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Rev | Author | Line No. | Line |
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1539 | - | 1 | package dongfang.mkt.serial; |
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.frames.AllDisplaysResponseFrame; |
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8 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
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9 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
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10 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
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11 | import dongfang.mkt.frames.ConfirmFrame; |
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12 | import dongfang.mkt.frames.DebugResponseFrame; |
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13 | import dongfang.mkt.frames.MotorTestResponseFrame; |
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1559 | - | 14 | import dongfang.mkt.frames.OSDDataResponseFrame; |
15 | import dongfang.mkt.frames.OSDDataResponseFrame.GPSDistanceAndBearing; |
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16 | import dongfang.mkt.frames.OSDDataResponseFrame.GPSPosition; |
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17 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
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1539 | - | 18 | import dongfang.mkt.frames.ResponseFrame; |
19 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
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20 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
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21 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
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22 | import dongfang.mkt.frames.VariablesResponseFrame; |
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23 | import dongfang.mkt.frames.VersionResponseFrame; |
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24 | |||
25 | public class MKInputStream extends InputStream { |
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26 | int readByteCnt; |
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27 | class MKDataInputStream { |
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28 | int[] inbuf = new int[4]; |
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29 | int[] outbuf = new int[3]; |
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30 | int outbufptr = outbuf.length; // reset to "buffer empty" |
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31 | |||
32 | private boolean decode() throws IOException { |
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33 | for (int i = 0; i < 4; i++) { |
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34 | int raw = MKInputStream.this.readByte(); |
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35 | int in = raw - '='; |
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36 | if (in < 0 || in > 63) |
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37 | return false; |
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38 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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39 | inbuf[i] = in; |
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40 | readByteCnt++; |
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41 | } |
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42 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
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43 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
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44 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
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45 | outbufptr = 0; |
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46 | return true; |
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47 | } |
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48 | |||
49 | public void reset() { |
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50 | outbufptr = outbuf.length; // reset to "buffer empty" |
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51 | } |
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52 | |||
53 | public int readByte() throws IOException { |
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54 | if (outbufptr > 2 && !decode()) |
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55 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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56 | return outbuf[outbufptr++]; |
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57 | } |
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58 | |||
1559 | - | 59 | public int readSignedByte() throws IOException { |
60 | byte result = (byte)readByte(); |
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61 | return result; |
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62 | } |
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63 | |||
1539 | - | 64 | public int readWord() throws IOException { |
1559 | - | 65 | int byte0 = readByte(); |
1539 | - | 66 | int byte1 = readByte(); |
1559 | - | 67 | return (byte1 << 8) | byte0; |
1539 | - | 68 | } |
69 | |||
70 | public int readSignedWord() throws IOException { |
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71 | int word = readWord(); |
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72 | if (word > 32767) |
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73 | word = word - 65536; |
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74 | return word; |
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75 | } |
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1559 | - | 76 | |
77 | public int readSignedDWord() throws IOException { |
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78 | int byte0 = readByte(); |
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79 | int byte1 = readByte(); |
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80 | int byte2 = readByte(); |
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81 | int byte3 = readByte(); |
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82 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
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83 | } |
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1539 | - | 84 | |
85 | public int[] readBytes(int length) throws IOException { |
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86 | int[] result = new int[length]; |
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87 | for (int i = 0; i < length; i++) { |
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88 | result[i] = readByte(); |
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89 | } |
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90 | return result; |
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91 | } |
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92 | |||
93 | public int[] readWords(int length) throws IOException { |
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94 | int[] result = new int[length]; |
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95 | for (int i = 0; i < length; i++) { |
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96 | result[i] = readWord(); |
