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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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14 | import dongfang.mkt.frames.ResponseFrame; |
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15 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
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16 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
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17 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
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18 | import dongfang.mkt.frames.VariablesResponseFrame; |
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19 | import dongfang.mkt.frames.VersionResponseFrame; |
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20 | import dongfang.mkt.main.UniversalConfigurator; |
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21 | |||
22 | public class MKInputStream extends InputStream { |
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23 | int readByteCnt; |
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24 | class MKDataInputStream { |
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25 | int[] inbuf = new int[4]; |
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26 | int[] outbuf = new int[3]; |
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27 | int outbufptr = outbuf.length; // reset to "buffer empty" |
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28 | |||
29 | private boolean decode() throws IOException { |
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30 | for (int i = 0; i < 4; i++) { |
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31 | int raw = MKInputStream.this.readByte(); |
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32 | int in = raw - '='; |
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33 | if (in < 0 || in > 63) |
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34 | return false; |
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35 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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36 | inbuf[i] = in; |
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37 | readByteCnt++; |
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38 | } |
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39 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
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40 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
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41 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
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42 | outbufptr = 0; |
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43 | return true; |
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44 | } |
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45 | |||
46 | public void reset() { |
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47 | outbufptr = outbuf.length; // reset to "buffer empty" |
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48 | } |
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49 | |||
50 | public int readByte() throws IOException { |
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51 | if (outbufptr > 2 && !decode()) |
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52 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
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53 | return outbuf[outbufptr++]; |
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54 | } |
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55 | |||
56 | public int readWord() throws IOException { |
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57 | int byte2 = readByte(); |
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58 | int byte1 = readByte(); |
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59 | return (byte1 << 8) | byte2; |
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60 | } |
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61 | |||
62 | public int readSignedWord() throws IOException { |
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63 | int word = readWord(); |
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64 | if (word > 32767) |
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65 | word = word - 65536; |
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66 | return word; |
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67 | } |
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68 | |||
69 | public int[] readBytes(int length) throws IOException { |
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70 | int[] result = new int[length]; |
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71 | for (int i = 0; i < length; i++) { |
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72 | result[i] = readByte(); |
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73 | } |
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74 | return result; |
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75 | } |
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76 | |||
77 | public int[] readWords(int length) throws IOException { |
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78 | int[] result = new int[length]; |
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79 | for (int i = 0; i < length; i++) { |
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80 | result[i] = readWord(); |
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81 | } |
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82 | return result; |
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83 | } |
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84 | |||
85 | public char[] readChars(int length) throws IOException { |
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86 | char[] result = new char[length]; |
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87 | for (int i = 0; i < length; i++) { |
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88 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
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89 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
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90 | // of Unicode, which Java uses for chars) |
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91 | result[i] = (char) readByte(); |
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92 | } |
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93 | return result; |
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94 | } |
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95 | } |
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96 | |||
97 | MKDataInputStream dis = new MKDataInputStream(); |
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98 | OutputStream nonPacketSpillway = null; //System.err; |
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99 | |||
100 | final InputStream is; |
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101 | int crc; |
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102 | |||
103 | public MKInputStream(InputStream is) { |
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104 | this.is = is; |
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105 | } |
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106 | |||
107 | @Override |
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108 | public int read() throws IOException { |
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109 | int i; |
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110 | while ((i=is.read()) == -1); |
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111 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
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112 | return i; |
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113 | } |
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114 | |||
115 | public int readByte() throws IOException { |
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116 | int _byte = read(); |
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117 | if (_byte < 0) |
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118 | throw new IOException("End of Stream!"); |
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119 | crc += _byte; |
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120 | return _byte; |
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121 | } |
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122 | |||
123 | public MKDataInputStream getBase64InputStream() { |
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124 | return dis; |
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125 | } |
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126 | |||
127 | public ResponseFrame getNextFrame() throws IOException { |
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128 | int c; |
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129 | while ((c = read()) != '#') { |
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130 | // throw it on some scrap-text buffer. |
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131 | if (nonPacketSpillway != null) |
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132 | nonPacketSpillway.write(c); |
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133 | } |
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134 | crc = '#'; |
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135 | dis.reset(); |
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136 | int address = readByte() - 'a'; |
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137 | int iid = readByte(); |
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138 | readByteCnt = 0; |
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139 | //RESPONSE_IDS id = getResponseType(iid); |
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140 | ResponseFrame result; |
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141 | switch (iid) { |
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142 | case 'A': { |
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143 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
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144 | f.setChannel(getBase64InputStream().readByte()); |
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145 | f.setLabel(getBase64InputStream().readChars(16)); |
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146 | result = f; |
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147 | break; |
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148 | } |
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149 | case 'B': { |
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150 | ConfirmFrame f = new ConfirmFrame(address); |
