cosmos 3.0.0

data/lib/cosmos/packets/binary_accessor.rb

@@ -0,0 +1,921 @@
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU Lesser General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+# This file contains the implementation of the BinaryAccessor class.
+# This class allows for easy reading and writing of binary data in Ruby
+
+require 'cosmos/ext/packet'
+
+module Cosmos
+
+  # Provides methods for binary reading and writing
+  class BinaryAccessor
+
+    # Constants for ruby packing directives
+    PACK_8_BIT_INT = 'c'
+    PACK_NATIVE_16_BIT_INT = 's'
+    PACK_LITTLE_ENDIAN_16_BIT_UINT = 'v'
+    PACK_BIG_ENDIAN_16_BIT_UINT = 'n'
+    PACK_NATIVE_32_BIT_INT = 'l'
+    PACK_NATIVE_32_BIT_UINT = 'L'
+    PACK_NATIVE_64_BIT_INT = 'q'
+    PACK_NATIVE_64_BIT_UINT = 'Q'
+    PACK_LITTLE_ENDIAN_32_BIT_UINT = 'V'
+    PACK_BIG_ENDIAN_32_BIT_UINT = 'N'
+    PACK_LITTLE_ENDIAN_32_BIT_FLOAT = 'e'
+    PACK_LITTLE_ENDIAN_64_BIT_FLOAT = 'E'
+    PACK_BIG_ENDIAN_32_BIT_FLOAT = 'g'
+    PACK_BIG_ENDIAN_64_BIT_FLOAT = 'G'
+    PACK_NULL_TERMINATED_STRING = 'Z*'
+    PACK_BLOCK = 'a*'
+    PACK_8_BIT_INT_ARRAY = 'c*'
+    PACK_8_BIT_UINT_ARRAY = 'C*'
+    PACK_NATIVE_16_BIT_INT_ARRAY = 's*'
+    PACK_BIG_ENDIAN_16_BIT_UINT_ARRAY = 'n*'
+    PACK_LITTLE_ENDIAN_16_BIT_UINT_ARRAY = 'v*'
+    PACK_NATIVE_32_BIT_INT_ARRAY = 'l*'
+    PACK_BIG_ENDIAN_32_BIT_UINT_ARRAY = 'N*'
+    PACK_LITTLE_ENDIAN_32_BIT_UINT_ARRAY = 'V*'
+    PACK_NATIVE_64_BIT_INT_ARRAY = 'q*'
+    PACK_NATIVE_64_BIT_UINT_ARRAY = 'Q*'
+    PACK_LITTLE_ENDIAN_32_BIT_FLOAT_ARRAY = 'e*'
+    PACK_LITTLE_ENDIAN_64_BIT_FLOAT_ARRAY = 'E*'
+    PACK_BIG_ENDIAN_32_BIT_FLOAT_ARRAY = 'g*'
+    PACK_BIG_ENDIAN_64_BIT_FLOAT_ARRAY = 'G*'
+
+    # Additional Constants
+    ZERO_STRING = "\000"
+
+    # Valid data types
+    DATA_TYPES = [:INT, :UINT, :FLOAT, :STRING, :BLOCK]
+
+    # Valid overflow types
+    OVERFLOW_TYPES = [:TRUNCATE, :SATURATE, :ERROR, :ERROR_ALLOW_HEX]
+
+    protected
+
+    # Determines the endianness of the host running this code
+    #
+    # This method is protected to force the use of the constant
+    # HOST_ENDIANNESS rather than this method
+    #
+    # @return [Symbol] :BIG_ENDIAN or :LITTLE_ENDIAN
+    def self.get_host_endianness
+      value = 0x01020304
+      packed = [value].pack(PACK_NATIVE_32_BIT_UINT)
+      unpacked = packed.unpack(PACK_LITTLE_ENDIAN_32_BIT_UINT)[0]
+      if unpacked == value
+        :LITTLE_ENDIAN
+      else
+        :BIG_ENDIAN
+      end
+    end
+
+    def self.raise_buffer_error(read_write, buffer, data_type, given_bit_offset, given_bit_size)
+      raise ArgumentError, "#{buffer.length} byte buffer insufficient to #{read_write} #{data_type} at bit_offset #{given_bit_offset} with bit_size #{given_bit_size}"
+    end
+
+    public
+
+    # Store the host endianness so that it only has to be determined once
+    HOST_ENDIANNESS = get_host_endianness()
+    # Valid endianess
+    ENDIANNESS = [:BIG_ENDIAN, :LITTLE_ENDIAN]
+
+    # Reads binary data of any data type from a buffer
+    #
+    # @param bit_offset [Integer] Bit offset to the start of the item. A
+    #   negative number means to offset from the end of the buffer.
