SickLMS2xxUtility.hh

Go to the documentation of this file.

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

#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_2xx_byte_order( uint16_t value ) {
  return value;
}

inline uint32_t host_to_sick_lms_2xx_byte_order( uint32_t value ) {
  return value;
}

inline uint16_t sick_lms_2xx_to_host_byte_order( uint16_t value ) {
  return value;
}

inline uint32_t sick_lms_2xx_to_host_byte_order( uint32_t value ) {
  return value;
}

#else // The host has a big-endian architecture

inline uint16_t host_to_sick_lms_2xx_byte_order( uint16_t value ) {
  return REVERSE_BYTE_ORDER_16(value);
}

inline uint32_t host_to_sick_lms_2xx_byte_order( uint32_t value ) {
  return REVERSE_BYTE_ORDER_32(value);
}

inline uint16_t sick_lms_2xx_to_host_byte_order( uint16_t value ) {
  return REVERSE_BYTE_ORDER_16(value);
}

inline uint32_t sick_lms_2xx_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
 */
  
} //namespace SickToolbox