Rev 215 | Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
206 | ligi | 1 | /******************************************************************************************************************************** |
2 | * |
||
3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
||
4 | * |
||
5 | * Author: Marcus -LiGi- Bueschleb |
||
6 | * |
||
7 | * see README for further Infos |
||
8 | * |
||
9 | * |
||
10 | *******************************************************************************************************************************/ |
||
11 | |||
12 | |||
13 | package org.ligi.ufo; |
||
14 | |||
15 | |||
16 | //#ifdef j2me |
||
17 | //# import javax.microedition.io.*; |
||
18 | //#endif |
||
19 | |||
20 | //#ifdef android |
||
21 | import android.util.Log; |
||
22 | //#endif |
||
23 | |||
24 | |||
25 | |||
26 | import java.io.*; |
||
27 | |||
28 | |||
29 | public class MKCommunicator |
||
30 | implements Runnable |
||
31 | { |
||
32 | /***************** Section: public Attributes **********************************************/ |
||
33 | public boolean connected=false; // flag for the connection state |
||
34 | |||
35 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
||
36 | |||
37 | public final static int DATA_BUFF_LEN = 20; // in lines |
||
38 | |||
39 | public String[] data_buff; |
||
40 | |||
41 | // boolean do_log=false; |
||
42 | boolean do_log=true; |
||
43 | |||
44 | int data_buff_pos=0; |
||
45 | |||
46 | public byte user_intent=0; |
||
47 | public final static int[] crc16_table = { |
||
48 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
||
49 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
||
50 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
||
51 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
||
52 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
||
53 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
||
54 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
||
55 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
||
56 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
||
57 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
||
58 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
||
59 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
||
60 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
||
61 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
||
62 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
||
63 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
||
64 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
||
65 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
||
66 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
||
67 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
||
68 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
||
69 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
||
70 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
||
71 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
||
72 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
||
73 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
||
74 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
||
75 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
||
76 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
||
77 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
||
78 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
||
79 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
||
80 | }; |
||
81 | |||
82 | public void log(String str) |
||
83 | { |
||
84 | //#ifdef android |
||
85 | if (do_log) Log.d("MK-Comm",str); |
||
86 | //#endif |
||
87 | } |
||
88 | |||
89 | public int CRC16(int ch, int crc) |
||
90 | { return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
||
91 | } |
||
92 | |||
93 | |||
94 | public int conn_time_in_s() |
||
95 | { |
||
96 | if (connected) |
||
97 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
||
98 | else |
||
99 | return 0; |
||
100 | } |
||
101 | public final static int BOOTLOADER_STAGE_NONE=0; |
||
102 | public final static int BOOTLOADER_STAGE_GOT_MKBL=1; |
||
103 | |||
104 | int bootloader_stage= BOOTLOADER_STAGE_NONE; |
||
105 | |||
106 | public MKLCD LCD; |
||
107 | public MKVersion version; |
||
