9e9b7db60fd5 195 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 196 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 197 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 198 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 199 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 200 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 201 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 202 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 203 this->st_damping = u_st_damping.real;
garyservin 0:9e9b7db60fd5 204 offset += sizeof(this->st_damping);
garyservin 0:9e9b7db60fd5 205 memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
garyservin 0:9e9b7db60fd5 206 }
garyservin 0:9e9b7db60fd5 207 uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 208 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 209 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 210 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 211 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 212 if(position_lengthT > position_length)
garyservin 0:9e9b7db60fd5 213 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 214 position_length = position_lengthT;
garyservin 0:9e9b7db60fd5 215 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 216 union {
garyservin 0:9e9b7db60fd5 217 double real;
garyservin 0:9e9b7db60fd5 218 uint64_t base;
garyservin 0:9e9b7db60fd5 219 } u_st_position;
garyservin 0:9e9b7db60fd5 220 u_st_position.base = 0;
garyservin 0:9e9b7db60fd5 221 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 222 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 223 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 224 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 225 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 226 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 227 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 228 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 229 this->st_position = u_st_position.real;
garyservin 0:9e9b7db60fd5 230 offset += sizeof(this->st_position);
garyservin 0:9e9b7db60fd5 231 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:9e9b7db60fd5 232 }
garyservin 0:9e9b7db60fd5 233 uint32_t rate_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 234 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 235 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 236 rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 237 offset += sizeof(this->rate_length);
garyservin 0:9e9b7db60fd5 238 if(rate_lengthT > rate_length)
garyservin 0:9e9b7db60fd5 239 this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 240 rate_length = rate_lengthT;
garyservin 0:9e9b7db60fd5 241 for( uint32_t i = 0; i < rate_length; i++){
garyservin 0:9e9b7db60fd5 242 union {
garyservin 0:9e9b7db60fd5 243 double real;
garyservin 0:9e9b7db60fd5 244 uint64_t base;
garyservin 0:9e9b7db60fd5 245 } u_st_rate;
garyservin 0:9e9b7db60fd5 246 u_st_rate.base = 0;
garyservin 0:9e9b7db60fd5 247 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 248 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 249 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 250 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 251 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 252 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 253 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 254 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 255 this->st_rate = u_st_rate.real;
garyservin 0:9e9b7db60fd5 256 offset += sizeof(this->st_rate);
garyservin 0:9e9b7db60fd5 257 memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
garyservin 0:9e9b7db60fd5 258 }
garyservin 0:9e9b7db60fd5 259 union {
garyservin 0:9e9b7db60fd5 260 bool real;
garyservin 0:9e9b7db60fd5 261 uint8_t base;
garyservin 0:9e9b7db60fd5 262 } u_success;
garyservin 0:9e9b7db60fd5 263 u_success.base = 0;
garyservin 0:9e9b7db60fd5 264 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 265 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 266 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 267 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 268 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 269 offset += 4;
garyservin 0:9e9b7db60fd5 270 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 271 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 272 }
garyservin 0:9e9b7db60fd5 273 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 274 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 275 offset += length_status_message;
garyservin 0:9e9b7db60fd5 276 return offset;
garyservin 0:9e9b7db60fd5 277 }
garyservin 0:9e9b7db60fd5 278
garyservin 0:9e9b7db60fd5 279 const char * getType(){ return GETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 280 const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
garyservin 0:9e9b7db60fd5 281
garyservin 0:9e9b7db60fd5 282 };
garyservin 0:9e9b7db60fd5 283
garyservin 0:9e9b7db60fd5 284 class GetJointProperties {
garyservin 0:9e9b7db60fd5 285 public:
garyservin 0:9e9b7db60fd5 286 typedef GetJointPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 287 typedef GetJointPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 288 };
garyservin 0:9e9b7db60fd5 289
garyservin 0:9e9b7db60fd5 290 }
garyservin 0:9e9b7db60fd5 291 #endif