byte_array.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2015, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef FLATHEADERS
#include "simple_message/byte_array.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/log_wrapper.h"
#else
#include "byte_array.h"
#include "simple_serialize.h"
#include "log_wrapper.h"
#endif
 
namespace industrial
{
namespace byte_array
{
 
using namespace industrial::simple_serialize;
using namespace industrial::shared_types;
using namespace industrial::byte_array;
 
ByteArray::ByteArray(void)
{
  this->init();
#ifdef BYTE_SWAPPING
  LOG_COMM("Byte swapping enabled");
#endif
}
 
ByteArray::~ByteArray(void)
{
}
 
void ByteArray::init()
{
  this->buffer_.clear();
}
 
bool ByteArray::init(const char* buffer, const shared_int byte_size)
{
  bool rtn;
 
  if (this->getMaxBufferSize() >= byte_size)
  {
    LOG_COMM("Initializing buffer to size: %d", byte_size);
    this->load((void*)buffer, byte_size);
    rtn = true;
  }
  else
  {
    LOG_ERROR("Failed to initialize byte array, buffer size: %u greater than max: %u",
              byte_size, this->getMaxBufferSize());
    rtn = false;
  }
  return rtn;
}
 
void ByteArray::copyFrom(ByteArray & buffer)
{
  if (buffer.getBufferSize() != 0)
  {
    this->buffer_ = buffer.buffer_;
  }
  else
  {
    LOG_WARN("Byte array copy not performed, buffer to copy is empty");
  }
}
 
void ByteArray::copyTo(std::vector<char> &out)
{
  out.assign(buffer_.begin(), buffer_.end());
}
 
 
#ifdef BYTE_SWAPPING
void ByteArray::swap(void *value, shared_int byteSize)
{
  LOG_COMM("Executing byte swapping");
 
  LOG_COMM("Value (swapping-input): %u", (unsigned int)(*(unsigned int*)value));
  for (unsigned int i = 0; i < byteSize / 2; i++)
  {
    unsigned int endIndex = byteSize - i - 1;
    char endByte = ((char*)value)[endIndex];
    unsigned int endInt = endByte;
 
    unsigned int beginIndex = i;
    char beginByte = ((char*)value)[beginIndex];
    unsigned int beginInt = beginByte;
 
    LOG_COMM("Swap beginIndex i: %u, endIndex: %u, begin[]: %u, end[]: %u",
             beginIndex, endIndex, beginInt, endInt);
    ((char*)value)[endIndex] = beginByte;
    ((char*)value)[beginIndex] = endByte;
  }
  LOG_COMM("Value (swapping-output): %u", (unsigned int)(*(unsigned int*)value));
 
}
#endif
 
char* ByteArray::getRawDataPtr()
{
  this->copyTo( this->getRawDataPtr_buffer_ );
  return &getRawDataPtr_buffer_[0];
}
 
/****************************************************************
 // load(*)
 //
 // Methods for loading various data types.
 //
 */
bool ByteArray::load(shared_bool value)
{
  return this->load(&value, sizeof(shared_bool));
}
 
bool ByteArray::load(shared_real value)
{
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (loading-input): %f", value);
  this->swap(&value, sizeof(shared_real));
  LOG_COMM("Value (loading-output): %f", value);
#endif
 
  return this->load(&value, sizeof(shared_real));
}
 
bool ByteArray::load(shared_int value)
{
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (loading-input): %d", value);
  this->swap(&value, sizeof(shared_int));
  LOG_COMM("Value (loading-output): %d", value);
#endif
 
  return this->load(&value, sizeof(shared_int));
}
 
bool ByteArray::load(simple_serialize::SimpleSerialize &value)
{
  LOG_COMM("Executing byte array load through simple serialize");
  return value.load(this);
}
 
bool ByteArray::load(ByteArray &value)
{
  LOG_COMM("Executing byte array load through byte array");
  std::deque<char>& src = value.buffer_;
  std::deque<char>& dest  = this->buffer_;
 
  if (this->getBufferSize()+value.getBufferSize() > this->getMaxBufferSize())
  {
    LOG_ERROR("Additional data would exceed buffer size");
    return false;
  }
 
  dest.insert(dest.end(), src.begin(), src.end());
  return true;
}
 
bool ByteArray::load(void* value, const shared_int byte_size)
{
 
  bool rtn;
 