108 | public MKDebugData debug_data; |
||
109 | |||
110 | public MKGPSPosition gps_position; |
||
111 | |||
112 | public MKStickData stick_data; |
||
113 | public MKParamsParser params; |
||
114 | public MKWatchDog watchdog; |
||
115 | public MKProxy proxy=null; |
||
116 | public MKStatistics stats ; |
||
117 | // public DUBwiseDebug debug; |
||
118 | |||
119 | public UFOProber ufo_prober; |
||
120 | public long connection_start_time=-1; |
||
121 | |||
122 | |||
123 | public String error_str = null; |
||
124 | |||
125 | |||
126 | public final static int FC_SLAVE_ADDR = 'a'+1; |
||
127 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
||
128 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
||
129 | |||
130 | |||
131 | |||
132 | |||
133 | /****************** Section: private Attributes **********************************************/ |
||
134 | //#ifdef j2me |
||
135 | //# private javax.microedition.io.StreamConnection connection; |
||
136 | //#endif |
||
137 | |||
138 | //#ifdef android |
||
139 | // java.net.Socket connection; |
||
140 | java.net.Socket connection; |
||
141 | //#endif |
||
142 | |||
143 | |||
144 | private java.io.InputStream reader; |
||
145 | private java.io.OutputStream writer; |
||
146 | |||
147 | |||
148 | |||
149 | public String name; |
||
150 | // DUBwise root; |
||
151 | |||
152 | |||
153 | private boolean sending=false; |
||
154 | private boolean recieving=false; |
||
155 | |||
156 | |||
157 | |||
158 | /****************** Section: public Methods ************************************************/ |
||
159 | public MKCommunicator() |
||
160 | { |
||
161 | |||
162 | data_buff=new String[DATA_BUFF_LEN]; |
||
163 | for (int i=0;i<DATA_BUFF_LEN;i++) |
||
164 | data_buff[i]=""; |
||
165 | // debug=debug_; |
||
166 | // root=root_; |
||
167 | version=new MKVersion(); |
||
168 | debug_data=new MKDebugData(); |
||
169 | stick_data=new MKStickData(); |
||
170 | params=new MKParamsParser(); |
||
171 | LCD= new MKLCD(this); |
||
172 | watchdog=new MKWatchDog(this); |
||
173 | gps_position=new MKGPSPosition(); |
||
174 | stats = new MKStatistics(); |
||
175 | proxy =new MKProxy(this); |
||
176 | ufo_prober=new UFOProber(); |
||
177 | new Thread( this ).start(); // fire up main Thread |
||
178 | } |
||
179 | |||
180 | |||
181 | |||
182 | public void write_raw(byte[] _data) |
||
183 | { |
||
184 | wait4send(); |
||
185 | sending=true; |
||
186 | try { |
||
187 | writer.write(_data,0,_data.length); |
||
188 | writer.flush(); |
||
189 | |||
190 | stats.bytes_out+=_data.length; |
||
191 | } |
||
192 | catch ( Exception e){} |
||
193 | sending=false; |
||
194 | } |
||
195 | |||
196 | public void do_proxy(String proxy_url) |
||
197 | { |
||
198 | proxy.connect(proxy_url); |
||
199 | } |
||
200 | |||
201 | // int port; |
||
202 | |||
203 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
||
204 | public void connect_to(String _url,String _name) |
||
205 | { |
||
206 | // port=_port; |
||
207 | mk_url=_url; // remember URL for connecting / reconnecting later |
||
208 | name=_name; |
||
209 | force_disconnect=false; |
||
210 | connected=false; |
||
211 | } |
||
212 | |||
213 | public boolean ready() |
||
214 | { |
||
215 | return (connected&&(version.major!=-1)); |
||
216 | } |
||
217 | |||
218 | |||
219 | public String get_buff(int age) |
||
220 | { |
||
221 | |||
222 | age%=DATA_BUFF_LEN; |
||
223 | |||
224 | if (age<=data_buff_pos) |
||
225 | return ""+data_buff[data_buff_pos-age]; |
||
226 | else |
||
227 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
||
228 | |||
229 | |||
230 | } |
||
231 | /****************** Section: private Methods ************************************************/ |
||
232 | private void connect() |
||
233 | { |
||
234 | log("trying to connect to" + mk_url); |
||
235 | try{ |
||
236 | |||
237 | // old call |
||
238 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
||
239 | |||
240 | //#ifdef android |
||
241 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
||
242 | //.Socket |
||
243 | |||
244 | reader=connection.getInputStream(); |
||
245 | writer=connection.getOutputStream(); |
||
246 | |||
247 | String magic="conn:foo bar\r\n"; |
||
248 | writer.write(magic.getBytes()); |
||
249 | writer.flush(); |
||
250 | |||
251 | //#else |
