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Rev | Author | Line No. | Line |
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4 | ligi | 1 | /******************************************************************************************************************************** |
2 | * |
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3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
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4 | * |
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5 | * Author: Marcus -LiGi- Bueschleb |
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6 | * |
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7 | * see README for further Infos |
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8 | * |
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9 | * |
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10 | *******************************************************************************************************************************/ |
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11 | |||
12 | import javax.microedition.io.*; |
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13 | import java.io.*; |
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14 | |||
15 | public class MKCommunicator |
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16 | implements Runnable |
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17 | { |
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18 | /***************** Section: public Attributes **********************************************/ |
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19 | public boolean connected=false; // flag for the connection state |
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20 | public boolean fatal=false; // flag which is set when an error is so fatal that reconnecting won't be tried - e.g. unknown version number. |
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21 | |||
22 | |||
23 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
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24 | |||
25 | public MKLCD LCD; |
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26 | public MKVersion version; |
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27 | public MKDebugData debug_data; |
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28 | public MKParamsParser params; |
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29 | public MKWatchDog watchdog; |
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30 | public MKProxy proxy=null; |
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31 | |||
32 | public long connection_start_time=-1; |
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33 | |||
34 | |||
35 | /****************** Section: private Attributes **********************************************/ |
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36 | private javax.microedition.io.StreamConnection connection; |
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37 | private java.io.InputStream reader; |
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38 | private java.io.OutputStream writer; |
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39 | |||
40 | |||
41 | // temp - to be removed |
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42 | String p_msg="--"; |
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43 | public String msg="BT_INIT"; |
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44 | |||
45 | public int debug_data_count=0; |
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46 | public int version_data_count=0; |
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47 | public int other_data_count=0; |
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48 | public int lcd_data_count=0; |
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49 | public int params_data_count=0; |
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50 | |||
51 | |||
52 | |||
53 | String name; |
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54 | DUBwise root; |
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55 | |||
56 | /****************** Section: public Methods ************************************************/ |
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57 | public MKCommunicator(DUBwise root_) |
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58 | { |
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59 | root=root_; |
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60 | version=new MKVersion(); |
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61 | debug_data=new MKDebugData(); |
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62 | params=new MKParamsParser(); |
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63 | LCD= new MKLCD(this); |
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64 | watchdog=new MKWatchDog(this); |
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65 | new Thread( this ).start(); // fire up main Thread |
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66 | } |
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67 | |||
68 | |||
69 | public void do_proxy(String proxy_url) |
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70 | { |
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71 | proxy=new MKProxy(proxy_url); |
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72 | } |
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73 | |||
74 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
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75 | public void connect_to(String _url,String _name) |
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76 | { |
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77 | mk_url=_url; // remember URL for connecting / reconnecting later |
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78 | name=_name; |
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79 | force_disconnect=false; |
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80 | connected=false; |
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81 | } |
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82 | |||
83 | /****************** Section: private Methods ************************************************/ |
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84 | private void connect() |
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85 | { |
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86 | |||
87 | try{ |
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88 | connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
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89 | reader=connection.openInputStream(); |
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90 | writer=connection.openOutputStream(); |
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91 | |||
92 | connection_start_time=System.currentTimeMillis(); |
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93 | connected=true; // if we get here everything seems to be OK |
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94 | get_version(); |
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95 | lcd_data_count=0; |
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96 | debug_data_count=0; |
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97 | version_data_count=0; |
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98 | |||
99 | |||
100 | } |
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101 | catch (Exception ex) |
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102 | { |
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103 | // TODO difference fatal errors from those which will lead to reconnection |
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104 | msg="Problem connecting" + "\n" + ex; |
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105 | } |
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106 | |||
107 | |||
108 | |||
109 | } |
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110 | |||
111 | |||
112 | |||
113 | public int[] Decode64(int[] in_arr, int offset,int len) |
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114 | { |
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115 | int ptrIn=offset; |
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116 | int a,b,c,d,x,y,z; |
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117 | int ptr=0; |
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118 | |||
119 | int[] out_arr=new int[len]; |
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120 | |||
121 | while(len!=0) |
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122 | { |
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123 | a = in_arr[ptrIn++] - '='; |
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124 | b = in_arr[ptrIn++] - '='; |
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125 | c = in_arr[ptrIn++] - '='; |
