Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1539 | - | 1 | package dongfang.mkt.serial; |
2 | |||
3 | import java.io.IOException; |
||
4 | import java.io.InputStream; |
||
5 | import java.io.OutputStream; |
||
6 | |||
7 | import dongfang.mkt.frames.AllDisplaysResponseFrame; |
||
8 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
||
9 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
||
10 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
||
1562 | - | 11 | import dongfang.mkt.frames.CompassHeadingResponseFrame; |
1539 | - | 12 | import dongfang.mkt.frames.ConfirmFrame; |
13 | import dongfang.mkt.frames.DebugResponseFrame; |
||
14 | import dongfang.mkt.frames.MotorTestResponseFrame; |
||
1559 | - | 15 | import dongfang.mkt.frames.OSDDataResponseFrame; |
16 | import dongfang.mkt.frames.OSDDataResponseFrame.GPSDistanceAndBearing; |
||
17 | import dongfang.mkt.frames.OSDDataResponseFrame.GPSPosition; |
||
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
||
1539 | - | 19 | import dongfang.mkt.frames.ResponseFrame; |
20 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
||
21 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
||
22 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
||
23 | import dongfang.mkt.frames.VariablesResponseFrame; |
||
24 | import dongfang.mkt.frames.VersionResponseFrame; |
||
25 | |||
26 | public class MKInputStream extends InputStream { |
||
27 | int readByteCnt; |
||
28 | class MKDataInputStream { |
||
29 | int[] inbuf = new int[4]; |
||
30 | int[] outbuf = new int[3]; |
||
31 | int outbufptr = outbuf.length; // reset to "buffer empty" |
||
32 | |||
33 | private boolean decode() throws IOException { |
||
34 | for (int i = 0; i < 4; i++) { |
||
35 | int raw = MKInputStream.this.readByte(); |
||
36 | int in = raw - '='; |
||
37 | if (in < 0 || in > 63) |
||
38 | return false; |
||
39 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
||
40 | inbuf[i] = in; |
||
41 | readByteCnt++; |
||
42 | } |
||
43 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
||
44 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
||
45 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
||
46 | outbufptr = 0; |
||
47 | return true; |
||
48 | } |
||
49 | |||
50 | public void reset() { |
||
51 | outbufptr = outbuf.length; // reset to "buffer empty" |
||
52 | } |
||
53 | |||
54 | public int readByte() throws IOException { |
||
55 | if (outbufptr > 2 && !decode()) |
||
56 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
||
57 | return outbuf[outbufptr++]; |
||
58 | } |
||
59 | |||
1559 | - | 60 | public int readSignedByte() throws IOException { |
61 | byte result = (byte)readByte(); |
||
62 | return result; |
||
63 | } |
||
64 | |||
1539 | - | 65 | public int readWord() throws IOException { |
1559 | - | 66 | int byte0 = readByte(); |
1539 | - | 67 | int byte1 = readByte(); |
1559 | - | 68 | return (byte1 << 8) | byte0; |
1539 | - | 69 | } |
70 | |||
71 | public int readSignedWord() throws IOException { |
||
72 | int word = readWord(); |
||
73 | if (word > 32767) |
||
74 | word = word - 65536; |
||
75 | return word; |
||
76 | } |
||
1559 | - | 77 | |
78 | public int readSignedDWord() throws IOException { |
||
79 | int byte0 = readByte(); |
||
80 | int byte1 = readByte(); |
||
81 | int byte2 = readByte(); |
||
82 | int byte3 = readByte(); |
||
83 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
||
84 | } |
||
1539 | - | 85 | |
86 | public int[] readBytes(int length) throws IOException { |
||
87 | int[] result = new int[length]; |
||
88 | for (int i = 0; i < length; i++) { |
||
89 | result[i] = readByte(); |
||
90 | } |
||
91 | return result; |