||
252 | |||
253 | //# connection = (StreamConnection) Connector.open(mk_url); |
||
254 | |||
255 | //# reader=connection.openInputStream(); |
||
256 | //# writer=connection.openOutputStream(); |
||
257 | |||
258 | //#endif |
||
259 | connection_start_time=System.currentTimeMillis(); |
||
260 | connected=true; // if we get here everything seems to be OK |
||
261 | |||
262 | stats.reset(); |
||
263 | |||
264 | log("connecting OK"); |
||
265 | } |
||
266 | catch (Exception ex) |
||
267 | { |
||
268 | // TODO difference fatal errors from those which will lead to reconnection |
||
269 | log("Problem connecting" + "\n" + ex); |
||
270 | } |
||
271 | } |
||
272 | |||
273 | public int[] Decode64(byte[] in_arr, int offset,int len) |
||
274 | { |
||
275 | int ptrIn=offset; |
||
276 | int a,b,c,d,x,y,z; |
||
277 | int ptr=0; |
||
278 | |||
279 | int[] out_arr=new int[len]; |
||
280 | |||
281 | while(len!=0) |
||
282 | { |
||
283 | a=0; |
||
284 | b=0; |
||
285 | c=0; |
||
286 | d=0; |
||
287 | try { |
||
288 | a = in_arr[ptrIn++] - '='; |
||
289 | b = in_arr[ptrIn++] - '='; |
||
290 | c = in_arr[ptrIn++] - '='; |
||
291 | d = in_arr[ptrIn++] - '='; |
||
292 | } |
||
293 | catch (Exception e) {} |
||
294 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
||
295 | |||
296 | x = (a << 2) | (b >> 4); |
||
297 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
298 | z = ((c & 0x03) << 6) | d; |
||
299 | |||
300 | if((len--)!=0) out_arr[ptr++] = x; else break; |
||
301 | if((len--)!=0) out_arr[ptr++] = y; else break; |
||
302 | if((len--)!=0) out_arr[ptr++] = z; else break; |
||
303 | } |
||
304 | |||
305 | return out_arr; |
||
306 | |||
307 | } |
||
308 | |||
309 | public void wait4send() |
||
310 | { |
||
311 | while(sending) //||recieving) |
||
312 | sleep(50); |
||
313 | } |
||
314 | |||
315 | |||
316 | public void sleep(int time) |
||
317 | { |
||
318 | try { Thread.sleep(time); } |
||
319 | catch (Exception e) { } |
||
320 | } |
||
321 | |||
322 | // FC - Function Mappers |
||
323 | |||
324 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
||
325 | public void get_version() |
||
326 | { |
||
327 | stats.version_data_request_count++; |
||
328 | send_command(0,'v'); |
||
329 | } |
||
330 | |||
331 | public void set_gps_target(int longitude,int latitude) |
||
332 | { |
||
333 | int[] target=new int[8]; |
||
334 | target[0]= (0xFF)&(longitude<<24); |
||
335 | target[1]= (0xFF)&(longitude<<16); |
||
336 | target[2]= (0xFF)&(longitude<<8); |
||
337 | target[3]= (0xFF)&(longitude); |
||
338 | // send_command(0,'s',target); |
||
339 | } |
||
340 | |||
341 | // send a MotorTest request - params are the speed for each Motor |
||
342 | public void motor_test(int[] params) |
||
343 | { |
||
344 | stats.motortest_request_count++; |
||
345 | send_command(FC_SLAVE_ADDR,'t',params); |
||
346 | } |
||
347 | |||
348 | public void send_keys(int[] params) |
||
349 | { |
||
350 | send_command(FC_SLAVE_ADDR,'k',params); |
||
351 | } |
||
352 | |||
353 | // get params |
||
354 | public void get_params(int id) |
||
355 | { |
||
356 | wait4send(); |
||
357 | send_command(FC_SLAVE_ADDR,'q',id+1); |
||
358 | stats.params_data_request_count++; |
||
359 | } |
||
360 | |||
361 | public void get_debug_name(int id) |
||
362 | { |
||
363 | |||
364 | wait4send(); |
||
365 | send_command(0,'a',id); |
||
366 | } |
||
367 | |||
368 | |||
369 | public void trigger_LCD_by_page(int page) |
||
370 | { |
||
371 | wait4send(); |
||
372 | send_command(0,'l',page); |
||
373 | stats.lcd_data_request_count++; |
||
374 | } |
||
375 | |||
376 | public void trigger_debug() |
||
377 | { |
||
378 | if (sending||recieving) return; // its not that important - can be dropped |
||
379 | send_command(0,'c'); |
||
380 | } |
||
381 | |||
382 | |||
383 | |||
384 | public void switch_to_fc() |
||
385 | { |
||
386 | wait4send(); |
||
387 | send_command(NAVI_SLAVE_ADDR,'u',0); |
||
388 | sleep(50); |
||
389 | version=new MKVersion(); |
||
390 | LCD= new MKLCD(this); |
||
391 | } |
||
392 | |||
393 | |||
394 | public void switch_to_mk3mag() |
||
395 | { |
||
396 | wait4send(); |
||
397 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
||
398 | sleep(50); |
||
399 | version=new MKVersion(); |
||
400 | LCD= new MKLCD(this); |
