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

control_msgs/QueryTrajectoryState.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_QueryTrajectoryState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_QueryTrajectoryState_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 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace control_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class QueryTrajectoryStateRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef ros::Time _time_type;
garyservin 0:9e9b7db60fd5 18 _time_type time;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 QueryTrajectoryStateRequest():
garyservin 0:9e9b7db60fd5 21 time()
garyservin 0:9e9b7db60fd5 22 {
garyservin 0:9e9b7db60fd5 23 }
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 int offset = 0;
garyservin 0:9e9b7db60fd5 28 *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 offset += sizeof(this->time.sec);
garyservin 0:9e9b7db60fd5 33 *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 offset += sizeof(this->time.nsec);
garyservin 0:9e9b7db60fd5 38 return offset;
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 this->time.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 45 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 46 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 47 this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->time.sec);
garyservin 0:9e9b7db60fd5 49 this->time.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 50 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 51 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 52 this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->time.nsec);
garyservin 0:9e9b7db60fd5 54 return offset;
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56
garyservin 0:9e9b7db60fd5 57 const char * getType(){ return QUERYTRAJECTORYSTATE; };
garyservin 0:9e9b7db60fd5 58 const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 };
garyservin 0:9e9b7db60fd5 61
garyservin 0:9e9b7db60fd5 62 class QueryTrajectoryStateResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 63 {
garyservin 0:9e9b7db60fd5 64 public:
garyservin 0:9e9b7db60fd5 65 uint32_t name_length;
garyservin 0:9e9b7db60fd5 66 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 67 _name_type st_name;
garyservin 0:9e9b7db60fd5 68 _name_type * name;
garyservin 0:9e9b7db60fd5 69 uint32_t position_length;
garyservin 0:9e9b7db60fd5 70 typedef double _position_type;
garyservin 0:9e9b7db60fd5 71 _position_type st_position;
garyservin 0:9e9b7db60fd5 72 _position_type * position;
garyservin 0:9e9b7db60fd5 73 uint32_t velocity_length;
garyservin 0:9e9b7db60fd5 74 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 75 _velocity_type st_velocity;
garyservin 0:9e9b7db60fd5 76 _velocity_type * velocity;
garyservin 0:9e9b7db60fd5 77 uint32_t acceleration_length;
garyservin 0:9e9b7db60fd5 78 typedef double _acceleration_type;
garyservin 0:9e9b7db60fd5 79 _acceleration_type st_acceleration;
garyservin 0:9e9b7db60fd5 80 _acceleration_type * acceleration;
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 QueryTrajectoryStateResponse():
garyservin 0:9e9b7db60fd5 83 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 84 position_length(0), position(NULL),
garyservin 0:9e9b7db60fd5 85 velocity_length(0), velocity(NULL),
garyservin 0:9e9b7db60fd5 86 acceleration_length(0), acceleration(NULL)
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 91 {
garyservin 0:9e9b7db60fd5 92 int offset = 0;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 98 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 99 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 100 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 101 offset += 4;
garyservin 0:9e9b7db60fd5 102 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 103 offset += length_namei;
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 110 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 111 union {
garyservin 0:9e9b7db60fd5 112 double real;
garyservin 0:9e9b7db60fd5 113 uint64_t base;
garyservin 0:9e9b7db60fd5 114 } u_positioni;
garyservin 0:9e9b7db60fd5 115 u_positioni.real = this->position[i];
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 120 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 121 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 offset += sizeof(this->position[i]);
garyservin 0:9e9b7db60fd5 125 }
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 130 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 131 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 132 union {
garyservin 0:9e9b7db60fd5 133 double real;
garyservin 0:9e9b7db60fd5 134 uint64_t base;
garyservin 0:9e9b7db60fd5 135 } u_velocityi;
garyservin 0:9e9b7db60fd5 136 u_velocityi.real = this->velocity[i];
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 145 offset += sizeof(this->velocity[i]);
garyservin 0:9e9b7db60fd5 146 }
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 0) = (this->acceleration_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 *(outbuffer + offset + 1) = (this->acceleration_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 149 *(outbuffer + offset + 2) = (this->acceleration_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 3) = (this->acceleration_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 offset += sizeof(this->acceleration_length);
garyservin 0:9e9b7db60fd5 152 for( uint32_t i = 0; i < acceleration_length; i++){
garyservin 0:9e9b7db60fd5 153 union {
garyservin 0:9e9b7db60fd5 154 double real;
garyservin 0:9e9b7db60fd5 155 uint64_t base;
garyservin 0:9e9b7db60fd5 156 } u_accelerationi;
garyservin 0:9e9b7db60fd5 157 u_accelerationi.real = this->acceleration[i];
garyservin 0:9e9b7db60fd5 158 *(outbuffer + offset + 0) = (u_accelerationi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 159 *(outbuffer + offset + 1) = (u_accelerationi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 160 *(outbuffer + offset + 2) = (u_accelerationi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 161 *(outbuffer + offset + 3) = (u_accelerationi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 162 *(outbuffer + offset + 4) = (u_accelerationi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 163 *(outbuffer + offset + 5) = (u_accelerationi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 164 *(outbuffer + offset + 6) = (u_accelerationi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 165 *(outbuffer + offset + 7) = (u_accelerationi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 166 offset += sizeof(this->acceleration[i]);
garyservin 0:9e9b7db60fd5 167 }
garyservin 0:9e9b7db60fd5 168 return offset;
