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Rev | Author | Line No. | Line |
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1563 | - | 1 | package dongfang.mkt.comm; |
2 | |||
3 | import java.io.IOException; |
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4 | import java.io.InputStream; |
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5 | import java.io.OutputStream; |
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6 | |||
7 | import dongfang.mkt.datatype.GPSBearingAndRange; |
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8 | import dongfang.mkt.datatype.GPSPosition; |
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9 | import dongfang.mkt.frames.AllDisplaysResponseFrame; |
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10 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
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11 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
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12 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
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13 | import dongfang.mkt.frames.CompassHeadingResponseFrame; |
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14 | import dongfang.mkt.frames.ConfirmFrame; |
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15 | import dongfang.mkt.frames.DebugResponseFrame; |
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16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
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17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
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18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
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19 | import dongfang.mkt.frames.ResponseFrame; |
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20 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
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21 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
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22 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
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23 | import dongfang.mkt.frames.VariablesResponseFrame; |
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24 | import dongfang.mkt.frames.VersionResponseFrame; |
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25 | |||
26 | public class MKInputStream extends InputStream { |
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27 | int readByteCnt; |
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28 | class MKDataInputStream { |
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29 | int[] inbuf = new int[4]; |
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30 | int[] outbuf = new int[3]; |
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31 | int outbufptr = outbuf.length; // reset to "buffer empty" |
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32 | |||
33 | private boolean decode() throws IOException { |
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34 | for (int i = 0; i < 4; i++) { |
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35 | int raw = MKInputStream.this.readByte(); |
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36 | int in = raw - '='; |
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37 | if (in < 0 || in > 63) |
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38 | return false; |
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39 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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40 | inbuf[i] = in; |
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41 | readByteCnt++; |
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42 | } |
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43 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
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44 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
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45 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
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46 | outbufptr = 0; |
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47 | return true; |
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48 | } |
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49 | |||
50 | public void reset() { |
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51 | outbufptr = outbuf.length; // reset to "buffer empty" |
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52 | } |
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53 | |||
54 | public int readByte() throws IOException { |
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55 | if (outbufptr > 2 && !decode()) |
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56 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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57 | return outbuf[outbufptr++]; |
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58 | } |
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59 | |||
60 | public int readSignedByte() throws IOException { |
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61 | byte result = (byte)readByte(); |
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62 | return result; |
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63 | } |
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64 | |||
65 | public int readWord() throws IOException { |
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66 | int byte0 = readByte(); |
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67 | int byte1 = readByte(); |
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68 | return (byte1 << 8) | byte0; |
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69 | } |
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70 | |||
71 | public int readSignedWord() throws IOException { |
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72 | int word = readWord(); |
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73 | if (word > 32767) |
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74 | word = word - 65536; |
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75 | return word; |
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76 | } |
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77 | |||
78 | public int readSignedDWord() throws IOException { |
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79 | int byte0 = readByte(); |
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80 | int byte1 = readByte(); |
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81 | int byte2 = readByte(); |
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82 | int byte3 = readByte(); |
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83 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
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84 | } |
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85 | |||
86 | public int[] readBytes(int length) throws IOException { |
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87 | int[] result = new int[length]; |
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88 | for (int i = 0; i < length; i++) { |
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89 | result[i] = readByte(); |
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90 | } |
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91 | return result; |
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92 | } |
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93 | |||
94 | public int[] readWords(int length) throws IOException { |
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95 | int[] result = new int[length]; |
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96 | for (int i = 0; i < length; i++) { |
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97 | result[i] = readWord(); |
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98 | } |
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99 | return result; |
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100 | } |
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101 | |||
102 | public int[] readSignedWords(int length) throws IOException { |
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103 | int[] result = new int[length]; |
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104 | for (int i = 0; i < length; i++) { |
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105 | result[i] = readSignedWord(); |
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106 | } |
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107 | return result; |
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108 | } |
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109 | |||
110 | public char[] readChars(int length) throws IOException { |
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111 | char[] result = new char[length]; |
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112 | for (int i = 0; i < length; i++) { |
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113 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
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114 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
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115 | // of Unicode, which Java uses for chars) |
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116 | result[i] = (char) readByte(); |
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117 | } |
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118 | return result; |
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119 | } |
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120 | } |
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121 | |||
122 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
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123 | OutputStream nonPacketSpillway = null; //System.err; |
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124 | |||
125 | final InputStream is; |
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126 | int crc; |
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127 | |||
128 | public MKInputStream(InputStream is) { |
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129 | this.is = is; |
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130 | } |
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131 | |||
132 | @Override |
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133 | public int read() throws IOException { |
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134 | int i; |
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135 | while ((i=is.read()) == -1); |
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136 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
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137 | return i; |
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138 | } |
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139 | |||
140 | public int readByte() throws IOException { |
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141 | int _byte = read(); |
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142 | if (_byte < 0) |
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143 | throw new IOException("End of Stream!"); |
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144 | crc += _byte; |
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145 | return _byte; |
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146 | } |
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147 | |||
148 | public MKDataInputStream getBase64InputStream() { |
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149 | return base64InputStream; |
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150 | } |
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151 | |||
152 | public ResponseFrame getNextFrame() throws IOException { |
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153 | int c; |
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154 | while ((c = read()) != '#') { |
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155 | // throw it on some scrap-text buffer. |
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156 | if (nonPacketSpillway != null) |
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157 | nonPacketSpillway.write(c); |
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158 | } |
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159 | crc = '#'; |
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160 | base64InputStream.reset(); |
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161 | int address = readByte() - 'a'; |
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162 | int iid = readByte(); |
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163 | readByteCnt = 0; |
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164 | //RESPONSE_IDS id = getResponseType(iid); |
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165 | ResponseFrame result; |
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166 | // System.out.println("Received a: " + (char)iid + " from " + address); |
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167 | switch (iid) { |
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168 | case 'A': { |
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169 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
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170 | f.setChannel(base64InputStream.readByte()); |
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171 | f.setLabel(base64InputStream.readChars(16)); |
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172 | result = f; |
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173 | break; |
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174 | } |
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175 | case 'B': { |
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176 | ConfirmFrame f = new ConfirmFrame(address); |
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177 | f.setFrameNum(base64InputStream.readByte()); |
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178 | result = f; |
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179 | break; |
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180 | } |
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181 | case 'C': { |
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182 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
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183 | f.setPitch(base64InputStream.readSignedWord()); |
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184 | f.setRoll(base64InputStream.readSignedWord()); |
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185 | f.setHeading(base64InputStream.readSignedWord()); |
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186 | f.setExpansion(base64InputStream.readBytes(8)); |
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187 | result = f; |
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188 | break; |
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189 | } |
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190 | case 'D': { |
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191 | DebugResponseFrame f = new DebugResponseFrame(address); |
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192 | for (int i=0; i<2; i++) |
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193 | f.setDigital(i, base64InputStream.readByte()); |
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194 | for (int i=0; i<32; i++) |
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195 | f.setAnalog(i, base64InputStream.readSignedWord()); |
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196 | result = f; |
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197 | break; |
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198 | } |
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199 | case 'F': { |
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200 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
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201 | f.setParameterSetNumber(base64InputStream.readByte()); |
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202 | result = f; |
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203 | break; |
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204 | } |
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205 | case 'G': { |
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206 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
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207 | f.setDigital(base64InputStream.readBytes(2)); |
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208 | f.setRemoteButtons(base64InputStream.readByte()); |
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209 | f.setPitch(base64InputStream.readByte()); |
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210 | f.setRoll(base64InputStream.readByte()); |
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211 | f.setYaw(base64InputStream.readByte()); |
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212 | f.setThrottle(base64InputStream.readByte()); |
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213 | f.setHeight(base64InputStream.readByte()); |
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214 | f.setCommand(base64InputStream.readByte()); |
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215 | f.setFrameNum(base64InputStream.readByte()); |
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216 | f.setArgument(base64InputStream.readByte()); |
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217 | result = f; |
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218 | break; |
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219 | } |
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220 | case 'H': { |
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221 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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222 | f.setLine(base64InputStream.readByte()); |
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223 | //f.setMaxItem(getDataInputStream().readByte()); |
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224 | f.setText(base64InputStream.readChars(20)); |
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225 | result = f; |
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226 | break; |
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227 | } |
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228 | case 'k' : { |
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229 | CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
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230 | base64InputStream.readSignedWords(2); |
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231 | base64InputStream.readBytes(2); |
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232 | base64InputStream.readByte(); |
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233 | base64InputStream.readByte(); |
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234 | result = f; |
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235 | break; |
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236 | } |
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237 | case 'L': { |
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238 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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239 | f.setItem(base64InputStream.readByte()); |
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240 | // f.setMaxItem(getDataInputStream().readByte()); |
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241 | f.setText(base64InputStream.readChars(80)); |
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242 | result = f; |
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243 | break; |
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244 | } |
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245 | case 'O': { |
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246 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
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247 | f.setVersion(base64InputStream.readByte()); |
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248 | |||
249 | GPSPosition pos = new GPSPosition(); |
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1565 | - | 250 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
251 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
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252 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
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1563 | - | 253 | pos.setStatus(base64InputStream.readByte()); |
254 | f.setCurrentPosition(pos); |
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255 | |||
256 | pos = new GPSPosition(); |
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1565 | - | 257 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
258 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
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259 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
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1563 | - | 260 | pos.setStatus(base64InputStream.readByte()); |
261 | f.setTargetPosition(pos); |
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262 | |||
263 | GPSBearingAndRange rnb = new GPSBearingAndRange(); |
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1565 | - | 264 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
1563 | - | 265 | rnb.setBearing(base64InputStream.readSignedWord()); |
266 | f.setCurrentToTarget(rnb); |
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267 | |||
268 | pos = new GPSPosition(); |
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1565 | - | 269 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
270 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
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271 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
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1563 | - | 272 | pos.setStatus(base64InputStream.readByte()); |
273 | f.setHomePosition(pos); |
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274 | |||
275 | rnb = new GPSBearingAndRange(); |
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1565 | - | 276 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
1563 | - | 277 | rnb.setBearing(base64InputStream.readSignedWord()); |
278 | f.setCurrentToHome(rnb); |
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279 | |||
280 | f.setWaypointIndex(base64InputStream.readByte()); |
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281 | f.setWaypointCount(base64InputStream.readByte()); |
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282 | f.setNumberOfSatellites(base64InputStream.readByte()); |
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283 | |||
1565 | - | 284 | // This stunt is a metric unit conversion: The height was supposed (H&I) to be in integral 5cm steps. |
285 | // However there is error factor in the measurement of 24% too much. |
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286 | // h[m] = h[int] * 0.05 / 1.24 = h[int] |
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287 | f._setHeightByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
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288 | |||
1563 | - | 289 | f.setVerticalVelocityByPressure(base64InputStream.readSignedWord()); |
290 | f.setFlightTime(base64InputStream.readWord()); |
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291 | f.setBatteryVoltage(base64InputStream.readByte()); |
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292 | f.setGroundSpeed(base64InputStream.readWord()); |
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293 | |||
294 | f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
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295 | f.setCompassHeading(base64InputStream.readSignedWord()); |
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296 | |||
297 | f.setPitchAngle(base64InputStream.readSignedByte()); |
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298 | f.setRollAngle(base64InputStream.readSignedByte()); |
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299 | |||
300 | f.setRcQuality(base64InputStream.readByte()); |
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301 | f.setFcFlags(base64InputStream.readByte()); |
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302 | f.setNcFlags(base64InputStream.readByte()); |
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303 | f.setErrorCode(base64InputStream.readByte()); |
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304 | f.setOperatingRadius(base64InputStream.readByte()); |
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305 | |||
306 | f.setVerticalVelocityByGPS(base64InputStream.readSignedWord()); |
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307 | f.setTargetLoiterTime(base64InputStream.readByte()); |
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308 | f.setFcFlags2(base64InputStream.readByte()); |
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1565 | - | 309 | f.setSetpointForAltitude(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
1563 | - | 310 | f.setThrottle(base64InputStream.readByte()); |
311 | f.setCurrent(base64InputStream.readWord()); |
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312 | f.setCapacityUsed(base64InputStream.readWord()); |
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313 | result = f; |
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314 | break; |
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315 | } |
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316 | case 'S': { |
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317 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
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318 | f.setParameterSetNumber(base64InputStream.readByte()); |
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319 | result = f; |
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320 | break; |
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321 | } |
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322 | case 'T': { |
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323 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
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324 | result = f; |
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325 | break; |
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326 | } |
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327 | /* |
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328 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
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329 | case 'x': { |
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330 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
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331 | f.setByte(getDataInputStream().readByte()); |
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332 | f.setWord(getDataInputStream().readWord()); |
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333 | f.setChararray(getDataInputStream().readChars(8)); |
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334 | result = f; |
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335 | break; |
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336 | } |
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337 | */ |
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338 | case 'V': { |
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339 | VersionResponseFrame f = new VersionResponseFrame(address); |
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340 | f.setSWMajor(base64InputStream.readByte()); |
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341 | f.setSWMinor(base64InputStream.readByte()); |
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342 | f.setProtoMajor(base64InputStream.readByte()); |
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343 | f.setProtoMinor(base64InputStream.readByte()); |
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344 | f.setSWPatch(base64InputStream.readByte()); |
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345 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
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346 | result = f; |
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347 | break; |
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348 | } |
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349 | |||
350 | // This is my own creation. The ID collides with the waypoint one of FC. |
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351 | case 'X': { |
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352 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
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353 | f.setVariables(base64InputStream.readWords(8)); |
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354 | result = f; |
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355 | break; |
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356 | } |
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357 | case 'w': { |
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358 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
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359 | // do stuff. |
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360 | /* |
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361 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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362 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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363 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
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364 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
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365 | ToMk3Mag.CalState = compassCalState; |
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366 | */ |
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367 | // Waste 8 bytes to make CRC match. |
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368 | base64InputStream.readBytes(8); |
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369 | result = f; |
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370 | break; |
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371 | } |
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372 | case 'Q': |
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373 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
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374 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
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375 | f.setConfigurationVersion(base64InputStream.readByte()); |
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376 | int length = base64InputStream.readByte(); |
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377 | f.setData(base64InputStream.readBytes(length)); |
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378 | result = f; |
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379 | break; |
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380 | default: |
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381 | int b; |
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382 | int count = 0; |
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383 | while((b=read()) != '\r') { |
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384 | count++; |
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385 | } |
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386 | System.err.println("Unknown frame " + (char)iid + " received from " + address); |
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387 | System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
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388 | System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
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389 | result = null; |
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390 | } |
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391 | |||
392 | int receivedCRC = (read() - '=') << 6; |
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393 | receivedCRC += (read() - '='); |
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394 | crc %= 4096; |
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395 | if (receivedCRC != crc) { |
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396 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
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397 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
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398 | } |
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399 | if (read() != '\r') { |
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400 | throw new IOException("CR at end of frame missing"); |
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401 | } |
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402 | |||
403 | return result; |
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404 | } |
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405 | } |