setup egse project

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -0,0 +1,62 @@
+#include "ArcsecDatalinkLayer.h"
+
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
+
+ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
+
+void ArcsecDatalinkLayer::slipInit() {
+  slipInfo.buffer = rxBuffer;
+  slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
+  slipInfo.length = 0;
+  slipInfo.unescape_next = 0;
+  slipInfo.prev_state = SLIP_COMPLETE;
+}
+
+ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
+                                               size_t* bytesLeft) {
+  size_t bytePos = 0;
+  for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
+    enum arc_dec_result decResult =
+        arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
+    *bytesLeft = rawDataSize - bytePos - 1;
+    switch (decResult) {
+      case ARC_DEC_INPROGRESS: {
+        if (bytePos == rawDataSize - 1) {
+          return DEC_IN_PROGRESS;
+        }
+        continue;
+      }
+      case ARC_DEC_ERROR_FRAME_SHORT:
+        return REPLY_TOO_SHORT;
+      case ARC_DEC_ERROR_CHECKSUM:
+        return CRC_FAILURE;
+      case ARC_DEC_ASYNC:
+      case ARC_DEC_SYNC: {
+        // Reset length of SLIP struct for next frame
+        slipInfo.length = 0;
+        return RETURN_OK;
+      }
+      default:
+        sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
+        break;
+        return RETURN_FAILED;
+    }
+  }
+  return RETURN_FAILED;
+}
+
+uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
+
+const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
+
+void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
+  arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
+}
+
+uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
+
+uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
+
+uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
+
+uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }