From 7d5e14910222370bc8c01c3f3f5ef704aa2aafbd Mon Sep 17 00:00:00 2001
From: Simon Rasmussen <zetlon@gmail.com>
Date: Wed, 1 Mar 2017 00:00:55 +0100
Subject: [PATCH] Fixed strict alisasing warnings and double/float big endian
 issues

---
 include/ur_modern_driver/bin_parser.h | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/include/ur_modern_driver/bin_parser.h b/include/ur_modern_driver/bin_parser.h
index 12d49cb..2bc102e 100644
--- a/include/ur_modern_driver/bin_parser.h
+++ b/include/ur_modern_driver/bin_parser.h
@@ -66,20 +66,14 @@ public:
     {
         return be64toh(val);
     }
-    float decode(float val)
-    {
-        return be32toh(val);
-    }
-    double decode(double val)
-    {
-        return be64toh(val);
-    }
 
     template <typename T>
     T peek()
     {
         assert(_buf_pos <= _buf_end);
-        return decode(*(reinterpret_cast<T*>(_buf_pos)));
+        T val;
+        std::memcpy(&val, _buf_pos, sizeof(T));
+        return decode(val);
     }
 
     template <typename T>
@@ -89,6 +83,19 @@ public:
         _buf_pos += sizeof(T);
     }
 
+    void parse(double& val)
+    {
+        uint64_t inner;
+        parse<uint64_t>(inner);
+        std::memcpy(&val, &inner, sizeof(double));
+    }
+    void parse(float& val)
+    {
+        uint32_t inner;
+        parse<uint32_t>(inner);
+        std::memcpy(&val, &inner, sizeof(float));
+    }
+
     // UR uses 1 byte for boolean values but sizeof(bool) is implementation
     // defined so we must ensure they're parsed as uint8_t on all compilers
     void parse(bool& val)