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97 | } |
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98 | return result; |
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99 | } |
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100 | |||
101 | public char[] readChars(int length) throws IOException { |
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102 | char[] result = new char[length]; |
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103 | for (int i = 0; i < length; i++) { |
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104 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
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105 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
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106 | // of Unicode, which Java uses for chars) |
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107 | result[i] = (char) readByte(); |
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108 | } |
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109 | return result; |
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110 | } |
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111 | } |
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112 | |||
1559 | - | 113 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
1539 | - | 114 | OutputStream nonPacketSpillway = null; //System.err; |
115 | |||
116 | final InputStream is; |
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117 | int crc; |
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118 | |||
119 | public MKInputStream(InputStream is) { |
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120 | this.is = is; |
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121 | } |
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122 | |||
123 | @Override |
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124 | public int read() throws IOException { |
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125 | int i; |
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126 | while ((i=is.read()) == -1); |
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127 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
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128 | return i; |
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129 | } |
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130 | |||
131 | public int readByte() throws IOException { |
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132 | int _byte = read(); |
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133 | if (_byte < 0) |
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134 | throw new IOException("End of Stream!"); |
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135 | crc += _byte; |
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136 | return _byte; |
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137 | } |
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138 | |||
139 | public MKDataInputStream getBase64InputStream() { |
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1559 | - | 140 | return base64InputStream; |
1539 | - | 141 | } |
142 | |||
143 | public ResponseFrame getNextFrame() throws IOException { |
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144 | int c; |
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145 | while ((c = read()) != '#') { |
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146 | // throw it on some scrap-text buffer. |
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147 | if (nonPacketSpillway != null) |
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148 | nonPacketSpillway.write(c); |
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149 | } |
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150 | crc = '#'; |
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1559 | - | 151 | base64InputStream.reset(); |
1539 | - | 152 | int address = readByte() - 'a'; |
153 | int iid = readByte(); |
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154 | readByteCnt = 0; |
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155 | //RESPONSE_IDS id = getResponseType(iid); |
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156 | ResponseFrame result; |
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157 | switch (iid) { |
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158 | case 'A': { |
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159 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
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1559 | - | 160 | f.setChannel(base64InputStream.readByte()); |
161 | f.setLabel(base64InputStream.readChars(16)); |
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1539 | - | 162 | result = f; |
163 | break; |
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164 | } |
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165 | case 'B': { |
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166 | ConfirmFrame f = new ConfirmFrame(address); |
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1559 | - | 167 | f.setFrameNum(base64InputStream.readByte()); |
1539 | - | 168 | result = f; |
169 | break; |
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170 | } |
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171 | case 'C': { |
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172 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
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1559 | - | 173 | f.setPitch(base64InputStream.readSignedWord()); |
174 | f.setRoll(base64InputStream.readSignedWord()); |
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175 | f.setHeading(base64InputStream.readSignedWord()); |
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176 | f.setExpansion(base64InputStream.readBytes(8)); |
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1539 | - | 177 | result = f; |
178 | break; |
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179 | } |
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180 | case 'D': { |
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181 | DebugResponseFrame f = new DebugResponseFrame(address); |
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182 | for (int i=0; i<2; i++) |
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1559 | - | 183 | f.setDigital(i, base64InputStream.readByte()); |
1539 | - | 184 | for (int i=0; i<32; i++) |
1559 | - | 185 | f.setAnalog(i, base64InputStream.readSignedWord()); |
1539 | - | 186 | result = f; |
187 | break; |
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188 | } |
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189 | case 'F': { |
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190 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
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1559 | - | 191 | f.setParameterSetNumber(base64InputStream.readByte()); |
1539 | - | 192 | result = f; |
193 | break; |
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194 | } |
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1559 | - | 195 | case 'G': { |
196 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
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197 | f.setDigital(base64InputStream.readBytes(2)); |
