colab.hpp

Go to the documentation of this file.

//
// 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