90 lines
2.4 KiB
C
90 lines
2.4 KiB
C
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MYNTEYE_DEVICE_CHANNEL_BYTES_H_
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#define MYNTEYE_DEVICE_CHANNEL_BYTES_H_
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#pragma once
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#include <algorithm>
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#include <string>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "mynteye/device/channel/def.h"
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#include "mynteye/device/types.h"
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MYNTEYE_BEGIN_NAMESPACE
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namespace bytes {
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// from
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template <typename T>
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T _from_data(const std::uint8_t *data) {
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std::size_t size = sizeof(T) / sizeof(std::uint8_t);
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T value = 0;
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for (std::size_t i = 0; i < size; i++) {
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value |= data[i] << (8 * (size - i - 1));
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}
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return value;
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}
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template <>
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inline double _from_data(const std::uint8_t *data) {
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return *(reinterpret_cast<const double *>(data));
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}
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std::string _from_data(const std::uint8_t *data, std::size_t count);
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// from types
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std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data);
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std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data);
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std::size_t from_data(Extrinsics *ex, const std::uint8_t *data);
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// to
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template <typename T>
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std::size_t _to_data(T value, std::uint8_t *data) {
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std::size_t size = sizeof(T) / sizeof(std::uint8_t);
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for (std::size_t i = 0; i < size; i++) {
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data[i] = static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) & 0xFF);
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}
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return size;
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}
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template <>
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inline std::size_t _to_data(double value, std::uint8_t *data) {
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std::uint8_t *val = reinterpret_cast<std::uint8_t *>(&value);
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std::copy(val, val + 8, data);
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return 8;
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}
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std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
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// to types
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std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data);
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std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data);
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std::size_t to_data(const Extrinsics *ex, std::uint8_t *data);
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} // namespace bytes
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_CHANNEL_BYTES_H_
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