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198 | f.setRemoteButtons(base64InputStream.readByte()); |
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199 | f.setPitch(base64InputStream.readByte()); |
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200 | f.setRoll(base64InputStream.readByte()); |
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201 | f.setYaw(base64InputStream.readByte()); |
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202 | f.setThrottle(base64InputStream.readByte()); |
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203 | f.setHeight(base64InputStream.readByte()); |
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204 | f.setCommand(base64InputStream.readByte()); |
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205 | f.setFrameNum(base64InputStream.readByte()); |
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206 | f.setArgument(base64InputStream.readByte()); |
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207 | result = f; |
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208 | break; |
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209 | } |
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1539 | - | 210 | case 'H': { |
211 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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1559 | - | 212 | f.setLine(base64InputStream.readByte()); |
1539 | - | 213 | //f.setMaxItem(getDataInputStream().readByte()); |
1559 | - | 214 | f.setText(base64InputStream.readChars(20)); |
1539 | - | 215 | result = f; |
216 | break; |
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217 | } |
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218 | case 'L': { |
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219 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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1559 | - | 220 | f.setItem(base64InputStream.readByte()); |
1539 | - | 221 | // f.setMaxItem(getDataInputStream().readByte()); |
1559 | - | 222 | f.setText(base64InputStream.readChars(80)); |
1539 | - | 223 | result = f; |
224 | break; |
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225 | } |
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1559 | - | 226 | case 'O': { |
227 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
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228 | f.setVersion(base64InputStream.readByte()); |
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229 | |||
230 | GPSPosition pos = new GPSPosition(); |
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231 | pos.setLongitude(base64InputStream.readSignedDWord()); |
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232 | pos.setLatitude(base64InputStream.readSignedDWord()); |
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233 | pos.setAltitude(base64InputStream.readSignedDWord()); |
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234 | pos.setStatus(base64InputStream.readByte()); |
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235 | f.setCurrentPosition(pos); |
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236 | |||
237 | pos = new GPSPosition(); |
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238 | pos.setLongitude(base64InputStream.readSignedDWord()); |
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239 | pos.setLatitude(base64InputStream.readSignedDWord()); |
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240 | pos.setAltitude(base64InputStream.readSignedDWord()); |
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241 | pos.setStatus(base64InputStream.readByte()); |
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242 | f.setTargetPosition(pos); |
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243 | |||
244 | GPSDistanceAndBearing rnb = new GPSDistanceAndBearing(); |
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245 | rnb.setDistance(base64InputStream.readWord()); |
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246 | rnb.setBearing(base64InputStream.readSignedWord()); |
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247 | f.setCurrentToTarget(rnb); |
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248 | |||
249 | pos = new GPSPosition(); |
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250 | pos.setLongitude(base64InputStream.readSignedDWord()); |
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251 | pos.setLatitude(base64InputStream.readSignedDWord()); |
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252 | pos.setAltitude(base64InputStream.readSignedDWord()); |
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253 | pos.setStatus(base64InputStream.readByte()); |
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254 | f.setHomePosition(pos); |
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255 | |||
256 | rnb = new GPSDistanceAndBearing(); |
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257 | rnb.setDistance(base64InputStream.readWord()); |
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258 | rnb.setBearing(base64InputStream.readSignedWord()); |
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259 | f.setCurrentToHome(rnb); |
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260 | |||
261 | f.setWaypointIndex(base64InputStream.readByte()); |
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262 | f.setWaypointCount(base64InputStream.readByte()); |
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263 | f.setNumberOfSatellites(base64InputStream.readByte()); |
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264 | |||
265 | f.setHeightByPressure(base64InputStream.readSignedWord()); |
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266 | f.setVerticalVelocityByPressure(base64InputStream.readSignedWord()); |
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267 | f.setFlightTime(base64InputStream.readWord()); |
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268 | f.setBatteryVoltage(base64InputStream.readByte()); |
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269 | f.setGroundSpeed(base64InputStream.readWord()); |
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270 | |||
271 | f.setHeading(base64InputStream.readSignedWord()); |
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272 | f.setCompassHeading(base64InputStream.readSignedWord()); |
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273 | |||
274 | f.setPitchAngle(base64InputStream.readSignedByte()); |
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275 | f.setRollAngle(base64InputStream.readSignedByte()); |
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276 | |||
277 | f.setRcQuality(base64InputStream.readByte()); |
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278 | f.setFcFlags(base64InputStream.readByte()); |
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279 | f.setNcFlags(base64InputStream.readByte()); |
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280 | f.setErrorCode(base64InputStream.readByte()); |
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281 | f.setOperatingRadius(base64InputStream.readByte()); |
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282 | |||
283 | f.setVerticalVelocityByGPS(base64InputStream.readSignedWord()); |