+    # @param bit_size [Integer] Size of the item in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param buffer [String] Binary string buffer to read from
+    # @param endianness [Symbol] {ENDIANNESS}
+    # @return [Integer] value read from the buffer
+    # def self.read(bit_offset, bit_size, data_type, buffer, endianness)
+
+    # Writes binary data of any data type to a buffer
+    #
+    # @param value [Varies] Value to write into the buffer
+    # @param bit_offset [Integer] Bit offset to the start of the item. A
+    #   negative number means to offset from the end of the buffer.
+    # @param bit_size [Integer] Size of the item in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param buffer [String] Binary string buffer to write to
+    # @param endianness [Symbol] {ENDIANNESS}
+    # @param overflow [Symbol] {OVERFLOW_TYPES}
+    # @return [Integer] value passed in as a parameter
+    def self.write(value, bit_offset, bit_size, data_type, buffer, endianness, overflow)
+      # Save given values of bit offset and bit size
+      given_bit_offset = bit_offset
+      given_bit_size = bit_size
+
+      # Handle negative and zero bit sizes
+      if bit_size <= 0
+        if data_type == :STRING or data_type == :BLOCK
+          if given_bit_offset < 0
+            raise ArgumentError, "negative or zero bit_sizes (#{given_bit_size}) cannot be given with negative bit_offsets (#{given_bit_offset})"
+          else
+            bit_size = value.to_s.length * 8
+          end
+        else
+          raise ArgumentError, "bit_size #{given_bit_size} must be positive for data types other than :STRING and :BLOCK"
+        end
+      end
+
+      # Handle negative bit offsets
+      if bit_offset < 0
+        bit_offset = ((buffer.length * 8) + bit_offset)
+        raise_buffer_error(:write, buffer, data_type, given_bit_offset, given_bit_size) if bit_offset < 0
+      end
+
+      # Define bounds of string to access this item
+      lower_bound = bit_offset / 8
+      upper_bound = (bit_offset + bit_size - 1) / 8
+
+      # Check for byte alignment
+      byte_aligned = ((bit_offset % 8) == 0)
+
+      # Sanity check buffer size
+      if upper_bound >= buffer.length and given_bit_size > 0
+        # Check special case of little endian bit field
+        if endianness == :LITTLE_ENDIAN and (data_type == :INT or data_type == :UINT) and !(byte_aligned and (bit_size == 8 or bit_size == 16 or bit_size == 32 or bit_size == 64)) and lower_bound < buffer.length
+          # Ok little endian bit field
+        else
+          raise_buffer_error(:write, buffer, data_type, given_bit_offset, given_bit_size)
+        end
+      end
+
+      # Check overflow type
+      raise "unknown overflow type #{overflow}" unless OVERFLOW_TYPES.include?(overflow)
+
+      case data_type
+      when :STRING, :BLOCK
+        #######################################
+        # Handle :STRING and :BLOCK data types
+        #######################################
+
+        # Ensure value is the correct type
+        value = value.to_s
+
+        if byte_aligned
+          temp = value
+          if given_bit_size <= 0
+            end_bytes = -(given_bit_size / 8)
+            old_upper_bound = buffer.length - 1 - end_bytes
+            if old_upper_bound < lower_bound
+              # String was completely empty
+              if end_bytes > 0
+                # Preserve bytes at end of buffer
+                buffer_length = buffer.length
+                buffer << ZERO_STRING * value.length
+                buffer[(lower_bound + value.length)..(buffer.length - 1)] = buffer[lower_bound..(buffer_length - 1)]
+              end
+            elsif bit_size == 0
+              # Remove entire string
+              buffer[lower_bound..old_upper_bound] = ''
+            elsif upper_bound < old_upper_bound
+              # Remove extra bytes from old string
+              buffer[(upper_bound + 1)..old_upper_bound] = ''
+            elsif upper_bound > old_upper_bound and end_bytes > 0
+              # Preserve bytes at end of buffer
+              buffer_length = buffer.length
+              diff = upper_bound - old_upper_bound
+              buffer << ZERO_STRING * diff
+              buffer[(upper_bound + 1)..(buffer.length - 1)] = buffer[(old_upper_bound + 1)..(buffer_length - 1)]
+            end
+          else
+            byte_size = bit_size / 8
+            if value.length < byte_size
+              temp = value.ljust(byte_size, ZERO_STRING)
+            elsif value.length > byte_size
+              if overflow == :TRUNCATE
+                temp = value[0..(byte_size - 1)]
+              else
+                raise ArgumentError, "value of #{value.length} bytes does not fit into #{byte_size} bytes for data_type #{data_type}"
+              end
+            else
+              temp = value
+            end
+          end
+          buffer[lower_bound..upper_bound] = temp if bit_size != 0
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      when :INT, :UINT
+        ###################################
+        # Handle :INT and :UINT data types
+        ###################################
+
+        # Ensure value is the correct type