garyservin 0:9e9b7db60fd5 169 }
garyservin 0:9e9b7db60fd5 170
garyservin 0:9e9b7db60fd5 171 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 172 {
garyservin 0:9e9b7db60fd5 173 int offset = 0;
garyservin 0:9e9b7db60fd5 174 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 175 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 176 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 177 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 178 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 179 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 180 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 181 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 182 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 183 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 184 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 185 offset += 4;
garyservin 0:9e9b7db60fd5 186 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 187 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 188 }
garyservin 0:9e9b7db60fd5 189 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 190 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 191 offset += length_st_name;
garyservin 0:9e9b7db60fd5 192 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 193 }
garyservin 0:9e9b7db60fd5 194 uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 195 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 196 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 197 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 198 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 199 if(position_lengthT > position_length)
garyservin 0:9e9b7db60fd5 200 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 201 position_length = position_lengthT;
garyservin 0:9e9b7db60fd5 202 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 203 union {
garyservin 0:9e9b7db60fd5 204 double real;
garyservin 0:9e9b7db60fd5 205 uint64_t base;
garyservin 0:9e9b7db60fd5 206 } u_st_position;
garyservin 0:9e9b7db60fd5 207 u_st_position.base = 0;
garyservin 0:9e9b7db60fd5 208 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 209 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 210 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 211 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 212 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 213 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 214 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 215 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 216 this->st_position = u_st_position.real;
garyservin 0:9e9b7db60fd5 217 offset += sizeof(this->st_position);
garyservin 0:9e9b7db60fd5 218 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:9e9b7db60fd5 219 }
garyservin 0:9e9b7db60fd5 220 uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 221 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 222 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 223 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 224 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 225 if(velocity_lengthT > velocity_length)
garyservin 0:9e9b7db60fd5 226 this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 227 velocity_length = velocity_lengthT;
garyservin 0:9e9b7db60fd5 228 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 229 union {
garyservin 0:9e9b7db60fd5 230 double real;
garyservin 0:9e9b7db60fd5 231 uint64_t base;
garyservin 0:9e9b7db60fd5 232 } u_st_velocity;
garyservin 0:9e9b7db60fd5 233 u_st_velocity.base = 0;
garyservin 0:9e9b7db60fd5 234 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 235 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 236 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 237 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 238 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 239 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 240 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 241 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 242 this->st_velocity = u_st_velocity.real;
garyservin 0:9e9b7db60fd5 243 offset += sizeof(this->st_velocity);
garyservin 0:9e9b7db60fd5 244 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
garyservin 0:9e9b7db60fd5 245 }
garyservin 0:9e9b7db60fd5 246 uint32_t acceleration_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 247 acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 248 acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 249 acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 250 offset += sizeof(this->acceleration_length);
garyservin 0:9e9b7db60fd5 251 if(acceleration_lengthT > acceleration_length)
garyservin 0:9e9b7db60fd5 252 this->acceleration = (double*)realloc(this->acceleration, acceleration_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 253 acceleration_length = acceleration_lengthT;
garyservin 0:9e9b7db60fd5 254 for( uint32_t i = 0; i < acceleration_length; i++){
garyservin 0:9e9b7db60fd5 255 union {
garyservin 0:9e9b7db60fd5 256 double real;
garyservin 0:9e9b7db60fd5 257 uint64_t base;
garyservin 0:9e9b7db60fd5 258 } u_st_acceleration;
garyservin 0:9e9b7db60fd5 259 u_st_acceleration.base = 0;
garyservin 0:9e9b7db60fd5 260 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 261 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 262 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 263 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 264 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 265 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 266 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 267 u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 268 this->st_acceleration = u_st_acceleration.real;
garyservin 0:9e9b7db60fd5 269 offset += sizeof(this->st_acceleration);
garyservin 0:9e9b7db60fd5 270 memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(double));
garyservin 0:9e9b7db60fd5 271 }
garyservin 0:9e9b7db60fd5 272 return offset;
garyservin 0:9e9b7db60fd5 273 }
garyservin 0:9e9b7db60fd5 274
garyservin 0:9e9b7db60fd5 275 const char * getType(){ return QUERYTRAJECTORYSTATE; };
garyservin 0:9e9b7db60fd5 276 const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
garyservin 0:9e9b7db60fd5 277
garyservin 0:9e9b7db60fd5 278 };
garyservin 0:9e9b7db60fd5 279
garyservin 0:9e9b7db60fd5 280 class QueryTrajectoryState {
garyservin 0:9e9b7db60fd5 281 public:
garyservin 0:9e9b7db60fd5 282 typedef QueryTrajectoryStateRequest Request;
garyservin 0:9e9b7db60fd5 283 typedef QueryTrajectoryStateResponse Response;
garyservin 0:9e9b7db60fd5 284 };
garyservin 0:9e9b7db60fd5 285
garyservin 0:9e9b7db60fd5 286 }
garyservin 0:9e9b7db60fd5 287 #endif