byte_array.h

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#ifndef BYTE_ARRAY_H
#define BYTE_ARRAY_H

#ifdef ROS

#include "simple_message/shared_types.h"

#endif

#ifdef MOTOPLUS

#include "shared_types.h"

#endif

#include "string.h"

namespace industrial
{
namespace simple_serialize
{
// Class declaration required for function prototypes below
class SimpleSerialize;
}
}

namespace industrial
{
namespace byte_array
{

class ByteArray
{
public:

  // Provides SimpleSerialize access to byte array internals
  friend class SimpleSerialize;

  ByteArray(void);

  ~ByteArray(void);

  void init();

  bool init(const char* buffer, const industrial::shared_types::shared_int byte_size);

  void copyFrom(ByteArray & buffer);

  bool load(industrial::shared_types::shared_bool value);

  bool load(industrial::shared_types::shared_real value);

  bool load(industrial::shared_types::shared_int value);

  bool load(industrial::simple_serialize::SimpleSerialize &value);

  bool load(ByteArray &value);

  bool load(void* value, const industrial::shared_types::shared_int byte_size);

  bool unload(industrial::shared_types::shared_bool &value);

  bool unload(industrial::shared_types::shared_real &value);

  bool unload(industrial::shared_types::shared_int &value);

  bool unload(industrial::simple_serialize::SimpleSerialize &value);

  bool unload(ByteArray &value, const industrial::shared_types::shared_int byte_size);

  bool unload(void* value, const industrial::shared_types::shared_int byteSize);

  bool unloadFront(industrial::shared_types::shared_real &value);

  bool unloadFront(industrial::shared_types::shared_int &value);

  bool unloadFront(void* value, const industrial::shared_types::shared_int byteSize);

  char* getRawDataPtr();

  unsigned int getBufferSize();

  unsigned int getMaxBufferSize();

  static bool isByteSwapEnabled();

private:
  static const industrial::shared_types::shared_int MAX_SIZE = 1024;

  char buffer_[MAX_SIZE];

  industrial::shared_types::shared_int buffer_size_;

#ifdef BYTE_SWAPPING

  void swap(void *value, industrial::shared_types::shared_int byteSize);
#endif

  bool setBufferSize(const industrial::shared_types::shared_int size);

  bool extendBufferSize(const industrial::shared_types::shared_int size);

  bool shortenBufferSize(industrial::shared_types::shared_int size);

  char* getLoadPtr();

  char* getUnloadPtr(const industrial::shared_types::shared_int num_bytes);

};

} // namespace industrial
} // namespace byte_array

#endif //BYTE_ARRAY_H