+        value = Integer(value)
+
+        if byte_aligned and (bit_size == 8 or bit_size == 16 or bit_size == 32 or bit_size == 64)
+          ###########################################################
+          # Handle byte-aligned 8, 16, 32, and 64 bit :INT and :UINT
+          ###########################################################
+
+          case bit_size
+          when 8
+            if data_type == :INT
+              value = self.check_overflow(value, -128, 127, 255, bit_size, data_type, overflow)
+            else
+              value = self.check_overflow(value, 0, 255, 255, bit_size, data_type, overflow)
+            end
+            buffer.setbyte(lower_bound, value % 256)
+
+          when 16
+            if data_type == :INT
+              value = self.check_overflow(value, -32768, 32767, 65535, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_16_BIT_INT)
+              else # endianness != HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_16_BIT_INT).reverse
+              end
+            else # data_type == :UINT
+              value = self.check_overflow(value, 0, 65535, 65535, bit_size, data_type, overflow)
+              if endianness == :BIG_ENDIAN
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_BIG_ENDIAN_16_BIT_UINT)
+              else # endianness == :LITTLE_ENDIAN
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_LITTLE_ENDIAN_16_BIT_UINT)
+              end
+            end
+
+          when 32
+            if data_type == :INT
+              # Note signed integers must allow up to the maximum unsigned value to support values given in hex
+              value = self.check_overflow(value, -2147483648, 2147483647, 4294967295, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_32_BIT_INT)
+              else # endianness != HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_32_BIT_INT).reverse
+              end
+            elsif data_type == :UINT
+              value = self.check_overflow(value, 0, 4294967295, 4294967295, bit_size, data_type, overflow)
+              if endianness == :BIG_ENDIAN
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_BIG_ENDIAN_32_BIT_UINT)
+              else # endianness == :LITTLE_ENDIAN
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_LITTLE_ENDIAN_32_BIT_UINT)
+              end
+            end
+
+          when 64
+            if data_type == :INT
+              # Note signed integers must allow up to the maximum unsigned value to support values given in hex
+              value = self.check_overflow(value, -9223372036854775808, 9223372036854775807, 18446744073709551615, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_64_BIT_INT)
+              else # endianness != HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_64_BIT_INT).reverse
+              end
+            elsif data_type == :UINT
+              value = self.check_overflow(value, 0, 18446744073709551615, 18446744073709551615, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_64_BIT_UINT)
+              else # endianness != HOST_ENDIANNESS
+                buffer[lower_bound..upper_bound] = [value].pack(PACK_NATIVE_64_BIT_UINT).reverse
+              end
+            end
+          end
+
+        else
+          ##################################
+          # Handle :INT and :UINT Bitfields
+          ##################################
+
+          if data_type == :INT
+            # Note signed integers must allow up to the maximum unsigned value to support values given in hex
+            if bit_size > 1
+              min_value = -(2 ** (bit_size - 1))
+              max_value = -min_value - 1
+              hex_max_value = (2 ** bit_size) - 1
+            else
+              min_value = -1
+              max_value = 1
+              hex_max_value = 1
+            end
+            value = self.check_overflow(value, min_value, max_value, hex_max_value, bit_size, data_type, overflow)
+          else
+            max_value = (2 ** bit_size) - 1
+            value = self.check_overflow(value, 0, max_value, max_value, bit_size, data_type, overflow)
+          end
+
+          # Extract Existing Data
+          if endianness == :LITTLE_ENDIAN
+            # Bitoffset always refers to the most significant bit of a bitfield
+            num_bytes = (((bit_offset % 8) + bit_size - 1) / 8) + 1
+            upper_bound = bit_offset / 8
+            lower_bound = upper_bound - num_bytes + 1
+
+            if lower_bound < 0
+              raise ArgumentError, "LITTLE_ENDIAN bitfield with bit_offset #{given_bit_offset} and bit_size #{given_bit_size} is invalid"
+            end
+
+            temp_data = buffer[lower_bound..upper_bound].reverse
+          else
+            temp_data = buffer[lower_bound..upper_bound]
+          end
+
+          # Determine temp upper bound
+          temp_upper = upper_bound - lower_bound
+
+          # Determine Values needed to Handle Bitfield
+          start_bits = bit_offset % 8
+          start_mask = (0xFF << (8 - start_bits))
+          total_bits = (temp_upper + 1) * 8
+          end_bits = total_bits - start_bits - bit_size
+          end_mask = ~(0xFF << end_bits)
+
+          # Add in Start Bits
