@robotical/ricjs
Version:
Javascript/TS library for Robotical RIC
373 lines • 7.12 kB
JavaScript
"use strict";
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// RICJS
// Communications Library
//
// Rob Dobson & Chris Greening 2020-2022
// (C) 2020-2022
//
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Object.defineProperty(exports, "__esModule", { value: true });
/*eslint no-bitwise: ["error", { "allow": ["&", "<<", ">>", "^"] }] */
var RICMiniHDLCState;
(function (RICMiniHDLCState) {
RICMiniHDLCState[RICMiniHDLCState["STATE_ESCAPE"] = 0] = "STATE_ESCAPE";
RICMiniHDLCState[RICMiniHDLCState["STATE_READ"] = 1] = "STATE_READ";
})(RICMiniHDLCState || (RICMiniHDLCState = {}));
const CRC_LUT = [
0x0000,
0x1021,
0x2042,
0x3063,
0x4084,
0x50a5,
0x60c6,
0x70e7,
0x8108,
0x9129,
0xa14a,
0xb16b,
0xc18c,
0xd1ad,
0xe1ce,
0xf1ef,
0x1231,
0x0210,
0x3273,
0x2252,
0x52b5,
0x4294,
0x72f7,
0x62d6,
0x9339,
0x8318,
0xb37b,
0xa35a,
0xd3bd,
0xc39c,
0xf3ff,
0xe3de,
0x2462,
0x3443,
0x0420,
0x1401,
0x64e6,
0x74c7,
0x44a4,
0x5485,
0xa56a,
0xb54b,
0x8528,
0x9509,
0xe5ee,
0xf5cf,
0xc5ac,
0xd58d,
0x3653,
0x2672,
0x1611,
0x0630,
0x76d7,
0x66f6,
0x5695,
0x46b4,
0xb75b,
0xa77a,
0x9719,
0x8738,
0xf7df,
0xe7fe,
0xd79d,
0xc7bc,
0x48c4,
0x58e5,
0x6886,
0x78a7,
0x0840,
0x1861,
0x2802,
0x3823,
0xc9cc,
0xd9ed,
0xe98e,
0xf9af,
0x8948,
0x9969,
0xa90a,
0xb92b,
0x5af5,
0x4ad4,
0x7ab7,
0x6a96,
0x1a71,
0x0a50,
0x3a33,
0x2a12,
0xdbfd,
0xcbdc,
0xfbbf,
0xeb9e,
0x9b79,
0x8b58,
0xbb3b,
0xab1a,
0x6ca6,
0x7c87,
0x4ce4,
0x5cc5,
0x2c22,
0x3c03,
0x0c60,
0x1c41,
0xedae,
0xfd8f,
0xcdec,
0xddcd,
0xad2a,
0xbd0b,
0x8d68,
0x9d49,
0x7e97,
0x6eb6,
0x5ed5,
0x4ef4,
0x3e13,
0x2e32,
0x1e51,
0x0e70,
0xff9f,
0xefbe,
0xdfdd,
0xcffc,
0xbf1b,
0xaf3a,
0x9f59,
0x8f78,
0x9188,
0x81a9,
0xb1ca,
0xa1eb,
0xd10c,
0xc12d,
0xf14e,
0xe16f,
0x1080,
0x00a1,
0x30c2,
0x20e3,
0x5004,
0x4025,
0x7046,
0x6067,
0x83b9,
0x9398,
0xa3fb,
0xb3da,
0xc33d,
0xd31c,
0xe37f,
0xf35e,
0x02b1,
0x1290,
0x22f3,
0x32d2,
0x4235,
0x5214,
0x6277,
0x7256,
0xb5ea,
0xa5cb,
0x95a8,
0x8589,
0xf56e,
0xe54f,
0xd52c,
0xc50d,
0x34e2,
0x24c3,
0x14a0,
0x0481,
0x7466,
0x6447,
0x5424,
0x4405,
0xa7db,
0xb7fa,
0x8799,
0x97b8,
0xe75f,
0xf77e,
0xc71d,
0xd73c,
0x26d3,
0x36f2,
0x0691,
0x16b0,
0x6657,
0x7676,
0x4615,
0x5634,
0xd94c,
0xc96d,
0xf90e,
0xe92f,
0x99c8,
0x89e9,
0xb98a,
0xa9ab,
0x5844,
0x4865,
0x7806,
0x6827,
0x18c0,
0x08e1,
0x3882,
0x28a3,
0xcb7d,
0xdb5c,
0xeb3f,
0xfb1e,
0x8bf9,
0x9bd8,
0xabbb,
0xbb9a,
0x4a75,
0x5a54,
0x6a37,
0x7a16,
0x0af1,
0x1ad0,
0x2ab3,
0x3a92,
0xfd2e,
0xed0f,
0xdd6c,
0xcd4d,
0xbdaa,
0xad8b,
0x9de8,
0x8dc9,
0x7c26,