||
401 | } |
||
402 | |||
403 | public void switch_to_navi() |
||
404 | { |
||
405 | wait4send(); |
||
406 | sending=true; |
||
407 | try |
||
408 | { |
||
409 | writer.write( 27); |
||
410 | writer.write( 27); |
||
411 | writer.write( 0x55); |
||
412 | writer.write( 0xaa); |
||
413 | writer.write( 0); |
||
414 | writer.write('\r'); |
||
415 | stats.bytes_out+=6; |
||
416 | writer.flush(); |
||
417 | } |
||
418 | catch (Exception e) { } |
||
419 | sending=false; |
||
420 | |||
421 | sleep(50); |
||
422 | version=new MKVersion(); |
||
423 | LCD= new MKLCD(this); |
||
424 | } |
||
425 | |||
426 | public String[] flash_msgs; |
||
427 | int msg_pos=0; |
||
428 | |||
429 | |||
430 | public boolean bootloader_intension_flash=false; |
||
431 | public void jump_bootloader() |
||
432 | { |
||
433 | |||
434 | msg_pos=0; |
||
435 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
||
436 | flash_msgs=new String[100]; |
||
437 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
||
438 | wait4send(); |
||
439 | sending=true; |
||
440 | |||
441 | try |
||
442 | { |
||
443 | int attempt=0; |
||
444 | |||
445 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
||
446 | { |
||
447 | flash_msgs[msg_pos]="attempt "+attempt; |
||
448 | attempt++; |
||
449 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
||
450 | writer.write( 27); |
||
451 | writer.flush(); |
||
452 | |||
453 | sleep(20); |
||
454 | |||
455 | writer.write( 0xAA); |
||
456 | writer.flush(); |
||
457 | |||
458 | sleep((attempt%2==0)?80:800); //800 |
||
459 | } |
||
460 | msg_pos++; |
||
461 | } |
||
462 | |||
463 | catch (Exception e) { |
||
464 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
||
465 | flash_msgs[msg_pos++]=e.toString() ; |
||
466 | } |
||
467 | |||
468 | new Thread( this ).start(); // fire up main Thread |
||
469 | } |
||
470 | |||
471 | |||
472 | public void get_error_str() |
||
473 | { |
||
474 | send_command(NAVI_SLAVE_ADDR,'e'); |
||
475 | } |
||
476 | |||
477 | public void trigger_rcdata() |
||
478 | { |
||
479 | send_command(FC_SLAVE_ADDR,'p'); |
||
480 | } |
||
481 | |||
482 | |||
483 | public void write_params() |
||
484 | { |
||
485 | params.update_backup(); |
||
486 | wait4send(); |
||
487 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[params.act_paramset]); |
||
488 | } |
||
489 | |||
490 | public void send_command(int modul,char cmd) |
||
491 | { |
||
492 | send_command(modul,cmd,new int[0]); |
||
493 | } |
||
494 | |||
495 | public void send_command(int modul,char cmd,int param) |
||
496 | { |
||
497 | int[] params=new int[1]; |
||
498 | params[0]=param; |
||
499 | send_command(modul,cmd,params); |
||
500 | } |
||
501 | |||
502 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
||
503 | { |
||
504 | // 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 |
||
505 | |||
506 | byte[] send_buff=new byte[3 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
||
507 | send_buff[0]='#'; |
||
508 | send_buff[1]=modul; |
||
509 | send_buff[2]=(byte)cmd; |
||
510 | |||
511 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
||
512 | { |
||
513 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
||
514 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
||
515 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
||
516 | |||
517 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
||
518 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
||
519 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
||
520 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
||
521 | |||
522 | //send_buff[3+foo]='='; |
||
523 | } |
||
524 | |||
525 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
||
526 | { |
||
527 | int a = (foo<params.length) params[foo]; |
||
528 | int a = params[foo]; |
||
529 | |||
530 | //send_buff[3+foo]='='; |
||
531 | } |
||
532 | */ |
||
533 | try |
||
534 | { |
||
535 | int tmp_crc=0; |
||
536 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
||
537 | tmp_crc+=(int)send_buff[tmp_i]; |
||
538 | |||
539 | writer.write(send_buff,0,send_buff.length); |
||
540 | tmp_crc%=4096; |
||
541 | |||
542 | writer.write( (char)(tmp_crc/64 + '=')); |
||
543 | writer.write( (char)(tmp_crc%64 + '=')); |
||
544 | writer.write('\r'); |
||
