implemented serialization of general rtde headers and the request

protocol version package

include/ur_rtde_driver/comm/package_serializer.h

@@ -0,0 +1,84 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- htobeGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// 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 ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Tristan Schnell schnell@fzi.de
+ * \date    2019-04-10
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_PACKAGE_SERIALIZER_H_INCLUDED
+#define UR_RTDE_DRIVER_PACKAGE_SERIALIZER_H_INCLUDED
+
+#include <endian.h>
+#include <cstring>
+
+namespace ur_driver
+{
+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;
+  }
+
+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 ur_driver
+#endif  // UR_RTDE_DRIVER_PACKAGE_SERIALIZER_H_INCLUDED