Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/GetJointProperties.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

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