  LOG_COMM("Executing byte array load through void*, size: %d", byte_size);
  // Check inputs
  if (NULL == value)
  {
    LOG_ERROR("NULL point passed into load method");
    return false;
  }
  if (this->getBufferSize()+byte_size > this->getMaxBufferSize())
  {
    LOG_ERROR("Additional data would exceed buffer size");
    return false;
  }
 
  try
  {
    char* bytePtr = (char*)value;
    this->buffer_.insert(this->buffer_.end(), bytePtr, bytePtr + byte_size);
 
    rtn = true;
  }
  catch (std::exception)
  {
    LOG_ERROR("Failed to load byte array");
    rtn = false;
  }
 
  return rtn;
}
 
/****************************************************************
 // unload(*)
 //
 // Methods for unloading various data types.  Unloading data shortens
 // the internal buffer.  The resulting memory that holds the data is
 // lost.
 //
 */
bool ByteArray::unload(shared_bool & value)
{
  shared_bool rtn = this->unload(&value, sizeof(shared_bool));
  return rtn;
 
}
 
bool ByteArray::unload(shared_real &value)
{
  bool rtn = this->unload(&value, sizeof(shared_real));
 
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (unloading-input): %f", value);
  this->swap(&value, sizeof(shared_real));
  LOG_COMM("Value (unloading-output): %f", value);
#endif
 
  return rtn;
}
 
bool ByteArray::unload(shared_int &value)
{
  bool rtn = this->unload(&value, sizeof(shared_int));
 
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (unloading-input): %d", value);
  this->swap(&value, sizeof(shared_int));
  LOG_COMM("Value (unloading-output): %d", value);
#endif
  return rtn;
}
 
bool ByteArray::unload(simple_serialize::SimpleSerialize &value)
{
  LOG_COMM("Executing byte array unload through simple serialize");
  return value.unload(this);
}
 
 
bool ByteArray::unload(ByteArray &value, const shared_int byte_size)
{
  LOG_COMM("Executing byte array unload through byte array");
  bool rtn;
 
  if (byte_size <= this->getBufferSize())
  {
    std::deque<char>& src  = this->buffer_;
    std::deque<char>& dest = value.buffer_;
 
    dest.insert(dest.end(), src.end()-byte_size, src.end());
    src.erase(src.end()-byte_size, src.end());
    rtn = true;
  }
  else
  {
    LOG_ERROR("Buffer smaller than requested size.");
    rtn = false;
  }
 
  return rtn;
}
 
bool ByteArray::unload(void* value, shared_int byteSize)
{
  bool rtn;
 
  LOG_COMM("Executing byte array unload through void*, size: %d", byteSize);
  // Check inputs
  if (NULL == value)
  {
    LOG_ERROR("NULL point passed into unload method");
    return false;
  }
 
  if (byteSize <= this->getBufferSize())
  {
      std::deque<char>& src  = this->buffer_;
 
      std::copy(src.end()-byteSize, src.end(), (char*)value);
      src.erase(src.end()-byteSize, src.end());
      rtn = true;
  }
  else
  {
    LOG_ERROR("Buffer is smaller than requested byteSize.");
    rtn = false;
  }
 
  return rtn;
}
 
 
 
/****************************************************************
 // unloadFront(*)
 //
 // Methods for unloading various data types.  Unloading data shortens
 // the internal buffer and requires a memmove.  These functions should
 // be used sparingly, as they are expensive.
 //
 */
bool ByteArray::unloadFront(industrial::shared_types::shared_real &value)
{
  bool rtn = this->unloadFront(&value, sizeof(shared_real));
 
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (unloading-input): %f", value);
  this->swap(&value, sizeof(shared_real));
  LOG_COMM("Value (unloading-output): %f", value);
#endif
  return rtn;
}
 
bool ByteArray::unloadFront(industrial::shared_types::shared_int &value)
{
  bool rtn = this->unloadFront(&value, sizeof(shared_int));
 
#ifdef BYTE_SWAPPING
  LOG_COMM("Value (unloading-input): %d", value);
  this->swap(&value, sizeof(shared_int));
  LOG_COMM("Value (unloading-output): %d", value);
#endif
  return rtn;
}
 
bool ByteArray::unloadFront(void* value, const industrial::shared_types::shared_int byteSize)
{
  bool rtn;
 
  LOG_COMM("Executing byte array unloadFront through void*, size: %d", byteSize);
  // Check inputs
  if (NULL == value)
  {
    LOG_ERROR("NULL point passed into unloadFront method");
    return false;
  }
 
  if (byteSize <= this->getBufferSize())
  {
      std::deque<char>& src  = this->buffer_;
 
      std::copy(src.begin(), src.begin()+byteSize, (char*)value);
      src.erase(src.begin(), src.begin()+byteSize);
      rtn = true;
  }
  else
  {
    LOG_ERROR("Buffer is smaller than requested byteSize.");
    rtn = false;
  }
 
  return rtn;
}
 
unsigned int ByteArray::getBufferSize()
{
  return this->buffer_.size();
}
 
unsigned int ByteArray::getMaxBufferSize()
{
  return this->buffer_.max_size();
}
 
 
bool ByteArray::isByteSwapEnabled()
{
#ifdef BYTE_SWAPPING
  return true;
#endif
  return false;
}
 
} // namespace byte_array
} // namespace industrial