||
92 | } |
||
93 | |||
94 | public int[] readWords(int length) throws IOException { |
||
95 | int[] result = new int[length]; |
||
96 | for (int i = 0; i < length; i++) { |
||
97 | result[i] = readWord(); |
||
98 | } |
||
99 | return result; |
||
100 | } |
||
101 | |||
1562 | - | 102 | public int[] readSignedWords(int length) throws IOException { |
103 | int[] result = new int[length]; |
||
104 | for (int i = 0; i < length; i++) { |
||
105 | result[i] = readSignedWord(); |
||
106 | } |
||
107 | return result; |
||
108 | } |
||
109 | |||
1539 | - | 110 | public char[] readChars(int length) throws IOException { |
111 | char[] result = new char[length]; |
||
112 | for (int i = 0; i < length; i++) { |
||
113 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
||
114 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
||
115 | // of Unicode, which Java uses for chars) |
||
116 | result[i] = (char) readByte(); |
||
117 | } |
||
118 | return result; |
||
119 | } |
||
120 | } |
||
121 | |||
1559 | - | 122 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
1539 | - | 123 | OutputStream nonPacketSpillway = null; //System.err; |
124 | |||
125 | final InputStream is; |
||
126 | int crc; |
||
127 | |||
128 | public MKInputStream(InputStream is) { |
||
129 | this.is = is; |
||
130 | } |
||
131 | |||
132 | @Override |
||
133 | public int read() throws IOException { |
||
134 | int i; |
||
135 | while ((i=is.read()) == -1); |
||
136 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
||
137 | return i; |
||
138 | } |
||
139 | |||
140 | public int readByte() throws IOException { |
||
141 | int _byte = read(); |
||
142 | if (_byte < 0) |
||
143 | throw new IOException("End of Stream!"); |
||
144 | crc += _byte; |
||
145 | return _byte; |
||
146 | } |
||
147 | |||
148 | public MKDataInputStream getBase64InputStream() { |
||
1559 | - | 149 | return base64InputStream; |
1539 | - | 150 | } |
151 | |||
152 | public ResponseFrame getNextFrame() throws IOException { |
||
153 | int c; |
||
154 | while ((c = read()) != '#') { |
||
155 | // throw it on some scrap-text buffer. |
||
156 | if (nonPacketSpillway != null) |
||
157 | nonPacketSpillway.write(c); |
||
158 | } |
||
159 | crc = '#'; |
||
1559 | - | 160 | base64InputStream.reset(); |
1539 | - | 161 | int address = readByte() - 'a'; |
162 | int iid = readByte(); |
||
163 | readByteCnt = 0; |
||
164 | //RESPONSE_IDS id = getResponseType(iid); |
||
165 | ResponseFrame result; |
||
1562 | - | 166 | // System.out.println("Received a: " + (char)iid + " from " + address); |
1539 | - | 167 | switch (iid) { |
168 | case 'A': { |
||
169 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
||
1559 | - | 170 | f.setChannel(base64InputStream.readByte()); |
171 | f.setLabel(base64InputStream.readChars(16)); |
||
1539 | - | 172 | result = f; |
173 | break; |
||
174 | } |
||
175 | case 'B': { |
||
176 | ConfirmFrame f = new ConfirmFrame(address); |
||
1559 | - | 177 | f.setFrameNum(base64InputStream.readByte()); |
1539 | - | 178 | result = f; |
179 | break; |
||
180 | } |
||
181 | case 'C': { |
||
182 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
||
1559 | - | 183 | f.setPitch(base64InputStream.readSignedWord()); |
184 | f.setRoll(base64InputStream.readSignedWord()); |
||
185 | f.setHeading(base64InputStream.readSignedWord()); |
||
186 | f.setExpansion(base64InputStream.readBytes(8)); |
||
1539 | - | 187 | result = f; |
188 | break; |
||
189 | } |
||
190 | case 'D': { |
||
191 | DebugResponseFrame f = new DebugResponseFrame(address); |
||
192 | for (int i=0; i<2; i++) |
||
1559 | - | 193 | f.setDigital(i, base64InputStream.readByte()); |