+          temp = temp_data.getbyte(0) & start_mask
+
+          # Adjust value to correct number of bits
+          temp_mask = (2 ** bit_size) - 1
+          temp_value = value.to_i & temp_mask
+
+          # Add in New Data
+          temp = (temp << (bit_size - (8 - start_bits))) + temp_value
+
+          # Add in Remainder of Existing Data
+          temp = (temp << end_bits) + (temp_data.getbyte(temp_upper) & end_mask)
+
+          # Extract into an array of bytes
+          temp_array = []
+          (0..temp_upper).each { temp_array.insert(0, (temp & 0xFF)); temp = temp >> 8 }
+
+          # Store into buffer
+          if endianness == :LITTLE_ENDIAN
+            buffer[lower_bound..upper_bound] = temp_array.pack(PACK_8_BIT_UINT_ARRAY).reverse
+          else
+            buffer[lower_bound..upper_bound] = temp_array.pack(PACK_8_BIT_UINT_ARRAY)
+          end
+        end
+
+      when :FLOAT
+        ##########################
+        # Handle :FLOAT data type
+        ##########################
+
+        # Ensure value is the correct type
+        value = Float(value)
+
+        if byte_aligned
+          case bit_size
+          when 32
+            if endianness == :BIG_ENDIAN
+              buffer[lower_bound..upper_bound] = [value].pack(PACK_BIG_ENDIAN_32_BIT_FLOAT)
+            else # endianness == :LITTLE_ENDIAN
+              buffer[lower_bound..upper_bound] = [value].pack(PACK_LITTLE_ENDIAN_32_BIT_FLOAT)
+            end
+
+          when 64
+            if endianness == :BIG_ENDIAN
+              buffer[lower_bound..upper_bound] = [value].pack(PACK_BIG_ENDIAN_64_BIT_FLOAT)
+            else # endianness == :LITTLE_ENDIAN
+              buffer[lower_bound..upper_bound] = [value].pack(PACK_LITTLE_ENDIAN_64_BIT_FLOAT)
+            end
+
+          else
+            raise ArgumentError, "bit_size is #{given_bit_size} but must be 32 or 64 for data_type #{data_type}"
+          end
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      else
+        ############################
+        # Handle Unknown data types
+        ############################
+
+        raise ArgumentError, "data_type #{data_type} is not recognized"
+      end
+
+      value
+    end # def self.write
+
+    # Reads an array of binary data of any data type from a buffer
+    #
+    # @param bit_offset [Integer] Bit offset to the start of the array. A
+    #   negative number means to offset from the end of the buffer.
+    # @param bit_size [Integer] Size of each item in the array in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param array_size [Integer] Size in bits of the array. 0 or negative means
+    #   fill the array with as many bit_size number of items that exist (negative
+    #   means excluding the final X number of bits).
+    # @param buffer [String] Binary string buffer to read from
+    # @param endianness [Symbol] {ENDIANNESS}
+    # @return [Array] Array created from reading the buffer
+    def self.read_array(bit_offset, bit_size, data_type, array_size, buffer, endianness)
+      # Save given values of bit offset, bit size, and array_size
+      given_bit_offset = bit_offset
+      given_bit_size = bit_size
+      given_array_size = array_size
+
+      # Handle negative and zero bit sizes
+      raise ArgumentError, "bit_size #{given_bit_size} must be positive for arrays" if bit_size <= 0
+
+      # Handle negative bit offsets
+      if bit_offset < 0
+        bit_offset = ((buffer.length * 8) + bit_offset)
+        raise_buffer_error(:read, buffer, data_type, given_bit_offset, given_bit_size) if bit_offset < 0
+      end
+
+      # Handle negative and zero array sizes
+      if array_size <= 0
+        if given_bit_offset < 0
+          raise ArgumentError, "negative or zero array_size (#{given_array_size}) cannot be given with negative bit_offset (#{given_bit_offset})"
+        else
+          array_size = ((buffer.length * 8) - bit_offset + array_size)
+          if array_size == 0
+            return []
+          elsif array_size < 0
+            raise_buffer_error(:read, buffer, data_type, given_bit_offset, given_bit_size)
+          end
+        end
+      end
+
+      # Calculate number of items in the array
+      # If there is a remainder then we have a problem
+      raise ArgumentError, "array_size #{given_array_size} not a multiple of bit_size #{given_bit_size}" if array_size % bit_size != 0
+      num_items = array_size / bit_size
+
+      # Define bounds of string to access this item
+      lower_bound = bit_offset / 8
+      upper_bound = (bit_offset + array_size - 1) / 8
+
+      # Check for byte alignment
+      byte_aligned = ((bit_offset % 8) == 0)
+
+      case data_type
+      when :STRING, :BLOCK
+        #######################################
+        # Handle :STRING and :BLOCK data types
+        #######################################
+
+        if byte_aligned
+          value = []
+          num_items.times do
+            value << self.read(bit_offset, bit_size, data_type, buffer, endianness)
+            bit_offset += bit_size
+          end
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      when :INT, :UINT
+        ###################################
