.. _program_listing_file_src_tap_architecture_endianness_wrappers.hpp:

Program Listing for File endianness_wrappers.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_architecture_endianness_wrappers.hpp>` (``src/tap/architecture/endianness_wrappers.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_ENDIANNESS_WRAPPERS_HPP_
   #define TAPROOT_ENDIANNESS_WRAPPERS_HPP_
   
   #include <cstdint>
   #include <cstring>
   
   #include "modm/architecture/detect.hpp"
   
   namespace tap
   {
   namespace arch
   {
   template <typename T>
   inline void dataToByteArray(T data, uint8_t *bytesOut, bool forward)
   {
       int numBytes = sizeof(T);
       for (int i = 0; i < numBytes; i++)
       {
           int index = forward ? i : numBytes - 1 - i;
           uint8_t byte = (data >> (8 * index)) & 0xff;
           bytesOut[i] = byte;
       }
   }
   
   template <typename T>
   inline void byteArrayToData(T *data, const uint8_t *bytesIn, bool forward)
   {
       int numBytes = sizeof(T);
       for (int i = 0; i < numBytes; i++)
       {
           int index = forward ? i : numBytes - 1 - i;
           uint8_t byte = (*(bytesIn + index));
           *(reinterpret_cast<uint8_t *>(data) + i) = byte;
       }
   }
   
   template <typename T>
   void convertToLittleEndian(T data, uint8_t *bytesOut)
   {
   #if MODM_IS_LITTLE_ENDIAN
       memcpy(bytesOut, &data, sizeof(T));
   #else
       dataToByteArray(data, bytesOut, false);
   #endif
   }
   
   template <typename T>
   void convertToBigEndian(T data, uint8_t *bytesOut)
   {
   #if MODM_IS_LITTLE_ENDIAN
       dataToByteArray(data, bytesOut, false);
   #else
       memcpy(bytesOut, &data, sizeof(T));
   #endif
   }
   
   template <typename T>
   void convertFromLittleEndian(T *data, const uint8_t *bytesIn)
   {
   #if MODM_IS_LITTLE_ENDIAN
       *data = *reinterpret_cast<const T *>(bytesIn);
   #else
       byteArrayToData(data, bytesIn, false);
   #endif
   }
   
   template <typename T>
   void convertFromBigEndian(T *data, const uint8_t *bytesIn)
   {
   #if MODM_IS_LITTLE_ENDIAN
       byteArrayToData(data, bytesIn, false);
   #else
       *data = *reinterpret_cast<const T *>(bytesIn);
   #endif
   }
   
   inline float bigEndianInt16ToFloat(const uint8_t *buff)
   {
       return static_cast<float>(static_cast<int16_t>((*(buff)) | (*(buff + 1) << 8)));
   }
   
   }  // namespace arch
   }  // namespace tap
   
   #endif  // TAPROOT_ENDIANNESS_WRAPPERS_HPP_