colab.hpp

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//
// colab.hpp
//
// (c) 2011 SICK AG, Hamburg, Germany
//

#ifndef COLAB_HPP
#define COLAB_HPP

#include "sick_scan/tcp/BasicDatatypes.hpp"
#include <memory.h>     // for memread<>

//
// Parser functions for a partly implementation of the CoLa-B
// protocol, needed for communication with SICK sensors.
//
namespace colab
{

void addStringToBuffer(UINT8* buffer, UINT16& pos, const std::string& stringValue);


void addStringToBuffer(BYTE* buffer, const std::string& stringValue);



std::string getStringFromBuffer(UINT8* buffer, UINT16& pos, UINT16 length);



std::string getStringFromBuffer(BYTE*& buffer, UINT16 length);



std::string getCommandStringFromBuffer(UINT8* buffer);




std::string getIdentifierFromBuffer(UINT8* buffer, UINT16& nextData, UINT16 bufferLength);



void addFrameToBuffer(UINT8* sendBuffer, UINT8* cmdBuffer, UINT16* len);


//  Returns the requested value. pos points then to the first byte of the next data field.
double getDoubleFromBuffer(UINT8* buffer, UINT16& pos);

//
UINT16 decodeUINT16(BYTE* buffer);



// -----------------------------------------------------------------------------------------------------------------
//                                               TEMPLATE FUNCTIONS
// -----------------------------------------------------------------------------------------------------------------


// FIXME: use template functions from types.hpp instead !!! (memread/memwrite)

template<typename T>
void addIntegerToBuffer(UINT8* buffer, UINT16& pos, T intValue)
{
        UINT16 width = sizeof(T);

        for (int i = 0; i < width; i++)
        {
                buffer[pos+width-1-i] = (intValue >> (8 * i)) & 0xff; // BIG ENDIAN: width-1-i
        }

        pos += width;
}



template<typename T>
T getIntegerFromBuffer(UINT8* buffer, UINT16& pos)
{
        UINT16 width = sizeof(T);
//              UINT8* buffer2 = buffer;
//              T intValue = memread<T>(buffer2);

        T intValue = 0;

        for (int i = 0; i < width; i++)
        {
                intValue += buffer[pos+width-1-i] << (8 * i);
        }

        pos += width;
        return intValue;
}



template<typename T>
void addFloatToBuffer(UINT8* buffer, UINT16& pos, T floatValue)
{
        UINT16 width = sizeof(T);



        pos += width;
}


} // END namespace colab
#endif