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126 | d = in_arr[ptrIn++] - '='; |
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127 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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128 | |||
129 | x = (a << 2) | (b >> 4); |
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130 | y = ((b & 0x0f) << 4) | (c >> 2); |
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131 | z = ((c & 0x03) << 6) | d; |
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132 | |||
133 | if((len--)!=0) out_arr[ptr++] = x; else break; |
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134 | if((len--)!=0) out_arr[ptr++] = y; else break; |
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135 | if((len--)!=0) out_arr[ptr++] = z; else break; |
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136 | } |
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137 | |||
138 | return out_arr; |
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139 | |||
140 | } |
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141 | |||
142 | // FC - Function Mappers |
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143 | |||
144 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
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145 | public void get_version() |
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146 | { |
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147 | send_command(0,'v',new int[0]); |
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148 | } |
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149 | |||
150 | // send a MotorTest request - params are the speed for each Motor |
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151 | public void motor_test(int[] params) |
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152 | { |
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153 | send_command(0,'t',params); |
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154 | } |
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155 | |||
156 | public void send_keys(int[] params) |
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157 | { |
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158 | send_command(0,'k',params); |
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159 | } |
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160 | |||
161 | // get params |
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162 | public void get_params(int id) |
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163 | { |
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164 | int[] params=new int[1]; |
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165 | params[0]=id; |
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166 | |||
167 | while(sending) |
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168 | {try { Thread.sleep(50); } |
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169 | catch (Exception e) { } |
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170 | } |
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171 | |||
172 | send_command(0,'q',params); |
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173 | } |
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174 | |||
175 | |||
176 | public void get_debug_name(int id) |
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177 | { |
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178 | int[] params=new int[1]; |
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179 | params[0]=id; |
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180 | |||
181 | while(sending) |
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182 | {try { Thread.sleep(50); } |
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183 | catch (Exception e) { } |
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184 | } |
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185 | |||
186 | send_command(0,'a',params); |
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187 | } |
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188 | |||
189 | |||
190 | |||
191 | |||
192 | public void trigger_LCD(int key) |
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193 | { |
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194 | if (sending) return; |
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195 | |||
196 | |||
197 | int[] params=new int[3]; |
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198 | params[0]=key; |
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199 | params[1]=0; |
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200 | params[2]=0; |
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201 | |||
202 | send_command(0,'h',params); |
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203 | |||
204 | } |
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205 | |||
206 | |||
207 | public void write_params() |
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208 | { |
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209 | while(sending) |
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210 | {try { Thread.sleep(50); } |
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211 | catch (Exception e) { } |
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212 | } |
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213 | |||
214 | send_command(0,(char)('l'+params.act_paramset),params.field[params.act_paramset]); |
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215 | } |
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216 | |||
217 | |||
218 | boolean sending=false; |
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219 | |||
220 | // send command to FC ( add crc and pack into pseudo Base64 |
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221 | public void send_command(int modul,char cmd,int[] params) |
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222 | { |
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223 | sending=true; |
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224 | char[] send_buff=new char[5 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
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225 | send_buff[0]='#'; |
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226 | send_buff[1]=(char)modul; |
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227 | send_buff[2]=cmd; |
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228 | |||
229 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
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230 | { |
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231 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
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232 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
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233 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
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234 | |||
235 | send_buff[3+param_pos*4] = (char)((a >> 2)+'=' ); |
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236 | send_buff[3+param_pos*4+1] = (char)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
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237 | send_buff[3+param_pos*4+2] = (char)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
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238 | send_buff[3+param_pos*4+3] = (char)('=' + ( c & 0x3f)); |
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239 | |||
240 | //send_buff[3+foo]='='; |
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241 | } |
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242 | |||
243 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
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244 | { |
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245 | int a = (foo<params.length) params[foo]; |
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246 | int a = params[foo]; |
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247 | |||
248 | //send_buff[3+foo]='='; |
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249 | } |
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250 | */ |
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251 | try |
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252 | { |
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253 | int tmp_crc=0; |
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254 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
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255 | { |
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256 | tmp_crc+=(int)send_buff[tmp_i]; |
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257 | writer.write(send_buff[tmp_i]); |
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258 | } |
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259 | tmp_crc%=4096; |
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260 | writer.write( (char)(tmp_crc/64 + '=')); |
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261 | writer.write( (char)(tmp_crc%64 + '=')); |
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262 | writer.write('\r'); |
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263 | writer.flush(); |
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264 | } |
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265 | catch (Exception e) |
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266 | { // problem sending data to FC |
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267 | } |
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268 | |||
269 | sending=false; |
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270 | } |
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271 | |||
272 | |||
273 | public void process_data(int[] data,int len) |
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274 | { |
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275 | int[] decoded_data; |
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276 | |||
277 | |||
278 | switch((char)data[2]) |
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279 | { |
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280 | |||
281 | case 'D': // debug Data |
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282 | debug_data_count++; |
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283 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
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284 | break; |
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285 | |||
286 | case 'A': // debug Data Names |
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287 | //debug_data_count++; |
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288 | debug_data.set_names_by_mk_data(data[1]-'0',Decode64(data,3,len-3)); |
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289 | break; |
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290 | |||
291 | case 'V': // Version Info |
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292 | version_data_count++; |
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293 | version.set_by_mk_data(Decode64(data,3,6)); |
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294 | break; |
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295 | |||
296 | case '0': |
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297 | case '1': |
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298 | case '2': |
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299 | case '3': |
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300 | LCD.handle_lcd_data(Decode64(data,3,20),data[2]-(int)'0'); |
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301 | lcd_data_count++; |
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302 | break; |
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303 | |||
304 | case 'L': |
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305 | case 'M': |
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306 | case 'N': |
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307 | case 'O': |
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308 | case 'P': |
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309 | params.set_by_mk_data((int)(data[2]-'L'),Decode64(data,3,len-3),version); |
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310 | params_data_count++; |
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311 | break; |
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312 | |||
313 | default: |
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314 | other_data_count++; |
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315 | break; |
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316 | |||
317 | } |
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318 | |||
319 | |||
320 | |||
321 | |||
322 | } |
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323 | |||
324 | String o_msg=""; |
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325 | |||
326 | public boolean force_disconnect=true; |
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327 | |||
328 | public void close_connections(boolean force) |
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329 | { |
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330 | if (!force) root.vibrate(500); |
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331 | force_disconnect=force; |
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332 | try{ reader.close(); } |
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333 | catch (Exception inner_ex) { } |
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334 | |||
335 | try{ writer.close(); } |
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336 | catch (Exception inner_ex) { } |
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337 | |||
338 | try{ connection.close(); } |
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339 | catch (Exception inner_ex) { } |
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340 | |||
341 | connected=false; |
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342 | } |
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343 | |||
344 | // Thread to recieve data from Connection |
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345 | public void run() |
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346 | { |
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347 | int[] data_set=new int[150]; |
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348 | int input; |
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349 | int pos=0; |
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350 | msg+="!!run started!!"; |
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351 | while(true) |
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352 | { |
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353 | if (!connected) |
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354 | { |
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355 | if (!force_disconnect) connect(); |
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356 | } |
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357 | else |
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358 | try{ |
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359 | |||
360 | pos=0; |
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361 | input=0; |
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362 | // recieve data-set |
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363 | while ((input != 13)) // &&(input!=-1)) |
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364 | { |
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365 | |||
366 | input = reader.read() ; |
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367 | if (proxy!=null) |
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368 | proxy.writer.write(input); |
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369 | if (input==-1) throw new Exception("test"); |
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370 | data_set[pos]=input; |
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371 | pos++; |
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372 | |||
373 | } |
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374 | |||
375 | if (proxy!=null) |
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376 | { |
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377 | proxy.writer.write('\r'); |
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378 | proxy.writer.write('\n'); |
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379 | proxy.writer.flush(); |
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380 | } |
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381 | |||
382 | process_data(data_set,pos); |
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383 | |||
384 | } |
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385 | catch (Exception ex) |
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386 | { |
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387 | msg="Problem reading from MK"; |
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388 | // close the connection |
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389 | close_connections(false); |
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390 | |||
391 | |||
392 | } |
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393 | |||
394 | // sleep a bit to get someting more done |
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395 | try { Thread.sleep(50); } |
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396 | catch (Exception e) { } |
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397 | |||
398 | } // while |
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399 | |||
400 | |||
401 | } // run() |
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402 | |||
403 | |||
404 | } |