+        # Handle :INT and :UINT data types
+        ###################################
+
+        if byte_aligned and (bit_size == 8 or bit_size == 16 or bit_size == 32 or bit_size == 64)
+          ###########################################################
+          # Handle byte-aligned 8, 16, 32, and 64 bit :INT and :UINT
+          ###########################################################
+
+          case bit_size
+          when 8
+            if data_type == :INT
+              value = buffer[lower_bound..upper_bound].unpack(PACK_8_BIT_INT_ARRAY)
+            else # data_type == :UINT
+              value = buffer[lower_bound..upper_bound].unpack(PACK_8_BIT_UINT_ARRAY)
+            end
+
+          when 16
+            if data_type == :INT
+              if endianness == HOST_ENDIANNESS
+                value = buffer[lower_bound..upper_bound].unpack(PACK_NATIVE_16_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                temp = self.byte_swap_buffer(buffer[lower_bound..upper_bound], 2)
+                value = temp.to_s.unpack(PACK_NATIVE_16_BIT_INT_ARRAY)
+              end
+            else # data_type == :UINT
+              if endianness == :BIG_ENDIAN
+                value = buffer[lower_bound..upper_bound].unpack(PACK_BIG_ENDIAN_16_BIT_UINT_ARRAY)
+              else # endianness == :LITTLE_ENDIAN
+                value = buffer[lower_bound..upper_bound].unpack(PACK_LITTLE_ENDIAN_16_BIT_UINT_ARRAY)
+              end
+            end
+
+          when 32
+            if data_type == :INT
+              if endianness == HOST_ENDIANNESS
+                value = buffer[lower_bound..upper_bound].unpack(PACK_NATIVE_32_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                temp = self.byte_swap_buffer(buffer[lower_bound..upper_bound], 4)
+                value = temp.to_s.unpack(PACK_NATIVE_32_BIT_INT_ARRAY)
+              end
+            else # data_type == :UINT
+              if endianness == :BIG_ENDIAN
+                value = buffer[lower_bound..upper_bound].unpack(PACK_BIG_ENDIAN_32_BIT_UINT_ARRAY)
+              else # endianness == :LITTLE_ENDIAN
+                value = buffer[lower_bound..upper_bound].unpack(PACK_LITTLE_ENDIAN_32_BIT_UINT_ARRAY)
+              end
+            end
+
+          when 64
+            if data_type == :INT
+              if endianness == HOST_ENDIANNESS
+                value = buffer[lower_bound..upper_bound].unpack(PACK_NATIVE_64_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                temp = self.byte_swap_buffer(buffer[lower_bound..upper_bound], 8)
+                value = temp.to_s.unpack(PACK_NATIVE_64_BIT_INT_ARRAY)
+              end
+            else # data_type == :UINT
+              if endianness == HOST_ENDIANNESS
+                value = buffer[lower_bound..upper_bound].unpack(PACK_NATIVE_64_BIT_UINT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                temp = self.byte_swap_buffer(buffer[lower_bound..upper_bound], 8)
+                value = temp.to_s.unpack(PACK_NATIVE_64_BIT_UINT_ARRAY)
+              end
+            end
+          end
+
+        else
+          ##################################
+          # Handle :INT and :UINT Bitfields
+          ##################################
+          raise ArgumentError, "read_array does not support little endian bit fields with bit_size greater than 1-bit" if endianness == :LITTLE_ENDIAN and bit_size > 1
+
+          value = []
+          num_items.times do
+            value << self.read(bit_offset, bit_size, data_type, buffer, endianness)
+            bit_offset += bit_size
+          end
+        end
+
+      when :FLOAT
+        ##########################
+        # Handle :FLOAT data type
+        ##########################
+
+        if byte_aligned
+          case bit_size
+          when 32
+            if endianness == :BIG_ENDIAN
+              value = buffer[lower_bound..upper_bound].unpack(PACK_BIG_ENDIAN_32_BIT_FLOAT_ARRAY)
+            else # endianness == :LITTLE_ENDIAN
+              value = buffer[lower_bound..upper_bound].unpack(PACK_LITTLE_ENDIAN_32_BIT_FLOAT_ARRAY)
+            end
+
+          when 64
+            if endianness == :BIG_ENDIAN
+              value = buffer[lower_bound..upper_bound].unpack(PACK_BIG_ENDIAN_64_BIT_FLOAT_ARRAY)
+            else # endianness == :LITTLE_ENDIAN
+              value = buffer[lower_bound..upper_bound].unpack(PACK_LITTLE_ENDIAN_64_BIT_FLOAT_ARRAY)
+            end
+
+          else
+            raise ArgumentError, "bit_size is #{given_bit_size} but must be 32 or 64 for data_type #{data_type}"
+          end
+
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      else
+        ############################
+        # Handle Unknown data types
+        ############################
+
+        raise ArgumentError, "data_type #{data_type} is not recognized"
+      end
+
+      value
+    end # def read_array
+
+    # Writes an array of binary data of any data type to a buffer
+    #
+    # @param values [Array] Values to write into the buffer
+    # @param bit_offset [Integer] Bit offset to the start of the array. A
+    #   negative number means to offset from the end of the buffer.
