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