545 | stats.bytes_out+=send_buff.length+3; |
||
546 | writer.flush(); |
||
547 | } |
||
548 | catch (Exception e) |
||
549 | { // problem sending data to FC |
||
550 | } |
||
551 | |||
552 | } |
||
553 | // send command to FC ( add crc and pack into pseudo Base64 |
||
554 | public void send_command(int modul,char cmd,int[] params) |
||
555 | { |
||
556 | |||
557 | // if (modul==0) return; |
||
558 | sending=true; |
||
559 | send_command_nocheck((byte)modul,cmd,params); |
||
560 | sending=false; |
||
561 | } |
||
562 | |||
563 | |||
564 | public int slave_addr=-1; |
||
565 | |||
566 | |||
567 | public int UBatt() |
||
568 | { |
||
569 | if (ufo_prober.is_mk()) |
||
570 | return debug_data.UBatt(); |
||
571 | else if (ufo_prober.is_navi()) |
||
572 | return gps_position.UBatt; |
||
573 | |||
574 | return -1; |
||
575 | |||
576 | } |
||
577 | |||
578 | |||
579 | |||
580 | public int SenderOkay() |
||
581 | { |
||
582 | if (ufo_prober.is_mk()) |
||
583 | return debug_data.SenderOkay(); |
||
584 | else if (ufo_prober.is_navi()) |
||
585 | return gps_position.SenderOkay; |
||
586 | |||
587 | return -1; |
||
588 | |||
589 | } |
||
590 | |||
591 | |||
592 | public void process_data(byte[] data,int len) |
||
593 | { |
||
594 | |||
595 | |||
596 | log("command " +(char)data[2] ); |
||
597 | switch((char)data[2]) |
||
598 | { |
||
599 | |||
600 | case 'A': // debug Data Names |
||
601 | stats.debug_names_count++; |
||
602 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
||
603 | break; |
||
604 | |||
605 | case 'L': // LCD Data |
||
606 | stats.lcd_data_count++; |
||
607 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
||
608 | |||
609 | break; |
||
610 | |||
611 | case 'D': // debug Data |
||
612 | log("got debug data"); |
||
613 | stats.debug_data_count++; |
||
614 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
||
615 | log("processed debug data"); |
||
616 | break; |
||
617 | |||
618 | case 'V': // Version Info |
||
619 | stats.version_data_count++; |
||
620 | slave_addr=data[1]; |
||
621 | |||
622 | switch(slave_addr) |
||
623 | { |
||
624 | case FC_SLAVE_ADDR: |
||
625 | ufo_prober.set_to_mk(); |
||
626 | break; |
||
627 | |||
628 | case NAVI_SLAVE_ADDR: |
||
629 | ufo_prober.set_to_navi(); |
||
630 | break; |
||
631 | |||
632 | case MK3MAG_SLAVE_ADDR: |
||
633 | // ufo_prober.set_to_mk(); |
||
634 | ufo_prober.set_to_mk3mag(); |
||
635 | break; |
||
636 | |||
637 | default: |
||
638 | ufo_prober.set_to_incompatible(); |
||
639 | break; |
||
640 | } |
||
641 | |||
642 | |||
643 | version.set_by_mk_data(Decode64(data,3,len-3)); |
||
644 | break; |
||
645 | |||
646 | case 'w': |
||
647 | stats.angle_data_count++; |
||
648 | |||
649 | break; |
||
650 | |||
651 | |||
652 | case 'Q': |
||
653 | if (ufo_prober.is_mk()) |
||
654 | { |
||
655 | stats.params_data_count++; |
||
656 | params.set_by_mk_data(Decode64(data,3,len-3)); |
||
657 | } |
||
658 | break; |
||
659 | |||
660 | case 'P': |
||
661 | stats.stick_data_count++; |
||
662 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
||
663 | break; |
||
664 | |||
665 | |||
666 | case 'E': |
||
667 | int[] dec_data=Decode64(data,3,len-3); |
||
668 | error_str=""; |
||
669 | for(int foo=0;foo<20;foo++) |
||
670 | if (dec_data[foo]!=0) |
||
671 | error_str+=(char)dec_data[foo]; |
||
672 | break; |
||
673 | |||
674 | |||
675 | case 'O': |
||
676 | stats.navi_data_count++; |
||
677 | log("got navi data(" + len +"):"); |
||
678 | |||
679 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
||
680 | |||
681 | log("long:" + gps_position.Longitude); |
||
682 | log("lat:" + gps_position.Latitude); |
||
683 | |||
684 | break; |
||
685 | |||
686 | |||
687 | // Error from Navi |
||
688 | |||
689 | |||
690 | default: |
||
691 | stats.other_data_count++; |
||
692 | break; |
||
693 | |||
694 | } |
||
695 | |||
696 | } |
||
697 | |||
698 | public boolean force_disconnect=true; |
||
699 | |||
700 | public void close_connections(boolean force) |
||
701 | { |
||
702 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
||
703 | force_disconnect=force; |
||
704 | try{ reader.close(); } |
||
705 | catch (Exception inner_ex) { } |
||
706 | |||
707 | try{ writer.close(); } |
||
708 | catch (Exception inner_ex) { } |
||
709 | |||
710 | //#ifdef j2me |