+    # @param bit_size [Integer] Size of each item in the array in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param array_size [Integer] Size in bits of the array as represented in the buffer.
+    #   Size 0 means to fill the buffer with as many bit_size number of items that exist
+    #   (negative means excluding the final X number of bits).
+    # @param buffer [String] Binary string buffer to write to
+    # @param endianness [Symbol] {ENDIANNESS}
+    # @return [Array] values passed in as a parameter
+    def self.write_array(values, bit_offset, bit_size, data_type, array_size, buffer, endianness, overflow)
+      # Save given values of bit offset, bit size, and array_size
+      given_bit_offset = bit_offset
+      given_bit_size = bit_size
+      given_array_size = array_size
+
+      # Verify an array was given
+      raise ArgumentError, "values must be an Array type class is #{values.class}" unless values.kind_of? Array
+
+      # Handle negative and zero bit sizes
+      raise ArgumentError, "bit_size #{given_bit_size} must be positive for arrays" if bit_size <= 0
+
+      # Handle negative bit offsets
+      if bit_offset < 0
+        bit_offset = ((buffer.length * 8) + bit_offset)
+        raise_buffer_error(:write, buffer, data_type, given_bit_offset, given_bit_size) if bit_offset < 0
+      end
+
+      # Handle negative and zero array sizes
+      if array_size <= 0
+        if given_bit_offset < 0
+          raise ArgumentError, "negative or zero array_size (#{given_array_size}) cannot be given with negative bit_offset (#{given_bit_offset})"
+        else
+          end_bytes = -(given_array_size / 8)
+          lower_bound = bit_offset / 8
+          upper_bound = (bit_offset + (bit_size * values.length) - 1) / 8
+          old_upper_bound = buffer.length - 1 - end_bytes
+
+          if upper_bound < old_upper_bound
+            # Remove extra bytes from old buffer
+            buffer[(upper_bound + 1)..old_upper_bound] = ''
+          elsif upper_bound > old_upper_bound
+            # Grow buffer and preserve bytes at end of buffer if necesssary
+            buffer_length = buffer.length
+            diff = upper_bound - old_upper_bound
+            buffer << ZERO_STRING * diff
+            if end_bytes > 0
+              buffer[(upper_bound + 1)..(buffer.length - 1)] = buffer[(old_upper_bound + 1)..(buffer_length - 1)]
+            end
+          end
+
+          array_size = ((buffer.length * 8) - bit_offset + array_size)
+        end
+      end
+
+      # Get data bounds for this array
+      lower_bound = bit_offset / 8
+      upper_bound = (bit_offset + array_size - 1) / 8
+      num_bytes   = upper_bound - lower_bound + 1
+
+      # Check for byte alignment
+      byte_aligned = ((bit_offset % 8) == 0)
+
+      # Calculate the number of writes
+      num_writes = array_size / bit_size
+      # Check for a negative array_size and adjust the number of writes
+      # to simply be the number of values in the passed in array
+      if given_array_size <= 0
+        num_writes = values.length
+      end
+
+      # Ensure the buffer has enough room
+      if bit_offset + num_writes * bit_size > buffer.length * 8
+        raise_buffer_error(:write, buffer, data_type, given_bit_offset, given_bit_size)
+      end
+
+      # Ensure the given_array_size is an even multiple of bit_size
+      raise ArgumentError, "array_size #{given_array_size} not a multiple of bit_size #{given_bit_size}" if array_size % bit_size != 0
+
+      raise ArgumentError, "too many values #{values.length} for given array_size #{given_array_size} and bit_size #{given_bit_size}" if num_writes < values.length
+
+      # Check overflow type
+      raise "unknown overflow type #{overflow}" unless OVERFLOW_TYPES.include?(overflow)
+
+      case data_type
+      when :STRING, :BLOCK
+        #######################################
+        # Handle :STRING and :BLOCK data types
+        #######################################
+
+        if byte_aligned
+          num_writes.times do |index|
+            self.write(values[index], bit_offset, bit_size, data_type, buffer, endianness, overflow)
+            bit_offset += bit_size
+          end
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      when :INT, :UINT
+        ###################################
+        # Handle :INT and :UINT data types
+        ###################################
+
+        if byte_aligned and (bit_size == 8 or bit_size == 16 or bit_size == 32 or bit_size == 64)
