zaber.motion.gateway.Serialization Maven / Gradle / Ivy

Show more of this group Show more artifacts with this name
Show all versions of motion-library Show documentation

A library that aims to provide easy-to-use API for communication with Zaber devices using Zaber ASCII Protocol.

There is a newer version: 6.7.0

package zaber.motion.gateway;

import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

public final class Serialization {
    public static final int SIZE_TYPE_SIZE = 4;

    private Serialization() {
    }

    public static byte[] serialize(List messages) {
        int totalLength = SIZE_TYPE_SIZE;
        for (byte[] message : messages) {
            totalLength += message.length + SIZE_TYPE_SIZE;
        }
        ByteBuffer buffer = ByteBuffer.allocate(totalLength);

        byte[] size = getSizeAsByteArrayLE(totalLength);
        buffer.put(size, 0, SIZE_TYPE_SIZE);

        for (byte[] message : messages) {
            int msgSize = message.length;
            byte[] msgSizeConverted = getSizeAsByteArrayLE(msgSize);
            buffer.put(msgSizeConverted, 0, SIZE_TYPE_SIZE);

            buffer.put(message, 0, msgSize);
        }
        return buffer.array();
    }

    @SuppressWarnings("checkstyle:magicnumber")
    public static List deserialize(byte[] bytes) {
        int offset = SIZE_TYPE_SIZE;
        List messages = new ArrayList<>();

        while (offset < bytes.length) {
            int messageSize = getSizeFromByteArrayLE(bytes, offset);
            offset += SIZE_TYPE_SIZE;

            messages.add(Arrays.copyOfRange(bytes, offset, offset + messageSize));
            offset += messageSize;
        }

        return messages;
    }

    @SuppressWarnings("checkstyle:magicnumber")
    public static byte[] getSizeAsByteArrayLE(int size) {
        return new byte[] {
            (byte) (size & 0xff),
            (byte) ((size >> 8) & 0xff),
            (byte) ((size >> 16) & 0xff),
            (byte) ((size >> 24) & 0xff)
        };
    }

    @SuppressWarnings("checkstyle:magicnumber")
    public static int getSizeFromByteArrayLE(byte[] array, int offset) {
        return (array[offset] & 0xff)
            | ((array[offset + 1] & 0xff) << 8)
            | ((array[offset + 2] & 0xff) << 16)
            | ((array[offset + 3] & 0xff) << 24);
    }
}