1539 | - | 194 | for (int i=0; i<32; i++) |
1559 | - | 195 | f.setAnalog(i, base64InputStream.readSignedWord()); |
1539 | - | 196 | result = f; |
197 | break; |
||
198 | } |
||
199 | case 'F': { |
||
200 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
||
1559 | - | 201 | f.setParameterSetNumber(base64InputStream.readByte()); |
1539 | - | 202 | result = f; |
203 | break; |
||
204 | } |
||
1559 | - | 205 | case 'G': { |
206 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
||
207 | f.setDigital(base64InputStream.readBytes(2)); |
||
208 | f.setRemoteButtons(base64InputStream.readByte()); |
||
209 | f.setPitch(base64InputStream.readByte()); |
||
210 | f.setRoll(base64InputStream.readByte()); |
||
211 | f.setYaw(base64InputStream.readByte()); |
||
212 | f.setThrottle(base64InputStream.readByte()); |
||
213 | f.setHeight(base64InputStream.readByte()); |
||
214 | f.setCommand(base64InputStream.readByte()); |
||
215 | f.setFrameNum(base64InputStream.readByte()); |
||
216 | f.setArgument(base64InputStream.readByte()); |
||
217 | result = f; |
||
218 | break; |
||
219 | } |
||
1539 | - | 220 | case 'H': { |
221 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
||
1559 | - | 222 | f.setLine(base64InputStream.readByte()); |
1539 | - | 223 | //f.setMaxItem(getDataInputStream().readByte()); |
1559 | - | 224 | f.setText(base64InputStream.readChars(20)); |
1539 | - | 225 | result = f; |
226 | break; |
||
227 | } |
||
1562 | - | 228 | case 'k' : { |
229 | CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
||
230 | base64InputStream.readSignedWords(2); |
||
231 | base64InputStream.readBytes(2); |
||
232 | base64InputStream.readByte(); |
||
233 | base64InputStream.readByte(); |
||
234 | result = f; |
||
235 | break; |
||
236 | } |
||
1539 | - | 237 | case 'L': { |
238 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
||
1559 | - | 239 | f.setItem(base64InputStream.readByte()); |
1539 | - | 240 | // f.setMaxItem(getDataInputStream().readByte()); |
1559 | - | 241 | f.setText(base64InputStream.readChars(80)); |
1539 | - | 242 | result = f; |
243 | break; |
||
244 | } |
||
1559 | - | 245 | case 'O': { |
246 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
||
247 | f.setVersion(base64InputStream.readByte()); |
||
248 | |||
249 | GPSPosition pos = new GPSPosition(); |
||
250 | pos.setLongitude(base64InputStream.readSignedDWord()); |
||
251 | pos.setLatitude(base64InputStream.readSignedDWord()); |
||
252 | pos.setAltitude(base64InputStream.readSignedDWord()); |
||
253 | pos.setStatus(base64InputStream.readByte()); |
||
254 | f.setCurrentPosition(pos); |
||
255 | |||
256 | pos = new GPSPosition(); |
||
257 | pos.setLongitude(base64InputStream.readSignedDWord()); |
||
258 | pos.setLatitude(base64InputStream.readSignedDWord()); |
||
259 | pos.setAltitude(base64InputStream.readSignedDWord()); |
||
260 | pos.setStatus(base64InputStream.readByte()); |
||
261 | f.setTargetPosition(pos); |
||
262 | |||
263 | GPSDistanceAndBearing rnb = new GPSDistanceAndBearing(); |
||
264 | rnb.setDistance(base64InputStream.readWord()); |
||
265 | rnb.setBearing(base64InputStream.readSignedWord()); |
||
266 | f.setCurrentToTarget(rnb); |
||
267 | |||
268 | pos = new GPSPosition(); |
||
269 | pos.setLongitude(base64InputStream.readSignedDWord()); |
||
270 | pos.setLatitude(base64InputStream.readSignedDWord()); |
||
271 | pos.setAltitude(base64InputStream.readSignedDWord()); |
||
272 | pos.setStatus(base64InputStream.readByte()); |
||
273 | f.setHomePosition(pos); |
||
274 | |||
275 | rnb = new GPSDistanceAndBearing(); |
||
276 | rnb.setDistance(base64InputStream.readWord()); |
||
277 | rnb.setBearing(base64InputStream.readSignedWord()); |
