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vnproglib/cpp/include/vn/utilities.h

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+/// \file
+/// {COMMON_HEADER}
+#ifndef _VN_UTILITIES_H_
+#define _VN_UTILITIES_H_
+
+#include <string>
+#include <vector>
+
+#include "int.h"
+#include "export.h"
+
+/// \brief Defines for the specific version of the VectorNav library.
+#define VNAPI_MAJOR		1
+#define VNAPI_MINOR		2
+#define VNAPI_PATCH		0
+#define VNAPI_REVISION	126
+
+namespace vn {
+
+/// \brief Class for version information about the VectorNav library.
+class ApiVersion
+{
+
+public:
+
+	/// \brief Returns the major version of the VectorNav library.
+	///
+	/// \return The major version.
+	static int major();
+
+	/// \brief Returns the minor version of the VectorNav library.
+	///
+	/// \return The minor version
+	static int minor();
+
+	/// \brief Returns the patch version of the VectorNav library.
+	///
+	/// \return The patch version.
+	static int patch();
+
+	/// \brief Returns the revision version of the VectorNav library.
+	///
+	/// \return The revision version.
+	static int revision();
+
+	/// \brief Returns the full version of the VectorNav library.
+	///
+	/// \return The library's version in a string format.
+	static std::string getVersion();
+
+};
+
+/// \brief Converts two characters encoded in hex to a uint8_t.
+///
+/// \param[in] str Two characters string with hexadecimal encoding.
+/// \return The converted value.
+uint8_t toUint8FromHexStr(const char* str);
+
+/// \brief Converts a 16-bit integer in sensor order to host order.
+///
+/// \param[in] sensorOrdered The 16-bit integer in sensor order.
+/// \return The value converted to host ordered.
+uint16_t stoh(uint16_t sensorOrdered);
+
+/// \brief Converts a 32-bit integer in sensor order to host order.
+///
+/// \param[in] sensorOrdered The 32-bit integer in sensor order.
+/// \return The value converted to host ordered.
+uint32_t stoh(uint32_t sensorOrdered);
+
+/// \brief Converts a 64-bit integer in sensor order to host order.
+///
+/// \param[in] sensorOrdered The 64-bit integer in sensor order.
+/// \return The value converted to host ordered.
+uint64_t stoh(uint64_t sensorOrdered);
+
+/// \brief Counts the number of bits set in the provided value.
+///
+/// \param[in] d The value to count the bits of.
+/// \return The number of bits set.
+uint8_t countSetBits(uint8_t d);
+
+
+
+
+
+/// \brief Converts the character encoded as a hexadecimal to a uint8_t.
+///
+/// \param[in] c The hexadecimal character to convert.
+/// \return The converted value.
+uint8_t to_uint8_from_hexchar(char c);
+
+/// \brief Converts two characters encoded in hex to a uint8_t.
+///
+/// \param[in] str Two characters string with hexadecimal encoding.
+/// \return The converted value.
+uint8_t to_uint8_from_hexstr(const char* str);
+
+/// \brief Converts four characters encoded in hex to a uint16_t.
+///
+/// \param[in] str Four characters string with hexadecimal encoding.
+/// \return The converted value.
+uint16_t to_uint16_from_hexstr(const char* str);
+
+
+#if PYTHON
+
+/// \brief Checks a DLL's first level dependencies to see if they are all
+/// present.  If any of the DLLs cannot be found the software will
+/// print the missing DLLs to the console
+///
+/// \param[in] dllName absolute or relative path to the dll in question
+/// \param[in] workingDirectory current working directory.  Must be the
+///            same one as the program or results may be incorrect
+/// \param[out] missingDlls vector of stings to hold the names of any missing
+///							Dlls.  This vector will be emptied if all Dlls are
+///							present.
+/// \return flag indicating succes so the user may choose to shut down
+///         gracefully should the DLL be missing
+vn_proglib_DLLEXPORT bool checkDllValidity(const std::string& dllName,
+	                            const std::string& workingDirectory,
+								std::vector<std::string>& missingDlls);
+
+#endif
+
+}
+
+#endif