+          ###########################################################
+          # Handle byte-aligned 8, 16, 32, and 64 bit :INT and :UINT
+          ###########################################################
+
+          case bit_size
+          when 8
+            if data_type == :INT
+              values = self.check_overflow_array(values, -128, 127, 255, bit_size, data_type, overflow)
+              packed = values.pack(PACK_8_BIT_INT_ARRAY)
+            else # data_type == :UINT
+              values = self.check_overflow_array(values, 0, 255, 255, bit_size, data_type, overflow)
+              packed = values.pack(PACK_8_BIT_UINT_ARRAY)
+            end
+
+          when 16
+            if data_type == :INT
+              values = self.check_overflow_array(values, -32768, 32767, 65535, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_16_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_16_BIT_INT_ARRAY)
+                self.byte_swap_buffer!(packed, 2)
+              end
+            else # data_type == :UINT
+              values = self.check_overflow_array(values, 0, 65535, 65535, bit_size, data_type, overflow)
+              if endianness == :BIG_ENDIAN
+                packed = values.pack(PACK_BIG_ENDIAN_16_BIT_UINT_ARRAY)
+              else # endianness == :LITTLE_ENDIAN
+                packed = values.pack(PACK_LITTLE_ENDIAN_16_BIT_UINT_ARRAY)
+              end
+            end
+
+          when 32
+            if data_type == :INT
+              values = self.check_overflow_array(values, -2147483648, 2147483647, 4294967295, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_32_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_32_BIT_INT_ARRAY)
+                self.byte_swap_buffer!(packed, 4)
+              end
+            else # data_type == :UINT
+              values = self.check_overflow_array(values, 0, 4294967295, 4294967295, bit_size, data_type, overflow)
+              if endianness == :BIG_ENDIAN
+                packed = values.pack(PACK_BIG_ENDIAN_32_BIT_UINT_ARRAY)
+              else # endianness == :LITTLE_ENDIAN
+                packed = values.pack(PACK_LITTLE_ENDIAN_32_BIT_UINT_ARRAY)
+              end
+            end
+
+          when 64
+            if data_type == :INT
+              values = self.check_overflow_array(values, -9223372036854775808, 9223372036854775807, 18446744073709551615, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_64_BIT_INT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_64_BIT_INT_ARRAY)
+                self.byte_swap_buffer!(packed, 8)
+              end
+            else # data_type == :UINT
+              values = self.check_overflow_array(values, 0, 18446744073709551615, 18446744073709551615, bit_size, data_type, overflow)
+              if endianness == HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_64_BIT_UINT_ARRAY)
+              else # endianness != HOST_ENDIANNESS
+                packed = values.pack(PACK_NATIVE_64_BIT_UINT_ARRAY)
+                self.byte_swap_buffer!(packed, 8)
+              end
+            end
+          end
+
+          # Adjust packed size to hold number of items written
+          buffer[lower_bound..upper_bound] = adjust_packed_size(num_bytes, packed) if num_bytes > 0
+
+        else
+          ##################################
+          # Handle :INT and :UINT Bitfields
+          ##################################
+
+          raise ArgumentError, "write_array does not support little endian bit fields with bit_size greater than 1-bit" if endianness == :LITTLE_ENDIAN and bit_size > 1
+
+          num_writes.times do |index|
+            self.write(values[index], bit_offset, bit_size, data_type, buffer, endianness, overflow)
+            bit_offset += bit_size
+          end
+        end
+
+      when :FLOAT
+        ##########################
+        # Handle :FLOAT data type
+        ##########################
+
+        if byte_aligned
+          case bit_size
+          when 32
+            if endianness == :BIG_ENDIAN
+              packed = values.pack(PACK_BIG_ENDIAN_32_BIT_FLOAT_ARRAY)
+            else # endianness == :LITTLE_ENDIAN
+              packed = values.pack(PACK_LITTLE_ENDIAN_32_BIT_FLOAT_ARRAY)
+            end
+
+          when 64
+            if endianness == :BIG_ENDIAN
+              packed = values.pack(PACK_BIG_ENDIAN_64_BIT_FLOAT_ARRAY)
+            else # endianness == :LITTLE_ENDIAN