||
711 | //# try{ connection.close(); } |
||
712 | //# catch (Exception inner_ex) { } |
||
713 | //#endif |
||
714 | ufo_prober.set_to_none(); |
||
715 | stats.reset(); |
||
716 | connected=false; |
||
717 | version=new MKVersion(); |
||
718 | } |
||
719 | |||
720 | // Thread to recieve data from Connection |
||
721 | public void run() |
||
722 | { |
||
723 | |||
724 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
||
725 | { |
||
726 | try { |
||
727 | flash_msgs[msg_pos++]="reading avr_sig"; |
||
728 | |||
729 | writer.write( 't'); |
||
730 | writer.flush(); |
||
731 | |||
732 | int avr_sig=reader.read(); |
||
733 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
||
734 | |||
735 | |||
736 | if (reader.read()!=0) |
||
737 | throw new Exception("val after avrsig isnt 0"); |
||
738 | |||
739 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
||
740 | throw new Exception("avr sig" + avr_sig + " unknown"); |
||
741 | |||
742 | writer.write('T'); |
||
743 | // writer.flush(); |
||
744 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
||
745 | writer.flush(); |
||
746 | |||
747 | if (reader.read()!=0x0d) |
||
748 | throw new Exception("cant get buffer size"); |
||
749 | |||
750 | writer.write('V'); |
||
751 | writer.flush(); |
||
752 | |||
753 | int bl_version_major=reader.read(); |
||
754 | int bl_version_minor=reader.read(); |
||
755 | |||
756 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
||
757 | |||
758 | |||
759 | writer.write('b'); |
||
760 | writer.flush(); |
||
761 | |||
762 | if (reader.read()!='Y') |
||
763 | throw new Exception("cant get buffer size"); |
||
764 | |||
765 | int send_buff_size1=reader.read(); |
||
766 | int send_buff_size2=reader.read(); |
||
767 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
||
768 | |||
769 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
||
770 | // if (send_buff_size>128) |
||
771 | // send_buff_size=128; |
||
772 | if (bootloader_intension_flash) |
||
773 | { |
||
774 | |||
775 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
||
776 | |||
777 | |||
778 | flash_msgs[msg_pos++]="Opening firmware .."; |
||
779 | |||
780 | |||
781 | InputStream in; |
||
782 | try { |
||
783 | in=this.getClass().getResourceAsStream((avr_sig==224)?"/navi.bin":((avr_sig==120)?"mk3.bin":"/fc.bin")); |
||
784 | } |
||
785 | |||
786 | catch (Exception e) { throw new Exception(" cant open firmware"); } |
||
787 | |||
788 | |||
789 | int firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
||
790 | |||
791 | |||
792 | flash_msgs[msg_pos++]=".. open with " + firmware_size + "bytes"; |
||
793 | |||
794 | |||
795 | |||
796 | |||
797 | |||
798 | // if (true) throw new Exception("before erasing" ); |
||
799 | |||
800 | flash_msgs[msg_pos++]="Erasing Flash .."; |
||
801 | writer.write('e'); |
||
802 | writer.flush(); |
||
803 | |||
804 | if (reader.read()!=0x0d) |
||
805 | throw new Exception("cant erase flash"); |
||
806 | |||
807 | flash_msgs[msg_pos]+="OK"; |
||
808 | |||
809 | |||
810 | writer.write('A'); |
||
811 | writer.write(0); |
||
812 | writer.write(0); |
||
813 | writer.flush(); |
||
814 | |||
815 | if (reader.read()!=0x0d) |
||
816 | throw new Exception("cant set addr"); |
||
817 | |||
818 | flash_msgs[msg_pos++]="addr set"; |
||
819 | |||
820 | |||
821 | int blocks2write=((firmware_size/send_buff_size)); |
||
822 | if ((firmware_size%send_buff_size)>0) |
||
823 | blocks2write++; |
||
824 | |||
825 | for ( int block=0; block<blocks2write; block ++) |
||
826 | { |
||
827 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
||
828 | |||
829 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
||
830 | |||
831 | |||
832 | writer.write('B'); |
||
833 | writer.write((hex_bytes_read>>8)& 0xFF); |
||
834 | writer.write((hex_bytes_read)& 0xFF); |
||
835 | writer.write('F'); |
||
836 | writer.flush(); |
||
837 | |||
838 | |||
839 | writer.write(flash_buff,0,hex_bytes_read); |
||
840 | writer.flush(); |
||
841 | |||
842 | |||
843 | if (avr_sig==224) |
||
844 | { |
||
845 | int crc=0xFFFF; |
||
846 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
||
847 | crc=CRC16(flash_buff[crc_pos],crc); |
||
848 | writer.write(crc>>8); |
||
849 | writer.write(crc&0xff); |
||
850 | writer.flush(); |
||
851 | } |