0x6c07,
0x5c64,
0x4c45,
0x3ca2,
0x2c83,
0x1ce0,
0x0cc1,
0xef1f,
0xff3e,
0xcf5d,
0xdf7c,
0xaf9b,
0xbfba,
0x8fd9,
0x9ff8,
0x6e17,
0x7e36,
0x4e55,
0x5e74,
0x2e93,
0x3eb2,
0x0ed1,
0x1ef0,
];
class RICMiniHDLC {
constructor() {
this.rxBuffer = [];
this.frameCRC = [];
this.FRAME_BOUNDARY_OCTET = 0xe7;
this.CONTROL_ESCAPE_OCTET = 0xd7;
this.INVERT_OCTET = 0x20;
this.rxState = RICMiniHDLCState.STATE_READ;
this.onRxFrame = null;
}
setOnRxFrame(onRxFrame) {
this.onRxFrame = onRxFrame;
}
addRxByte(rxByte) {
if (rxByte === this.FRAME_BOUNDARY_OCTET) {
if (this.rxBuffer.length > 2) {
this.frameCRC = this.rxBuffer.slice(-2);
this.rxBuffer = this.rxBuffer.slice(0, -2);
if (this._checkCRC()) {
if (this.onRxFrame) {
const rxFrame = new Uint8Array(this.rxBuffer);
this.onRxFrame(rxFrame);
}
}
}
this.rxBuffer = [];
}
else {
if (rxByte === this.CONTROL_ESCAPE_OCTET) {
this.rxState = RICMiniHDLCState.STATE_ESCAPE;
}
else if (this.rxState == RICMiniHDLCState.STATE_ESCAPE) {
this.rxState = RICMiniHDLCState.STATE_READ;
this.rxBuffer.push(rxByte ^ this.INVERT_OCTET);
}
else {
this.rxBuffer.push(rxByte);
}
}
}
addRxBytes(rxBytes) {
for (let i = 0; i < rxBytes.length; i++) {
this.addRxByte(rxBytes[i]);
}
}
_checkCRC() {
const calcCRC = this._crc16(this.rxBuffer);
const rxCRC = this.frameCRC[0] * 256 + this.frameCRC[1];
return calcCRC === rxCRC;
}
_crc16(buf) {
let crc = 0xffff;
for (let i = 0; i < buf.length; i++) {
let byt = buf[i];
if (byt > 255)
byt = 255;
if (byt < 0)
byt = 0;
const lutIdx = (byt ^ (crc >> 8)) & 0xff;
crc = CRC_LUT[lutIdx] ^ (crc << 8);
}
return crc & 0xffff;
}
encode(content) {
const maxBufferLen = content.length * 2 + 4;
const frameData = new Uint8Array(maxBufferLen);
let framePos = 0;
// Prefix
frameData.set([this.FRAME_BOUNDARY_OCTET], framePos++);
// Data
for (let i = 0; i < content.length; i++) {
framePos = this._setData(frameData, content[i], framePos);
}
// CRC
const frameCRC = this._crc16(content);
framePos = this._setData(frameData, (frameCRC >> 8) & 0xff, framePos);
framePos = this._setData(frameData, frameCRC & 0xff, framePos);
// Suffix
frameData.set([this.FRAME_BOUNDARY_OCTET], framePos++);
// Frame of correct length
const frameFinal = frameData.slice(0, framePos);
return frameFinal;
}
_setData(destBuf, dataVal, pos) {
if (dataVal === this.FRAME_BOUNDARY_OCTET ||
dataVal === this.CONTROL_ESCAPE_OCTET) {
destBuf.set([this.CONTROL_ESCAPE_OCTET, dataVal ^ this.INVERT_OCTET], pos);
pos += 2;
}
else {
destBuf.set([dataVal], pos);
pos += 1;
}
return pos;
}
}
exports.default = RICMiniHDLC;
//# sourceMappingURL=RICMiniHDLC.js.map