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151 | f.setFrameNum(getBase64InputStream().readByte()); |
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152 | result = f; |
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153 | break; |
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154 | } |
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155 | case 'C': { |
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156 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
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157 | f.setPitch(getBase64InputStream().readSignedWord()); |
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158 | f.setRoll(getBase64InputStream().readSignedWord()); |
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159 | f.setHeading(getBase64InputStream().readSignedWord()); |
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160 | f.setExpansion(getBase64InputStream().readBytes(8)); |
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161 | result = f; |
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162 | break; |
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163 | } |
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164 | case 'D': { |
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165 | DebugResponseFrame f = new DebugResponseFrame(address); |
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166 | for (int i=0; i<2; i++) |
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167 | f.setDigital(i, getBase64InputStream().readByte()); |
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168 | for (int i=0; i<32; i++) |
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169 | f.setAnalog(i, getBase64InputStream().readSignedWord()); |
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170 | result = f; |
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171 | break; |
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172 | } |
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173 | case 'F': { |
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174 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
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175 | f.setParameterSetNumber(getBase64InputStream().readByte()); |
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176 | result = f; |
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177 | break; |
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178 | } |
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179 | case 'H': { |
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180 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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181 | f.setLine(getBase64InputStream().readByte()); |
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182 | //f.setMaxItem(getDataInputStream().readByte()); |
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183 | f.setText(getBase64InputStream().readChars(20)); |
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184 | result = f; |
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185 | break; |
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186 | } |
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187 | case 'L': { |
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188 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
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189 | f.setItem(getBase64InputStream().readByte()); |
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190 | // f.setMaxItem(getDataInputStream().readByte()); |
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191 | f.setText(getBase64InputStream().readChars(80)); |
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192 | result = f; |
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193 | break; |
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194 | } |
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195 | case 'S': { |
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196 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
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197 | f.setParameterSetNumber(getBase64InputStream().readByte()); |
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198 | result = f; |
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199 | break; |
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200 | } |
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201 | case 'T': { |
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202 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
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203 | result = f; |
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204 | break; |
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205 | } |
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206 | /* |
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207 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
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208 | case 'x': { |
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209 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
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210 | f.setByte(getDataInputStream().readByte()); |
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211 | f.setWord(getDataInputStream().readWord()); |
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212 | f.setChararray(getDataInputStream().readChars(8)); |
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213 | result = f; |
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214 | break; |
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215 | } |
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216 | */ |
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217 | case 'V': { |
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218 | VersionResponseFrame f = new VersionResponseFrame(address); |
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219 | f.setSWMajor(getBase64InputStream().readByte()); |
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220 | f.setSWMinor(getBase64InputStream().readByte()); |
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221 | f.setProtoMajor(getBase64InputStream().readByte()); |
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222 | f.setProtoMinor(getBase64InputStream().readByte()); |
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223 | f.setSWPatch(getBase64InputStream().readByte()); |
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224 | f.setHardwareErrors(getBase64InputStream().readBytes(5)); |
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225 | result = f; |
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226 | break; |
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227 | } |
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228 | |||
229 | // This is my own creation. The ID collides with the waypoint one of FC. |
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230 | case 'X': { |
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231 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
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232 | f.setVariables(getBase64InputStream().readWords(8)); |
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233 | result = f; |
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234 | break; |
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235 | } |
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236 | case 'w': { |
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237 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
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238 | // do stuff. |
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239 | /* |
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240 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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241 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
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242 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
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243 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
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244 | ToMk3Mag.CalState = compassCalState; |
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245 | */ |
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246 | // Waste 8 bytes to make CRC match. |
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247 | getBase64InputStream().readBytes(8); |
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248 | result = f; |
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249 | break; |
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250 | } |
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251 | case 'Q': |
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252 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
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253 | f.setConfigurationSetNumber(getBase64InputStream().readByte()); |
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254 | f.setConfigurationVersion(getBase64InputStream().readByte()); |
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255 | int length = getBase64InputStream().readByte(); |
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256 | f.setData(getBase64InputStream().readBytes(length)); |
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257 | result = f; |
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258 | break; |
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259 | default: |
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260 | result = null; |
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261 | } |
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262 | |||
263 | int receivedCRC = (read() - '=') << 6; |
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264 | receivedCRC += (read() - '='); |
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265 | crc %= 4096; |
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266 | if (receivedCRC != crc) { |
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267 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
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268 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
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269 | } |
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270 | if (read() != '\r') { |
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271 | throw new IOException("CR at end of frame missing"); |
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272 | } |
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273 | |||
274 | return result; |
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275 | } |
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276 | } |