Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
logging/b64.cpp
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
/********************************************************************* MODULE NAME: b64.c AUTHOR: Bob Trower 08/04/01, Michael Shimniok 04/04/13 COPYRIGHT: Copyright (c) Trantor Standard Systems Inc., 2001 NOTES: This source code may be used as you wish, subject to the MIT license. See the LICENCE section below. Canonical source should be at: http://base64.sourceforge.net DESCRIPTION: Implements Base64 Content-Transfer-Encoding standard described in RFC1113 (http://www.faqs.org/rfcs/rfc1113.html). Groups of 3 binary bytes from a binary stream are coded as groups of 4 printable bytes in a text stream. *********************************************************************/ #include <stdio.h> #include <stdlib.h> #include "b64.h" /** * Translation Table as described in RFC1113 */ static const char cb64[]="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/"; /** * Translation Table to decode (created by author) */ //static const char cd64[]="|$$$}rstuvwxyz{$$$$$$$>?@ABCDEFGHIJKLMNOPQRSTUVW$$$$$$XYZ[\\]^_`abcdefghijklmnopq"; /** * returnable errors * * Error codes returned to the operating system. * */ #define B64_SYNTAX_ERROR 1 #define B64_FILE_ERROR 2 #define B64_FILE_IO_ERROR 3 #define B64_ERROR_OUT_CLOSE 4 #define B64_LINE_SIZE_TO_MIN 5 #define B64_SYNTAX_TOOMANYARGS 6 /** * encodeblock * * encode 3 8-bit binary bytes as 4 '6-bit' characters */ void encodeblock( const unsigned char *in, unsigned char *out, const int len ) { out[0] = (unsigned char) cb64[ (int)(in[0] >> 2) ]; out[1] = (unsigned char) cb64[ (int)(((in[0] & 0x03) << 4) | ((in[1] & 0xf0) >> 4)) ]; out[2] = (unsigned char) (len > 1 ? cb64[ (int)(((in[1] & 0x0f) << 2) | ((in[2] & 0xc0) >> 6)) ] : '='); out[3] = (unsigned char) (len > 2 ? cb64[ (int)(in[2] & 0x3f) ] : '='); } /** * encodeblock * * encode a buffer of binary data into lines of '6-bit' characters */ int encode( const unsigned char *sin, const int length, unsigned char *sout, const int linesize ) { unsigned char in[3]; int i; int j; // j is the sin position index int len, blocksout = 0; int retcode = 0; in[0] = 0; j = 0; while( j < length ) { // Get a block of three bytes to encode // If there's < 3 bytes left in the string, // pad with '\0' len = 0; for (i=0; i < 3; i++, j++) { if (j < length) { len++; in[i] = sin[j]; } else { in[i] = '\0'; } } //printf("2. in=%02x %02x %02x j=%u length=%u\n", in[0], in[1], in[2], j, length); encodeblock( in, sout, len ); //printf("4. sout=%c%c%c%c\n", sout[0], sout[1], sout[2], sout[3]); sout += 4; blocksout++; if( linesize && blocksout >= (linesize/4) ) { *sout++ = '\n'; blocksout = 0; } } *sout = '\0'; return( retcode ); } /****************************************************************************** LICENCE: Copyright (c) 2001 Bob Trower, Trantor Standard Systems Inc. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. VERSION HISTORY: Bob Trower 08/04/01 -- Create Version 0.00.00B Bob Trower 08/17/01 -- Correct documentation, messages. -- Correct help for linesize syntax. -- Force error on too many arguments. Bob Trower 08/19/01 -- Add sourceforge.net reference to help screen prior to release. Bob Trower 10/22/04 -- Cosmetics for package/release. Bob Trower 02/28/08 -- More Cosmetics for package/release. Bob Trower 02/14/11 -- Cast altered to fix warning in VS6. *****************************************************************************/