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284 | f.setTargetLoiterTime(base64InputStream.readByte()); |
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285 | f.setFcFlags2(base64InputStream.readByte()); |
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286 | f.setSetpointForAltitude(base64InputStream.readSignedWord()); |
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287 | f.setThrottle(base64InputStream.readByte()); |
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288 | f.setCurrent(base64InputStream.readWord()); |
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289 | f.setCapacityUsed(base64InputStream.readWord()); |
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290 | result = f; |
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291 | break; |
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292 | } |
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1539 | - | 293 | case 'S': { |
294 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
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1559 | - | 295 | f.setParameterSetNumber(base64InputStream.readByte()); |
1539 | - | 296 | result = f; |
297 | break; |
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298 | } |
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299 | case 'T': { |
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300 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
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301 | result = f; |
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302 | break; |
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303 | } |
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304 | /* |
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305 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
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306 | case 'x': { |
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307 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
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308 | f.setByte(getDataInputStream().readByte()); |
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309 | f.setWord(getDataInputStream().readWord()); |
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310 | f.setChararray(getDataInputStream().readChars(8)); |
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311 | result = f; |
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312 | break; |
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313 | } |
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314 | */ |
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315 | case 'V': { |
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316 | VersionResponseFrame f = new VersionResponseFrame(address); |
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1559 | - | 317 | f.setSWMajor(base64InputStream.readByte()); |
318 | f.setSWMinor(base64InputStream.readByte()); |
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319 | f.setProtoMajor(base64InputStream.readByte()); |
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320 | f.setProtoMinor(base64InputStream.readByte()); |
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321 | f.setSWPatch(base64InputStream.readByte()); |
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322 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
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1539 | - | 323 | result = f; |
324 | break; |
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325 | } |
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326 | |||
327 | // This is my own creation. The ID collides with the waypoint one of FC. |
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328 | case 'X': { |
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329 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
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1559 | - | 330 | f.setVariables(base64InputStream.readWords(8)); |
1539 | - | 331 | result = f; |
332 | break; |
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333 | } |
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334 | case 'w': { |
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335 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
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336 | // do stuff. |
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337 | /* |
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338 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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339 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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340 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
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341 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
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342 | ToMk3Mag.CalState = compassCalState; |
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343 | */ |
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344 | // Waste 8 bytes to make CRC match. |
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1559 | - | 345 | base64InputStream.readBytes(8); |
1539 | - | 346 | result = f; |
347 | break; |
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348 | } |
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349 | case 'Q': |
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350 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
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1559 | - | 351 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
352 | f.setConfigurationVersion(base64InputStream.readByte()); |
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353 | int length = base64InputStream.readByte(); |
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354 | f.setData(base64InputStream.readBytes(length)); |
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1539 | - | 355 | result = f; |
356 | break; |
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357 | default: |
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358 | result = null; |
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359 | } |
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360 | |||
361 | int receivedCRC = (read() - '=') << 6; |
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362 | receivedCRC += (read() - '='); |
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363 | crc %= 4096; |
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364 | if (receivedCRC != crc) { |
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365 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
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366 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
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367 | } |
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368 | if (read() != '\r') { |
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369 | throw new IOException("CR at end of frame missing"); |
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370 | } |
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371 | |||
372 | return result; |
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373 | } |
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374 | } |