||
852 | // flash_msgs[msg_pos]+="ok"; |
||
853 | // writer.flush(); |
||
854 | |||
855 | |||
856 | |||
857 | if (reader.read()!=0x0d) |
||
858 | throw new Exception("abort write at block"+block); |
||
859 | |||
860 | |||
861 | |||
862 | // sleep(1000); |
||
863 | } |
||
864 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
||
865 | /* |
||
866 | |||
867 | int inp=0; |
||
868 | int block=0; |
||
869 | while (inp!=-1) |
||
870 | { |
||
871 | int flash_buff_pos=0; |
||
872 | int crc=0xFFFF; |
||
873 | |||
874 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
||
875 | { |
||
876 | inp=in.read(); |
||
877 | if (inp!=-1) |
||
878 | { |
||
879 | crc=CRC16(inp,crc); |
||
880 | flash_buff[flash_buff_pos++]=(byte)inp; |
||
881 | } |
||
882 | } |
||
883 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
||
884 | |||
885 | block++; |
||
886 | |||
887 | boolean block_fin=false; |
||
888 | |||
889 | |||
890 | while(!block_fin) |
||
891 | { |
||
892 | |||
893 | writer.write('B'); |
||
894 | writer.write((flash_buff_pos>>8)& 0xFF); |
||
895 | writer.write((flash_buff_pos)& 0xFF); |
||
896 | writer.write('F'); |
||
897 | writer.flush(); |
||
898 | |||
899 | // int ret_v=-1; |
||
900 | |||
901 | writer.write(flash_buff,0,flash_buff_pos); |
||
902 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
||
903 | |||
904 | writer.flush(); |
||
905 | // flash_msgs[msg_pos]+="wtc"; |
||
906 | |||
907 | |||
908 | // append crc if navi |
||
909 | if (avr_sig==224) |
||
910 | { |
||
911 | writer.write(crc>>8); |
||
912 | writer.write(crc&0xff); |
||
913 | writer.flush(); |
||
914 | } |
||
915 | // flash_msgs[msg_pos]+="ok"; |
||
916 | // writer.flush(); |
||
917 | // if (reader.read()!=0x0d) |
||
918 | // throw new Exception("abort write at block"+block); |
||
919 | |||
920 | |||
921 | //ret_v=reader.read(); |
||
922 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
||
923 | |||
924 | if (reader.read()==0x0d) |
||
925 | block_fin=true; |
||
926 | |||
927 | } |
||
928 | |||
929 | } |
||
930 | */ |
||
931 | flash_msgs[++msg_pos]="written last block "; |
||
932 | msg_pos++; |
||
933 | flash_buff=null; |
||
934 | |||
935 | ufo_prober.set_to_none(); |
||
936 | stats.reset(); |
||
937 | version=new MKVersion(); |
||
938 | System.gc(); |
||
939 | } |
||
940 | else // bootloader intension clear settings |
||
941 | { |
||
942 | |||
943 | flash_msgs[msg_pos]="reset params .."; |
||
944 | writer.write('B'); |
||
945 | writer.write(0); |
||
946 | writer.write(4); |
||
947 | writer.write('E'); |
||
948 | writer.flush(); |
||
949 | |||
950 | writer.write(0xFF); |
||
951 | writer.write(0xFF); |
||
952 | writer.write(0xFF); |
||
953 | writer.write(0xFF); |
||
954 | writer.flush(); |
||
955 | flash_msgs[msg_pos++]+=" done"; |
||
956 | } |
||
957 | |||
958 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
||
959 | params=new MKParamsParser(); |
||
960 | try{ |
||
961 | writer.write('E'); |
||
962 | writer.flush(); |
||
963 | } |
||
964 | catch (Exception e) { |
||
965 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
||
966 | } |
||
967 | flash_msgs[msg_pos++]="Exit BL done" ; |
||
968 | |||
969 | |||
970 | } |
||
971 | |||
972 | catch (Exception e) { |
||
973 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
||
974 | |||
975 | |||
976 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
||
977 | params=new MKParamsParser(); |
||
978 | try{ |
||
979 | writer.write('E'); |
||
980 | writer.flush(); |
||
981 | } |
||
982 | catch (Exception e2) { |
||
983 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
||
984 | } |
||
985 | flash_msgs[msg_pos++]="Exit BL done" ; |
||
986 | |||
987 | |||
988 | |||
989 | close_connections(false); |
||
990 | } |
||
991 | |||
992 | |||
993 | sending=false; |
||
994 | } |
||
995 | |||
996 | |||
997 | byte[] data_set=new byte[1024]; |
||
998 | int data_set_pos=0; |
||
999 | byte[] data_in_buff=new byte[2048]; |
||
1000 | |||
1001 | int input; |
||
1002 | int pos=0; |
||
1003 | |||
1004 | |||
1005 | |||
1006 | |||
1007 | |||
1008 | log("Thread started"); |
||
1009 | while(true) |
||
1010 | { |
||
1011 | |||
1012 | if (!connected) |
||
1013 | { |
||
1014 | if (!force_disconnect) connect(); |
||
1015 | sleep(100); |
||
1016 | } |
||
1017 | else |
||
