package_serializer.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
#define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
 
#include <endian.h>
#include <cstring>
 
namespace urcl
{
namespace comm
{
class PackageSerializer
{
public:
  template <typename T>
  static size_t serialize(uint8_t* buffer, T val)
  {
    size_t size = sizeof(T);
    T tmp = encode(val);
    std::memcpy(buffer, &tmp, size);
    return size;
  }
 
  static size_t serialize(uint8_t* buffer, double val)
  {
    size_t size = sizeof(double);
    uint64_t inner;
    std::memcpy(&inner, &val, size);
    inner = encode(inner);
    std::memcpy(buffer, &inner, size);
    return size;
  }
 
  static size_t serialize(uint8_t* buffer, std::string val)
  {
    const uint8_t* c_val = reinterpret_cast<const uint8_t*>(val.c_str());
 
    for (size_t i = 0; i < val.size(); i++)
    {
      buffer[i] = c_val[i];
    }
    return val.size();
  }
 
private:
  template <typename T>
  static T encode(T val)
  {
    return val;
  }
  static uint16_t encode(uint16_t val)
  {
    return htobe16(val);
  }
  static uint32_t encode(uint32_t val)
  {
    return htobe32(val);
  }
  static uint64_t encode(uint64_t val)
  {
    return htobe64(val);
  }
  static int16_t encode(int16_t val)
  {
    return htobe16(val);
  }
  static int32_t encode(int32_t val)
  {
    return htobe32(val);
  }
  static int64_t encode(int64_t val)
  {
    return htobe64(val);
  }
};
 
}  // namespace comm
}  // namespace urcl
#endif  // UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED