Embedded

The following Python script receives SLIP-encoded data from a serial port (/dev/ttyACM0 in this example) and decodes the SLIP messages using the fully asynchronous (asyncio-based) serial_asyncio library which you can install using

pip install -U pyserial-asyncio

You also need to install ansicolors for colored printing on the console:

pip install -U ansicolors

Full source code

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
__author__ = "Uli Köhler"
__license__ = "CC0 1.0 Universal"

import asyncio
from colors import red
import serial_asyncio

SLIP_END = 0o300
SLIP_ESC = 0o333
SLIP_ESCEND = 0o334
SLIP_ESCESC = 0o335

def handle_slip_message(msg):
    print(f"Received message of length", len(msg))

class SLIPProtocol(asyncio.Protocol):
    def connection_made(self, transport):
        self.msg = bytes() # Message buffer
        self.transport = transport
        print('port opened', transport)
        transport.serial.rts = False  # You can manipulate Serial object via transport
        # Send "enter" to prompt output
        self.buf = b''

    def check_for_slip_message(self):
        # Identify end of message in data
        decoded = []
        last_char_is_esc = False
        for i in range(len(self.buf)):
            c = self.buf[i]
            if last_char_is_esc:
                # This character must be either
                # SLIP_ESCEND or SLIP_ESCESC
                if c == SLIP_ESCEND: # Literal END character
                    decoded.append(SLIP_END)
                elif c == SLIP_ESCESC: # Literal ESC character
                    decoded.append(SLIP_ESC)
                else:
                    print(red("Encountered invalid SLIP escape sequence. Ignoring..."))
                    # Ignore bad part of message
                    self.buf = self.buf[i+1:]
                    break
                last_char_is_esc = False # Reset state
            else: # last char was NOT ESC
                if c == 192: # END of message
                    # Remove current message from buffer
                    self.buf = self.buf[i+1:]
                    # Emit message
                    return bytes(decoded)
                elif c == SLIP_ESC:
                    # Handle escaped character next 
                    last_char_is_esc = True
                else: # Any other character
                    decoded.append(c)
        # No more bytes in buffer => no more message
        return None

    def data_received(self, data):
        # Append new data to buffer
        self.buf += data
        while True:
            msg = self.check_for_slip_message()
            if msg is None:
                break # Need to wait for more data
            else: # msg is not None
                handle_slip_message(msg)

    def connection_lost(self, exc):
        print('port closed')
        self.transport.loop.stop()

    def pause_writing(self):
        print('pause writing')
        print(self.transport.get_write_buffer_size())

    def resume_writing(self):
        print(self.transport.get_write_buffer_size())
        print('resume writing')

loop = asyncio.get_event_loop()
coro = serial_asyncio.create_serial_connection(loop, SLIPProtocol, '/dev/ttyACM0', baudrate=115200)
transport, protocol = loop.run_until_complete(coro)
loop.run_forever()
loop.close()