branches/linux-serial/SlipSerial.cpp

#ifdef _WINDOWS
#include "StdAfx.h"
#endif

#include "SlipSerial.h"

#include <iomanip>

enum SlipState{
        SlipNormal,
        SlipEscaped,
        SlipError,
        SlipStopped
};

#define SLIP_END 192
#define SLIP_ESC 219
#define SLIP_ESCAPED_END 220
#define SLIP_ESCAPED_ESC 221


CSlipSerial::CSlipSerial(char* port, int bitrate)
: CSerial(port,bitrate)
{
}

CSlipSerial::CSlipSerial()
: CSerial()
{
}

CSlipSerial::~CSlipSerial(void)
{
}


std::vector<unsigned char> CSlipSerial::readFrame()
{
        std::vector<unsigned char> buf;

        int state = SlipNormal;

        while ( /*bytesReady() >0 &&*/ state != SlipStopped)
        {
                unsigned char data = readByte();
                switch (state)
                {
                        case SlipNormal:
                                if (data == SLIP_END)
                                        state = SlipStopped;
                                else if (data == SLIP_ESC)
                                        state = SlipEscaped;
                                else
                                        buf.push_back(data);
                                break;
                        case SlipEscaped:
                                if (data == SLIP_ESCAPED_END)
                                        buf.push_back(SLIP_END);
                                else if (data == SLIP_ESCAPED_ESC)
                                        buf.push_back(SLIP_ESC);
                                else
                                        state = SlipError;
                                break;
                        default: //empty default case
                                break;
                }
        }

        if (state != SlipStopped || state == SlipError)  //in case we ran out of data before we recieved af SLIP_END character or there was an error
        {
                buf.clear();
        }

        return buf;
}

void CSlipSerial::writeFrame(std::vector<unsigned char> data)
{
        for (int i=0; i<data.size(); i++)
        {
                writeSlipByte( data[i] );
        }
        //send the frame termination byte
        writeByte(SLIP_END);

}

void CSlipSerial::writeFrame(unsigned char buf[], int len)
{
        for (int i=0; i<len; i++)
        {
                writeSlipByte( buf[i] );
        }
        writeByte(SLIP_END);
}

void CSlipSerial::writeSlipByte(unsigned char out)
{
        if (out == SLIP_ESC)
        {
                writeByte(SLIP_ESC);
                writeByte(SLIP_ESCAPED_ESC);
        }
        else if (out == SLIP_END)
        {
                writeByte(SLIP_ESC);
                writeByte(SLIP_ESCAPED_END);
        }
        else
                writeByte( out );
}
1	#ifdef _WINDOWS
2	#include "StdAfx.h"
3	#endif
4
5	#include "SlipSerial.h"
6
7	#include <iomanip>
8
9	enum SlipState{
10	SlipNormal,
11	SlipEscaped,
12	SlipError,
13	SlipStopped
14	};
15
16	#define SLIP_END 192
17	#define SLIP_ESC 219
18	#define SLIP_ESCAPED_END 220
19	#define SLIP_ESCAPED_ESC 221
20
21
22	CSlipSerial::CSlipSerial(char* port, int bitrate)
23	: CSerial(port,bitrate)
24	{
25	}
26
27	CSlipSerial::CSlipSerial()
28	: CSerial()
29	{
30	}
31
32	CSlipSerial::~CSlipSerial(void)
33	{
34	}
35
36
37	std::vector<unsigned char> CSlipSerial::readFrame()
38	{
39	std::vector<unsigned char> buf;
40
41	int state = SlipNormal;
42
43	while ( /bytesReady() >0 &&/ state != SlipStopped)
44	{
45	unsigned char data = readByte();
46	switch (state)
47	{
48	case SlipNormal:
49	if (data == SLIP_END)
50	state = SlipStopped;
51	else if (data == SLIP_ESC)
52	state = SlipEscaped;
53	else
54	buf.push_back(data);
55	break;
56	case SlipEscaped:
57	if (data == SLIP_ESCAPED_END)
58	buf.push_back(SLIP_END);
59	else if (data == SLIP_ESCAPED_ESC)
60	buf.push_back(SLIP_ESC);
61	else
62	state = SlipError;
63	break;
64	default: //empty default case
65	break;
66	}
67	}
68
69	if (state != SlipStopped \|\| state == SlipError) //in case we ran out of data before we recieved af SLIP_END character or there was an error
70	{
71	buf.clear();
72	}
73
74	return buf;
75	}
76
77	void CSlipSerial::writeFrame(std::vector<unsigned char> data)
78	{
79	for (int i=0; i<data.size(); i++)
80	{
81	writeSlipByte( data[i] );
82	}
83	//send the frame termination byte
84	writeByte(SLIP_END);
85
86	}
87
88	void CSlipSerial::writeFrame(unsigned char buf[], int len)
89	{
90	for (int i=0; i<len; i++)
91	{
92	writeSlipByte( buf[i] );
93	}
94	writeByte(SLIP_END);
95	}
96
97	void CSlipSerial::writeSlipByte(unsigned char out)
98	{
99	if (out == SLIP_ESC)
100	{
101	writeByte(SLIP_ESC);
102	writeByte(SLIP_ESCAPED_ESC);
103	}
104	else if (out == SLIP_END)
105	{
106	writeByte(SLIP_ESC);
107	writeByte(SLIP_ESCAPED_END);
108	}
109	else
110	writeByte( out );
111	}