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