/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#include <ctype.h>
#include <stdio.h>
#include <unistd.h>

#include "../../../agent/headers/CircBufPacket.h"

#include "PacketDecoder.h"

PacketDecoder::PacketDecoder() {
}

void
PacketDecoder::dumpBinary(uchar *data, int length) {
  int char_cnt = 0;
  bool end_row;
  uchar *asc_data;

  end_row=false;
  asc_data = data;
  while(length > 0) {
    putchar('x');
    unsigned int in=*data;
    unsigned int high=in>>4;
    unsigned int low=in & 0xF;
    putchar((high > 9) ? (high - 10 + 'a') : (high + '0'));
    putchar((low  > 9) ? (low  - 10 + 'a') : (low  + '0'));

    data++;
    length--;

    char_cnt++;
    end_row = end_row || (char_cnt == 30) || (length==0);
    if(end_row) {
      printf(" | ");

      while(asc_data!=data) {
        uchar ch_in=*asc_data;
        asc_data++;
        if(isprint(ch_in))
          putchar(ch_in);
        else
          putchar('.');
      }

      printf("\n");

      end_row = false;
      char_cnt  = 0;
    }
  }
}

bool
PacketDecoder::isPrintable(char c) {
  return (isprint(c) || c=='\r' || c=='\n' || c=='\x1B' || c=='\x09');
}