ResponseHelper.cpp

#include "ResponseHelper.h"

#include <cstring>
#include <cstdio>

void PrintPacketMsg(string msg, float timer, unsigned char*buffer, int size) {
	
	printf("[TDK] %i,%f,%s,", 0, timer, msg.c_str());

	for (int i = 0; i < size; ++i)
		printf("%X:", buffer[i]);
	printf("\n");
}
unsigned char ComputeCheckSum(unsigned char* buf, int size) {
	unsigned char checksum = 0x00;
	for (int i = 0; i < size; ++i) {
		checksum = checksum ^ buf[i];
	}
	checksum ^= 0xEA;

	return checksum;
}
 int __stdcall ParsePacket(int deviceID, unsigned char packet[READPACKETLIMIT], int size)
 {
	//[1] of the packet data is the type.
	unsigned char type = packet[1];
	//[2] if the packet data is the data len
	unsigned char len = packet[2];

	unsigned char * data = new unsigned char[len];
	memset(data, '\0', len);
	memcpy(data, &packet[3], len);
	unsigned char chksum = packet[len + 3];
	//comupting the checksum of the packet to ensure we got the entire packet correctly
	unsigned char computed_chksum = ComputeCheckSum(packet, len + 3);

	if (computed_chksum == chksum) 
	{
		switch (type) 
		{
			//ack packet
		case 0xc8:
			PrintPacketMsg("ACK WITH DATA", 0, packet, size);
			break;
			//ack packet
		case 0xc9:
			PrintPacketMsg("ACK", 0, packet, size);
			break;
			//nak packet
		case 0xc4: {
			PrintPacketMsg("NAK", 0, packet, size);
			//[0] response to wich command
			unsigned char responseTo = data[0];
			//[1] reason code for nak
			unsigned  char reasonCode = data[1];
			switch (reasonCode) {
			case 0x01: //The ETX value was not found in the expected place
				PrintPacketMsg("ETX value was not found ERROR", 0, packet, size);
				break;
			case 0x02: //The Checksum value was invalid
				PrintPacketMsg(" Checksum value was invalid ERROR", 0, packet, size);
				break;
			case 0x03: //Insufficient Data in packet
				PrintPacketMsg("Insufficient Data ERROR", 0, packet, size);
				break;
			case 0x04: //An invalid command was used
				PrintPacketMsg("invalid command  ERROR", 0, packet, size);
				break;
			case 0x05: //Invaid Data was given with a valid command
				PrintPacketMsg("Invalid Data ERROR", 0, packet, size);
				break;
			case 0x06: //Data length exceeds max payload
				PrintPacketMsg("Data length exceeds ERROR", 0, packet, size);
				break;
			case 0x07: //Invalid Sequence Data
				PrintPacketMsg(" Invalid Sequence Data ERROR", 0, packet, size);
				break;
			case 0x08: //Bus Error Sending to Node failed after three attempts
				PrintPacketMsg(" Bus Error Sending ERROR", 0, packet, size);
				break;
			case 0x09: //Bus Master Times out while waiting on all bytes of incoming command to finish
				PrintPacketMsg("Bus Master Times out ERROR", 0, packet, size);
				break;
			case 0x0A: //Node has a Fault Cannot Complete Request
				PrintPacketMsg("Fault ERROR", 0, packet, size);
				break;
			case 0x0B: // Sequence is busy � you tried to perform a new sequence operation while the previous one is still in progress � sequences not implemented on TDK boards
				PrintPacketMsg("NAK_SeqBusy ERROR", 0, packet, size);
				break;
			case 0x0C:  // not used anymore
				PrintPacketMsg("NAK_TimeOut ERROR", 0, packet, size);
				break;
			case 0x0D:   // Ramp List is Full
				PrintPacketMsg("NAK_RampListFull ERROR", 0, packet, size);
				break;
			case 0x0E:   // Action List is Full
				PrintPacketMsg("NAK_ActionListFull ERROR", 0, packet, size);
				break;
			case 0x0F:// The command you sent is probably valid, but it has not been implemented on this board � you shouldn�t see this outside of early beta firmware
				PrintPacketMsg("NAK_NotImplemented ERROR", 0, packet, size);
				break;
			case 0x10:// Master Packet is Full - you shouldn�t see this one � it means the Bus on eTSAS or other new distrib system is very busy with action-lists & ramps and can�t fit a new command at the instant you sent it.
				PrintPacketMsg("NAK_MasterPacketFullOrBusy ERROR", 0, packet, size);
				break;
			case 0x11: // error while processing a command which is already in the action list
				PrintPacketMsg("NAK_ActionListTooManyBytes ERROR", 0, packet, size);
				break;
			case 0x12:  // another error while processing a command which is already in the action list
				PrintPacketMsg("NAK_ActionListTooFewBytes", 0, packet, size);
				break;
			case 0x13:  //your packet is too big to fit in the TDK receive buffer
				PrintPacketMsg("NAK_TooMuch", 0, packet, size);
				break;
			case 0x14: //Received a command while Self Test is running
				PrintPacketMsg("NAK_Received a command while Self Test is running ERROR", 0, packet, size);
				break;
			default: //did not find the error within the lookup table. 
				PrintPacketMsg("UNKNOWN ERROR", 0, packet, size);
				break;

			}
			break;
				   }
		case 0xEE:
			PrintPacketMsg("0xEE", 0, packet, size);
			return -1;
			break;
		}
		delete[] data;
	} else {
		PrintPacketMsg("checksum was bad", 0, packet,
			size);
		delete[] data;
		return -1;
	}

	return 0;
}