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#ifdef _WINDOWS
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#include "StdAfx.h"
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#endif
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#include "SlipSerial.h"
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#include <iomanip>
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enum SlipState{
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SlipNormal,
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SlipEscaped,
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SlipError,
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SlipStopped
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};
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#define SLIP_END 192
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#define SLIP_ESC 219
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#define SLIP_ESCAPED_END 220
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#define SLIP_ESCAPED_ESC 221
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CSlipSerial::CSlipSerial(char* port, int bitrate)
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: CSerial(port,bitrate)
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{
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}
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CSlipSerial::CSlipSerial()
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: CSerial()
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{
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}
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CSlipSerial::~CSlipSerial(void)
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{
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}
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std::vector<unsigned char> CSlipSerial::readFrame()
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{
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std::vector<unsigned char> buf;
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int state = SlipNormal;
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while ( /*bytesReady() >0 &&*/ state != SlipStopped)
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{
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unsigned char data = readByte();
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switch (state)
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{
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case SlipNormal:
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if (data == SLIP_END)
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state = SlipStopped;
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else if (data == SLIP_ESC)
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state = SlipEscaped;
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else
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buf.push_back(data);
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break;
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case SlipEscaped:
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if (data == SLIP_ESCAPED_END)
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buf.push_back(SLIP_END);
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else if (data == SLIP_ESCAPED_ESC)
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buf.push_back(SLIP_ESC);
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else
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state = SlipError;
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break;
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default: //empty default case
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break;
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}
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}
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if (state != SlipStopped || state == SlipError) //in case we ran out of data before we recieved af SLIP_END character or there was an error
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{
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buf.clear();
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}
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return buf;
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}
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void CSlipSerial::writeFrame(std::vector<unsigned char> data)
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{
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for (int i=0; i<data.size(); i++)
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{
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writeSlipByte( data[i] );
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}
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//send the frame termination byte
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writeByte(SLIP_END);
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}
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void CSlipSerial::writeFrame(unsigned char buf[], int len)
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{
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for (int i=0; i<len; i++)
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{
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writeSlipByte( buf[i] );
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}
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writeByte(SLIP_END);
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}
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void CSlipSerial::writeSlipByte(unsigned char out)
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{
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if (out == SLIP_ESC)
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{
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writeByte(SLIP_ESC);
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writeByte(SLIP_ESCAPED_ESC);
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}
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else if (out == SLIP_END)
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{
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writeByte(SLIP_ESC);
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writeByte(SLIP_ESCAPED_END);
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}
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else
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writeByte( out );
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}
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