SickLMS1xxUtility.hh

Go to the documentation of this file.

/* Auto-generated header */
#include "SickConfig.hh"

/* Implementation Dependencies */
#include <sstream>

#define REVERSE_BYTE_ORDER_16( y ) ( ( ( y & 0x00FF ) << 8 ) | ( ( y & 0xFF00 ) >> 8 ) )

#define REVERSE_BYTE_ORDER_32( y ) ( ( ( y & 0x000000FF ) << 24 ) | ( ( y & 0x0000FF00 ) << 8 ) | ( ( y & 0x00FF0000 ) >> 8 ) | ( ( y & 0xFF000000 ) >> 24 ) )

/* Associate the namespace */
namespace SickToolbox {
  
#ifndef WORDS_BIGENDIAN
  
  /* NOTE: The following functions are necessary since the Sick LD doesn't adopt the
   *       convention of converting from network byte order.
   */
  
  inline uint16_t host_to_sick_lms_1xx_byte_order( uint16_t value ) {
    return value;
  }
  
  inline uint32_t host_to_sick_lms_1xx_byte_order( uint32_t value ) {
    return value;
  }
  
  inline uint16_t sick_lms_1xx_to_host_byte_order( uint16_t value ) {
    return value;
  }
  
  inline uint32_t sick_lms_1xx_to_host_byte_order( uint32_t value ) {
    return value;
  }
  
#else // The host has a big-endian architecture
  
  inline uint16_t host_to_sick_lms_1xx_byte_order( uint16_t value ) {
    return REVERSE_BYTE_ORDER_16(value);
  }
  
  inline uint32_t host_to_sick_lms_1xx_byte_order( uint32_t value ) {
    return REVERSE_BYTE_ORDER_32(value);
  }
  
  inline uint16_t sick_lms_1xx_to_host_byte_order( uint16_t value ) {
    return REVERSE_BYTE_ORDER_16(value);
  }
  
  inline uint32_t sick_lms_1xx_to_host_byte_order( uint32_t value ) {
    return REVERSE_BYTE_ORDER_32(value);
  }
  
#endif /* _LITTLE_ENDIAN_HOST */
  
  /*
   * NOTE: Other utility functions can be defined here
   */
  
  inline std::string int_to_str( const int value ) {
    std::stringstream ss;
    ss << value;
    return ss.str();
  }
  

  
} //namespace SickToolbox