eive-obsw/mission/devices/devicedefinitions/rwHelpers.cpp

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_

#include "rwHelpers.h"

void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
                     size_t& encodedLen) {
  encodedBuffer[0] = rws::FRAME_DELIMITER;
  encodedLen = 1;
  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
    if (sourceBuf[sourceIdx] == 0x7E) {
      encodedBuffer[encodedLen++] = 0x7D;
      encodedBuffer[encodedLen++] = 0x5E;
    } else if (sourceBuf[sourceIdx] == 0x7D) {
      encodedBuffer[encodedLen++] = 0x7D;
      encodedBuffer[encodedLen++] = 0x5D;
    } else {
      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
    }
  }
  encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
}

size_t rws::idToPacketLen(DeviceCommandId_t id) {
  switch (id) {
    case (rws::GET_RW_STATUS): {
      return rws::SIZE_GET_RW_STATUS;
    }
    case (rws::SET_SPEED): {
      return rws::SIZE_SET_SPEED_REPLY;
    }
    case (rws::CLEAR_LAST_RESET_STATUS): {
      return rws::SIZE_CLEAR_RESET_STATUS;
    }
    case (rws::GET_LAST_RESET_STATUS): {
      return rws::SIZE_GET_RESET_STATUS;
    }
    case (rws::GET_TEMPERATURE): {
      return rws::SIZE_GET_TEMPERATURE_REPLY;
    }
    case (rws::GET_TM): {
      return rws::SIZE_GET_TELEMETRY_REPLY;
    }
    case (rws::INIT_RW_CONTROLLER): {
      return rws::SIZE_INIT_RW;
    }
    default: {
      sif::error << "no reply buffer for rw command " << id << std::endl;
      return 0;
    }
  }
}

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */