Rev 1689 | Rev 1695 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1563 | - | 1 | package dongfang.mkt.comm; |
2 | |||
3 | import java.io.IOException; |
||
4 | import java.io.InputStream; |
||
5 | import java.io.OutputStream; |
||
6 | |||
7 | import dongfang.mkt.datatype.GPSBearingAndRange; |
||
8 | import dongfang.mkt.datatype.GPSPosition; |
||
9 | import dongfang.mkt.frames.AllDisplaysResponseFrame; |
||
10 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
||
11 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
||
12 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
||
13 | import dongfang.mkt.frames.CompassHeadingResponseFrame; |
||
14 | import dongfang.mkt.frames.ConfirmFrame; |
||
15 | import dongfang.mkt.frames.DebugResponseFrame; |
||
16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
||
17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
||
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
||
1611 | - | 19 | import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame; |
1688 | - | 20 | import dongfang.mkt.frames.ReadMotorMixerResponseFrame; |
1690 | - | 21 | import dongfang.mkt.frames.ReadParamSetResponseFrame; |
22 | import dongfang.mkt.frames.ReadRCChannelsResponseFrame; |
||
23 | import dongfang.mkt.frames.ReadVariablesResponseFrame; |
||
1563 | - | 24 | import dongfang.mkt.frames.ResponseFrame; |
25 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
||
1690 | - | 26 | import dongfang.mkt.frames.VersionResponseFrame; |
1611 | - | 27 | import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame; |
1688 | - | 28 | import dongfang.mkt.frames.WriteMotorMixerResponseFrame; |
1611 | - | 29 | import dongfang.mkt.frames.WriteParamSetResponseFrame; |
1563 | - | 30 | |
31 | public class MKInputStream extends InputStream { |
||
32 | int readByteCnt; |
||
33 | class MKDataInputStream { |
||
34 | int[] inbuf = new int[4]; |
||
35 | int[] outbuf = new int[3]; |
||
36 | int outbufptr = outbuf.length; // reset to "buffer empty" |
||
37 | |||
38 | private boolean decode() throws IOException { |
||
39 | for (int i = 0; i < 4; i++) { |
||
40 | int raw = MKInputStream.this.readByte(); |
||
41 | int in = raw - '='; |
||
42 | if (in < 0 || in > 63) |
||
43 | return false; |
||
44 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
||
45 | inbuf[i] = in; |
||
46 | readByteCnt++; |
||
47 | } |
||
48 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
||
49 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
||
50 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
||
51 | outbufptr = 0; |
||
52 | return true; |
||
53 | } |
||
54 | |||
55 | public void reset() { |
||
56 | outbufptr = outbuf.length; // reset to "buffer empty" |
||
57 | } |
||
58 | |||
59 | public int readByte() throws IOException { |
||
60 | if (outbufptr > 2 && !decode()) |
||
61 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
||
62 | return outbuf[outbufptr++]; |
||
63 | } |
||
64 | |||
65 | public int readSignedByte() throws IOException { |
||
66 | byte result = (byte)readByte(); |
||
67 | return result; |
||
68 | } |
||
69 | |||
70 | public int readWord() throws IOException { |
||
71 | int byte0 = readByte(); |
||
72 | int byte1 = readByte(); |
||
73 | return (byte1 << 8) | byte0; |
||
74 | } |
||
75 | |||
76 | public int readSignedWord() throws IOException { |
||
77 | int word = readWord(); |
||
78 | if (word > 32767) |
||
79 | word = word - 65536; |
||
80 | return word; |
||
81 | } |
||
82 | |||
83 | public int readSignedDWord() throws IOException { |
||
84 | int byte0 = readByte(); |
||
85 | int byte1 = readByte(); |
||
86 | int byte2 = readByte(); |
||
87 | int byte3 = readByte(); |
||
88 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
||
89 | } |
||
90 | |||
91 | public int[] readBytes(int length) throws IOException { |
||
92 | int[] result = new int[length]; |
||
93 | for (int i = 0; i < length; i++) { |
||
94 | result[i] = readByte(); |
||
95 | } |
||
96 | return result; |
||
97 | } |
||
98 | |||
99 | public int[] readWords(int length) throws IOException { |
||
100 | int[] result = new int[length]; |
||
101 | for (int i = 0; i < length; i++) { |
||
102 | result[i] = readWord(); |
||
103 | } |
||
104 | return result; |
||
105 | } |
||
106 | |||
107 | public int[] readSignedWords(int length) throws IOException { |
||
108 | int[] result = new int[length]; |
||
109 | for (int i = 0; i < length; i++) { |
||
110 | result[i] = readSignedWord(); |
||
111 | } |
||
112 | return result; |
||
113 | } |
||
114 | |||
115 | public char[] readChars(int length) throws IOException { |
||
116 | char[] result = new char[length]; |
||
117 | for (int i = 0; i < length; i++) { |
||
118 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
||
119 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
||
120 | // of Unicode, which Java uses for chars) |
||
121 | result[i] = (char) readByte(); |
||
122 | } |
||
123 | return result; |
||
124 | } |
||
125 | } |
||
126 | |||
127 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
||
128 | OutputStream nonPacketSpillway = null; //System.err; |
||
129 | |||
130 | final InputStream is; |
||
131 | int crc; |
||
132 | |||
133 | public MKInputStream(InputStream is) { |
||
134 | this.is = is; |
||
135 | } |
||
136 | |||
137 | @Override |
||
138 | public int read() throws IOException { |
||
139 | int i; |
||
140 | while ((i=is.read()) == -1); |
||
141 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
||
142 | return i; |
||
143 | } |
||
144 | |||
145 | public int readByte() throws IOException { |
||
146 | int _byte = read(); |
||
147 | if (_byte < 0) |
||
148 | throw new IOException("End of Stream!"); |
||
149 | crc += _byte; |
||
150 | return _byte; |
||
151 | } |
||
152 | |||
153 | public MKDataInputStream getBase64InputStream() { |
||
154 | return base64InputStream; |
||
155 | } |
||
156 | |||
157 | public ResponseFrame getNextFrame() throws IOException { |
||
158 | int c; |
||
159 | while ((c = read()) != '#') { |
||
160 | // throw it on some scrap-text buffer. |
||
161 | if (nonPacketSpillway != null) |
||
162 | nonPacketSpillway.write(c); |
||
163 | } |
||
164 | crc = '#'; |
||
165 | base64InputStream.reset(); |
||
166 | int address = readByte() - 'a'; |
||
167 | int iid = readByte(); |
||
168 | readByteCnt = 0; |
||
169 | //RESPONSE_IDS id = getResponseType(iid); |
||
170 | ResponseFrame result; |
||
171 | // System.out.println("Received a: " + (char)iid + " from " + address); |
||
172 | switch (iid) { |
||
173 | case 'A': { |
||
174 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
||
175 | f.setChannel(base64InputStream.readByte()); |
||
176 | f.setLabel(base64InputStream.readChars(16)); |
||
177 | result = f; |
||
178 | break; |
||
179 | } |
||
180 | case 'B': { |
||
181 | ConfirmFrame f = new ConfirmFrame(address); |
||
182 | f.setFrameNum(base64InputStream.readByte()); |
||
183 | result = f; |
||
184 | break; |
||
185 | } |
||
186 | case 'C': { |
||
187 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
||
188 | f.setPitch(base64InputStream.readSignedWord()); |
||
189 | f.setRoll(base64InputStream.readSignedWord()); |
||
190 | f.setHeading(base64InputStream.readSignedWord()); |
||
191 | f.setExpansion(base64InputStream.readBytes(8)); |
||
192 | result = f; |
||
193 | break; |
||
194 | } |
||
195 | case 'D': { |
||
196 | DebugResponseFrame f = new DebugResponseFrame(address); |
||
197 | for (int i=0; i<2; i++) |
||
198 | f.setDigital(i, base64InputStream.readByte()); |
||
199 | for (int i=0; i<32; i++) |
||
200 | f.setAnalog(i, base64InputStream.readSignedWord()); |
||
201 | result = f; |
||
202 | break; |
||
203 | } |
||
204 | case 'F': { |
||
205 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
||
206 | f.setParameterSetNumber(base64InputStream.readByte()); |
||
207 | result = f; |
||
208 | break; |
||
209 | } |
||
210 | case 'G': { |
||
211 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
||
212 | f.setDigital(base64InputStream.readBytes(2)); |
||
213 | f.setRemoteButtons(base64InputStream.readByte()); |
||
214 | f.setPitch(base64InputStream.readByte()); |
||
215 | f.setRoll(base64InputStream.readByte()); |
||
216 | f.setYaw(base64InputStream.readByte()); |
||
217 | f.setThrottle(base64InputStream.readByte()); |
||
218 | f.setHeight(base64InputStream.readByte()); |
||
219 | f.setCommand(base64InputStream.readByte()); |
||
220 | f.setFrameNum(base64InputStream.readByte()); |
||
221 | f.setArgument(base64InputStream.readByte()); |
||
222 | result = f; |
||
223 | break; |
||
224 | } |
||
225 | case 'H': { |
||
226 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
||
227 | f.setLine(base64InputStream.readByte()); |
||
228 | //f.setMaxItem(getDataInputStream().readByte()); |
||
229 | f.setText(base64InputStream.readChars(20)); |
||
230 | result = f; |
||
231 | break; |
||
232 | } |
||
1611 | - | 233 | case 'I': { |
234 | ReadIMUConfigurationResponseFrame f = new ReadIMUConfigurationResponseFrame(address); |
||
235 | f.setConfigurationVersion(base64InputStream.readByte()); |
||
236 | int length = base64InputStream.readByte(); |
||
237 | f.setConfigurationSetLength(length); |
||
238 | f.setData(base64InputStream.readBytes(length)); |
||
239 | result = f; |
||
240 | break; |
||
241 | } |
||
242 | case 'J': { |
||
243 | WriteIMUConfigurationResponseFrame f = new WriteIMUConfigurationResponseFrame(address); |
||
244 | f.setWasAccepted(base64InputStream.readByte()==1); |
||
245 | result = f; |
||
246 | break; |
||
247 | } |
||
1563 | - | 248 | case 'k' : { |
249 | CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
||
250 | base64InputStream.readSignedWords(2); |
||
251 | base64InputStream.readBytes(2); |
||
252 | base64InputStream.readByte(); |
||
253 | base64InputStream.readByte(); |
||
254 | result = f; |
||
255 | break; |
||
256 | } |
||
257 | case 'L': { |
||
258 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
||
259 | f.setItem(base64InputStream.readByte()); |
||
260 | // f.setMaxItem(getDataInputStream().readByte()); |
||
261 | f.setText(base64InputStream.readChars(80)); |
||
262 | result = f; |
||
263 | break; |
||
264 | } |
||
1688 | - | 265 | case 'M': { |
266 | WriteMotorMixerResponseFrame f = new WriteMotorMixerResponseFrame(address); |
||
267 | f.setWasAccepted(base64InputStream.readByte() != 0); |
||
1689 | - | 268 | result = f; |
269 | break; |
||
1688 | - | 270 | } |
271 | case 'N': { |
||
272 | int numMotors = 12; |
||
273 | ReadMotorMixerResponseFrame f = new ReadMotorMixerResponseFrame(); |
||
274 | f.setConfigurationVersion(base64InputStream.readByte()); |
||
275 | int length = base64InputStream.readByte(); |
||
276 | f.setDataLength(length); |
||
1689 | - | 277 | int testLength = 12; // the name is first! |
278 | char[] name = base64InputStream.readChars(12); |
||
279 | f.setName(name); |
||
1688 | - | 280 | int[][] matrix = new int[numMotors][]; |
281 | for(int i=0; i<numMotors; i++) { |
||
1689 | - | 282 | int[] row = new int[5]; |
283 | matrix[i] = row; |
||
284 | for(int j=0; j<5; j++) { |
||
285 | row[j] = base64InputStream.readSignedByte(); |
||
1688 | - | 286 | testLength++; |
287 | } |
||
288 | } |
||
289 | |||
290 | if (length != testLength) |
||
1689 | - | 291 | throw new IOException("Length of motor mixer data was not as expected (" + testLength + " vs. " + length + ")."); |
1688 | - | 292 | /* |
293 | int[] opposite = new int[numMotors]; |
||
294 | for(int i=0; i<numMotors; i++) { |
||
295 | opposite[i] = base64InputStream.readByte(); |
||
296 | } |
||
297 | */ |
||
298 | f.setMatrix(matrix); |
||
299 | result = f; |
||
1689 | - | 300 | break; |
1688 | - | 301 | } |
1563 | - | 302 | case 'O': { |
303 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
||
304 | f.setVersion(base64InputStream.readByte()); |
||
305 | |||
306 | GPSPosition pos = new GPSPosition(); |
||
1565 | - | 307 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
308 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
||
309 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
||
1563 | - | 310 | pos.setStatus(base64InputStream.readByte()); |
311 | f.setCurrentPosition(pos); |
||
312 | |||
313 | pos = new GPSPosition(); |
||
1565 | - | 314 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
315 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
||
316 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
||
1563 | - | 317 | pos.setStatus(base64InputStream.readByte()); |
318 | f.setTargetPosition(pos); |
||
319 | |||
320 | GPSBearingAndRange rnb = new GPSBearingAndRange(); |
||
1565 | - | 321 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
1563 | - | 322 | rnb.setBearing(base64InputStream.readSignedWord()); |
323 | f.setCurrentToTarget(rnb); |
||
324 | |||
325 | pos = new GPSPosition(); |
||
1565 | - | 326 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
327 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
||
328 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
||
1563 | - | 329 | pos.setStatus(base64InputStream.readByte()); |
330 | f.setHomePosition(pos); |
||
331 | |||
332 | rnb = new GPSBearingAndRange(); |
||
1565 | - | 333 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
1563 | - | 334 | rnb.setBearing(base64InputStream.readSignedWord()); |
335 | f.setCurrentToHome(rnb); |
||
336 | |||
337 | f.setWaypointIndex(base64InputStream.readByte()); |
||
338 | f.setWaypointCount(base64InputStream.readByte()); |
||
339 | f.setNumberOfSatellites(base64InputStream.readByte()); |
||
340 | |||
1565 | - | 341 | // This stunt is a metric unit conversion: The height was supposed (H&I) to be in integral 5cm steps. |
342 | // However there is error factor in the measurement of 24% too much. |
||
343 | // h[m] = h[int] * 0.05 / 1.24 = h[int] |
||
344 | f._setHeightByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
||
345 | |||
1568 | - | 346 | f.setVerticalVelocityByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); // clueless! |
1563 | - | 347 | f.setFlightTime(base64InputStream.readWord()); |
348 | f.setBatteryVoltage(base64InputStream.readByte()); |
||
1568 | - | 349 | f.setGroundSpeed(((double)base64InputStream.readWord()) / 1E2); |
1563 | - | 350 | |
351 | f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
||
352 | f.setCompassHeading(base64InputStream.readSignedWord()); |
||
353 | |||
354 | f.setPitchAngle(base64InputStream.readSignedByte()); |
||
355 | f.setRollAngle(base64InputStream.readSignedByte()); |
||
356 | |||
357 | f.setRcQuality(base64InputStream.readByte()); |
||
358 | f.setFcFlags(base64InputStream.readByte()); |
||
359 | f.setNcFlags(base64InputStream.readByte()); |
||
360 | f.setErrorCode(base64InputStream.readByte()); |
||
361 | f.setOperatingRadius(base64InputStream.readByte()); |
||
362 | |||
1568 | - | 363 | f.setVerticalVelocityByGPS(((double)base64InputStream.readSignedWord()) / 1E2); |
1563 | - | 364 | f.setTargetLoiterTime(base64InputStream.readByte()); |
365 | f.setFcFlags2(base64InputStream.readByte()); |
||
1565 | - | 366 | f.setSetpointForAltitude(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
1563 | - | 367 | f.setThrottle(base64InputStream.readByte()); |
368 | f.setCurrent(base64InputStream.readWord()); |
||
369 | f.setCapacityUsed(base64InputStream.readWord()); |
||
370 | result = f; |
||
371 | break; |
||
1690 | - | 372 | } |
373 | case 'P': { |
||
374 | ReadRCChannelsResponseFrame f = new ReadRCChannelsResponseFrame(address); |
||
375 | int numberOfChannels = base64InputStream.readByte(); |
||
376 | f.setNumberOfChannels(numberOfChannels); |
||
377 | f.setChannels(base64InputStream.readSignedWords(numberOfChannels)); |
||
378 | result = f; |
||
379 | break; |
||
380 | } |
||
1563 | - | 381 | case 'S': { |
1611 | - | 382 | WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address); |
1563 | - | 383 | f.setParameterSetNumber(base64InputStream.readByte()); |
384 | result = f; |
||
385 | break; |
||
386 | } |
||
387 | case 'T': { |
||
388 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
||
389 | result = f; |
||
390 | break; |
||
391 | } |
||
392 | /* |
||
393 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
||
394 | case 'x': { |
||
395 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
||
396 | f.setByte(getDataInputStream().readByte()); |
||
397 | f.setWord(getDataInputStream().readWord()); |
||
398 | f.setChararray(getDataInputStream().readChars(8)); |
||
399 | result = f; |
||
400 | break; |
||
401 | } |
||
402 | */ |
||
403 | case 'V': { |
||
404 | VersionResponseFrame f = new VersionResponseFrame(address); |
||
405 | f.setSWMajor(base64InputStream.readByte()); |
||
406 | f.setSWMinor(base64InputStream.readByte()); |
||
407 | f.setProtoMajor(base64InputStream.readByte()); |
||
408 | f.setProtoMinor(base64InputStream.readByte()); |
||
409 | f.setSWPatch(base64InputStream.readByte()); |
||
410 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
||
411 | result = f; |
||
412 | break; |
||
413 | } |
||
414 | |||
415 | // This is my own creation. The ID collides with the waypoint one of FC. |
||
416 | case 'X': { |
||
1688 | - | 417 | ReadVariablesResponseFrame f = new ReadVariablesResponseFrame(address); |
1631 | - | 418 | f.setVariables(base64InputStream.readSignedWords(8)); |
1563 | - | 419 | result = f; |
420 | break; |
||
421 | } |
||
422 | case 'w': { |
||
423 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
||
424 | // do stuff. |
||
425 | /* |
||
426 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
||
427 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
||
428 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
||
429 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
||
430 | ToMk3Mag.CalState = compassCalState; |
||
431 | */ |
||
432 | // Waste 8 bytes to make CRC match. |
||
433 | base64InputStream.readBytes(8); |
||
434 | result = f; |
||
435 | break; |
||
436 | } |
||
437 | case 'Q': |
||
1611 | - | 438 | ReadParamSetResponseFrame f = new ReadParamSetResponseFrame(address); |
1563 | - | 439 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
440 | f.setConfigurationVersion(base64InputStream.readByte()); |
||
441 | int length = base64InputStream.readByte(); |
||
1601 | - | 442 | f.setConfigurationSetLength(length); |
1563 | - | 443 | f.setData(base64InputStream.readBytes(length)); |
444 | result = f; |
||
445 | break; |
||
446 | default: |
||
447 | int count = 0; |
||
1573 | - | 448 | while(read() != '\r') { |
1563 | - | 449 | count++; |
450 | } |
||
451 | System.err.println("Unknown frame " + (char)iid + " received from " + address); |
||
452 | System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
||
453 | System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
||
454 | result = null; |
||
455 | } |
||
456 | |||
457 | int receivedCRC = (read() - '=') << 6; |
||
458 | receivedCRC += (read() - '='); |
||
459 | crc %= 4096; |
||
460 | if (receivedCRC != crc) { |
||
461 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
||
462 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
||
463 | } |
||
464 | if (read() != '\r') { |
||
465 | throw new IOException("CR at end of frame missing"); |
||
466 | } |
||
467 | |||
468 | return result; |
||
469 | } |
||
470 | } |