+              packed = values.pack(PACK_LITTLE_ENDIAN_64_BIT_FLOAT_ARRAY)
+            end
+
+          else
+            raise ArgumentError, "bit_size is #{given_bit_size} but must be 32 or 64 for data_type #{data_type}"
+          end
+
+          # Adjust packed size to hold number of items written
+          buffer[lower_bound..upper_bound] = adjust_packed_size(num_bytes, packed) if num_bytes > 0
+
+        else
+          raise ArgumentError, "bit_offset #{given_bit_offset} is not byte aligned for data_type #{data_type}"
+        end
+
+      else
+        ############################
+        # Handle Unknown data types
+        ############################
+        raise ArgumentError, "data_type #{data_type} is not recognized"
+      end # case data_type
+
+      values
+    end # def write_array
+
+    # Adjusts the packed array to be the given number of bytes
+    #
+    # @param num_bytes [Integer] The desired number of bytes
+    # @param packet [Array] The packed data buffer
+    def self.adjust_packed_size(num_bytes, packed)
+      difference = num_bytes - packed.length
+      if difference > 0
+        packed << (ZERO_STRING * difference)
+      elsif difference < 0
+        packed = packed[0..(packed.length - 1 + difference)]
+      end
+      packed
+    end
+
+    # Byte swaps every X bytes of data in a buffer overwriting the buffer
+    #
+    # @param buffer [String] Buffer to modify
+    # @param num_bytes_per_word [Integer] Number of bytes per word that will be swapped
+    # @return [String] buffer passed in as a parameter
+    def self.byte_swap_buffer!(buffer, num_bytes_per_word)
+      num_swaps = buffer.length / num_bytes_per_word
+      index = 0
+      num_swaps.times do
+        range = index..(index + num_bytes_per_word - 1)
+        buffer[range] = buffer[range].reverse
+        index += num_bytes_per_word
+      end
+      buffer
+    end
+
+    # Byte swaps every X bytes of data in a buffer into a new buffer
+    #
+    # @param buffer [String] Buffer that will be copied then modified
+    # @param num_bytes_per_word [Integer] Number of bytes per word that will be swapped
+    # @return [String] modified buffer
+    def self.byte_swap_buffer(buffer, num_bytes_per_word)
+      buffer = buffer.clone
+      self.byte_swap_buffer!(buffer, num_bytes_per_word)
+    end
+
+    # Checks for overflow of an integer data type
+    #
+    # @param value [Integer] Value to write into the buffer
+    # @param min_value [Integer] Minimum allowed value
+    # @param max_value [Integer] Maximum allowed value
+    # @param hex_max_value [Integer] Maximum allowed value if specified in hex
+    # @param bit_size [Integer] Size of the item in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param overflow [Symbol] {OVERFLOW_TYPES}
+    # @return [Integer] Potentially modified value
+    def self.check_overflow(value, min_value, max_value, hex_max_value, bit_size, data_type, overflow)
+      if overflow != :TRUNCATE
+        if value > max_value
+          if overflow == :SATURATE
+            value = max_value
+          else
+            if overflow == :ERROR or value > hex_max_value
+              raise ArgumentError, "value of #{value} invalid for #{bit_size}-bit #{data_type}"
+            end
+          end
+        elsif value < min_value
+          if overflow == :SATURATE
+            value = min_value
+          else
+            raise ArgumentError, "value of #{value} invalid for #{bit_size}-bit #{data_type}"
+          end
+        end
+      end
+      value
+    end
+
+    # Checks for overflow of an array of integer data types
+    #
+    # @param values [Array[Integer]] Values to write into the buffer
+    # @param min_value [Integer] Minimum allowed value
+    # @param max_value [Integer] Maximum allowed value
+    # @param hex_max_value [Integer] Maximum allowed value if specified in hex
+    # @param bit_size [Integer] Size of the item in bits
+    # @param data_type [Symbol] {DATA_TYPES}
+    # @param overflow [Symbol] {OVERFLOW_TYPES}
+    # @return [Array[Integer]] Potentially modified values
+    def self.check_overflow_array(values, min_value, max_value, hex_max_value, bit_size, data_type, overflow)
+      if overflow != :TRUNCATE
+        values.each_with_index do |value, index|
+          values[index] = check_overflow(value, min_value, max_value, hex_max_value, bit_size, data_type, overflow)
+        end
+      end
+      values
+    end
+
+  end # class BinaryAccessor
+
+end # module Cosmos