1018 | try{ |
||
1019 | |||
1020 | /* |
||
1021 | while(sending) |
||
1022 | {try { Thread.sleep(50); } |
||
1023 | catch (Exception e) { } |
||
1024 | } |
||
1025 | */ |
||
1026 | |||
1027 | recieving=true; |
||
1028 | int read_count =reader.read(data_in_buff,0,reader.available()); |
||
1029 | log("Connected - reading data " + read_count); |
||
1030 | // pos=0; |
||
1031 | input=0; |
||
1032 | //data_buff[data_buff_pos]=""; |
||
1033 | // recieve data-set |
||
1034 | if (read_count==0) sleep(50); |
||
1035 | |||
1036 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
||
1037 | stats.bytes_in+=read_count; |
||
1038 | if (read_count>0) |
||
1039 | { |
||
1040 | log("read" + read_count + " ds_pos" + data_set_pos); |
||
1041 | |||
1042 | for ( pos=0;pos<read_count;pos++) |
||
1043 | { |
||
1044 | if (data_in_buff[pos]==13) |
||
1045 | { |
||
1046 | data_buff[data_buff_pos]=""+data_buff_pos+ "--"+new String(data_set, 0, data_set_pos); |
||
1047 | data_buff_pos++; |
||
1048 | data_buff_pos%=DATA_BUFF_LEN; |
||
1049 | |||
1050 | |||
1051 | try{process_data(data_set,data_set_pos); } |
||
1052 | catch (Exception e) |
||
1053 | { |
||
1054 | log(".. problem processing"); |
||
1055 | log(e.toString()); |
||
1056 | } |
||
1057 | |||
1058 | |||
1059 | |||
1060 | |||
1061 | proxy.write(data_set,0,data_set_pos); |
||
1062 | // proxy.writer.write('\r'); |
||
1063 | //proxy.writer.write('\n'); |
||
1064 | //proxy.writer.flush(); |
||
1065 | /* |
||
1066 | if (proxy!=null) |
||
1067 | { |
||
1068 | |||
1069 | |||
1070 | |||
1071 | } |
||
1072 | */ |
||
1073 | data_set_pos=0; |
||
1074 | |||
1075 | } |
||
1076 | else |
||
1077 | { |
||
1078 | data_set[data_set_pos++]=data_in_buff[pos]; |
||
1079 | |||
1080 | |||
1081 | |||
1082 | if ( (data_set_pos>4) && (data_set[data_set_pos-4]==(byte)'M') && (data_set[data_set_pos-3]==(byte)'K') && (data_set[data_set_pos-2]==(byte)'B') && (data_set[data_set_pos-1]==(byte)'L')) |
||
1083 | { |
||
1084 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
||
1085 | return; |
||
1086 | } |
||
1087 | |||
1088 | } |
||
1089 | |||
1090 | } |
||
1091 | |||
1092 | |||
1093 | } |
||
1094 | else |
||
1095 | sleep(50); |
||
1096 | /* |
||
1097 | while ((input != 13)) //&&(input!=-1)) |
||
1098 | { |
||
1099 | { |
||
1100 | //log("pre read"); |
||
1101 | log(""+reader.available()); |
||
1102 | input = reader.read() ; |
||
1103 | log("Byte rcv" + input +"pos"+ pos); |
||
1104 | |||
1105 | proxy.write(input); |
||
1106 | |||
1107 | data_buff[data_buff_pos]+=(char)input; |
||
1108 | |||
1109 | if ((data_buff[data_buff_pos].length()>3)&&(data_buff[data_buff_pos].substring(data_buff[data_buff_pos].length()-4,data_buff[data_buff_pos].length()).equals("MKBL"))) |
||
1110 | { |
||
1111 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
||
1112 | return; |
||
1113 | } |
||
1114 | if (input==-1) throw new Exception("disconnect"); |
||
1115 | else |
||
1116 | { |
||
1117 | stats.bytes_in++; |
||
1118 | data_set[pos]=input; |
||
1119 | pos++; |
||
1120 | } |
||
1121 | } |
||
1122 | |||
1123 | } |
||
1124 | |||
1125 | |||
1126 | |||
1127 | data_buff_pos++; |
||
1128 | data_buff_pos%=DATA_BUFF_LEN; |
||
1129 | recieving=false; |
||
1130 | log("Data recieved (" + pos + "Bytes)"); |
||
1131 | log("processing .."); |
||
1132 | */ |
||
1133 | |||
1134 | /* |
||
1135 | if (proxy!=null) |
||
1136 | { |
||
1137 | proxy.writer.write('\r'); |
||
1138 | proxy.writer.write('\n'); |
||
1139 | proxy.writer.flush(); |
||
1140 | } |
||
1141 | */ |
||
1142 | /*if (pos>5) |
||
1143 | { |
||
1144 | try{process_data(data_set,pos); } |
||
1145 | catch (Exception e) |
||
1146 | { |
||
1147 | log(".. problem processing"); |
||
1148 | log(e.toString()); |
||
1149 | } |
||
1150 | |||
1151 | log(".. processing done"); |
||
1152 | } |
||
1153 | */ |
||
1154 | } |
||
1155 | catch (Exception ex) |
||
1156 | { |
||
1157 | log("Problem reading from MK -> closing conn"); |
||
1158 | log(ex.toString()); |
||
1159 | // close the connection |
||
1160 | close_connections(false); |
||
1161 | } |
||
1162 | |||
1163 | // sleep a bit to get someting more done |
||
1164 | // sleep(5); //50 |
||
1165 | |||
1166 | } // while |
||
1167 | // log("Leaving Communicator thread"); |
||
1168 | } // run() |
||
1169 | } |