CoLaParameterReader.cpp

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
 
#include "sick_safevisionary_base/CoLaParameterReader.h"
#include "sick_safevisionary_base/VisionaryEndian.h"
 
namespace visionary {
 
CoLaParameterReader::CoLaParameterReader(CoLaCommand command)
  : m_command(command)
{
  m_currentPosition = command.getParameterOffset();
}
 
CoLaParameterReader::~CoLaParameterReader() {}
 
void CoLaParameterReader::rewind()
{
  m_currentPosition = m_command.getParameterOffset();
}
 
int8_t CoLaParameterReader::readSInt()
{
  int8_t value = static_cast<int8_t>(m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 1;
  return value;
}
 
uint8_t CoLaParameterReader::readUSInt()
{
  const uint8_t value = m_command.getBuffer()[m_currentPosition];
  m_currentPosition += 1;
  return value;
}
 
int16_t CoLaParameterReader::readInt()
{
  const int16_t value =
    readUnalignColaByteOrder<int16_t>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 2;
  return value;
}
 
uint16_t CoLaParameterReader::readUInt()
{
  const uint16_t value =
    readUnalignColaByteOrder<uint16_t>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 2;
  return value;
}
 
int32_t CoLaParameterReader::readDInt()
{
  const int32_t value =
    readUnalignColaByteOrder<int32_t>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 4;
  return value;
}
 
uint32_t CoLaParameterReader::readUDInt()
{
  const uint32_t value =
    readUnalignColaByteOrder<uint32_t>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 4;
  return value;
}
 
float CoLaParameterReader::readReal()
{
  const float value = readUnalignColaByteOrder<float>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 4;
  return value;
}
 
double CoLaParameterReader::readLReal()
{
  const double value = readUnalignColaByteOrder<double>(&m_command.getBuffer()[m_currentPosition]);
  m_currentPosition += 8;
  return value;
}
 
bool CoLaParameterReader::readBool()
{
  return readUSInt() == 1;
}
 
std::string CoLaParameterReader::readFlexString()
{
  std::string str("");
  uint16_t len = readUInt();
  if (len)
  {
    str =
      std::string(reinterpret_cast<const char*>(&m_command.getBuffer()[m_currentPosition]), len);
  }
  m_currentPosition += str.length();
  return str;
}
} // namespace visionary