||
278 | f.setCurrentToHome(rnb); |
||
279 | |||
280 | f.setWaypointIndex(base64InputStream.readByte()); |
||
281 | f.setWaypointCount(base64InputStream.readByte()); |
||
282 | f.setNumberOfSatellites(base64InputStream.readByte()); |
||
283 | |||
284 | f.setHeightByPressure(base64InputStream.readSignedWord()); |
||
285 | f.setVerticalVelocityByPressure(base64InputStream.readSignedWord()); |
||
286 | f.setFlightTime(base64InputStream.readWord()); |
||
287 | f.setBatteryVoltage(base64InputStream.readByte()); |
||
288 | f.setGroundSpeed(base64InputStream.readWord()); |
||
289 | |||
1562 | - | 290 | f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
1559 | - | 291 | f.setCompassHeading(base64InputStream.readSignedWord()); |
292 | |||
293 | f.setPitchAngle(base64InputStream.readSignedByte()); |
||
294 | f.setRollAngle(base64InputStream.readSignedByte()); |
||
295 | |||
296 | f.setRcQuality(base64InputStream.readByte()); |
||
297 | f.setFcFlags(base64InputStream.readByte()); |
||
298 | f.setNcFlags(base64InputStream.readByte()); |
||
299 | f.setErrorCode(base64InputStream.readByte()); |
||
300 | f.setOperatingRadius(base64InputStream.readByte()); |
||
301 | |||
302 | f.setVerticalVelocityByGPS(base64InputStream.readSignedWord()); |
||
303 | f.setTargetLoiterTime(base64InputStream.readByte()); |
||
304 | f.setFcFlags2(base64InputStream.readByte()); |
||
305 | f.setSetpointForAltitude(base64InputStream.readSignedWord()); |
||
306 | f.setThrottle(base64InputStream.readByte()); |
||
307 | f.setCurrent(base64InputStream.readWord()); |
||
308 | f.setCapacityUsed(base64InputStream.readWord()); |
||
309 | result = f; |
||
310 | break; |
||
311 | } |
||
1539 | - | 312 | case 'S': { |
313 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
||
1559 | - | 314 | f.setParameterSetNumber(base64InputStream.readByte()); |
1539 | - | 315 | result = f; |
316 | break; |
||
317 | } |
||
318 | case 'T': { |
||
319 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
||
320 | result = f; |
||
321 | break; |
||
322 | } |
||
323 | /* |
||
324 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
||
325 | case 'x': { |
||
326 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
||
327 | f.setByte(getDataInputStream().readByte()); |
||
328 | f.setWord(getDataInputStream().readWord()); |
||
329 | f.setChararray(getDataInputStream().readChars(8)); |
||
330 | result = f; |
||
331 | break; |
||
332 | } |
||
333 | */ |
||
334 | case 'V': { |
||
335 | VersionResponseFrame f = new VersionResponseFrame(address); |
||
1559 | - | 336 | f.setSWMajor(base64InputStream.readByte()); |
337 | f.setSWMinor(base64InputStream.readByte()); |
||
338 | f.setProtoMajor(base64InputStream.readByte()); |
||
339 | f.setProtoMinor(base64InputStream.readByte()); |
||
340 | f.setSWPatch(base64InputStream.readByte()); |
||
341 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
||
1539 | - | 342 | result = f; |
343 | break; |
||
344 | } |
||
345 | |||
346 | // This is my own creation. The ID collides with the waypoint one of FC. |
||
347 | case 'X': { |
||
348 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
||
1559 | - | 349 | f.setVariables(base64InputStream.readWords(8)); |
1539 | - | 350 | result = f; |
351 | break; |
||
352 | } |
||
353 | case 'w': { |
||
354 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
||
355 | // do stuff. |
||
356 | /* |
||
357 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
||
358 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
||
359 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
||
360 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
||
361 | ToMk3Mag.CalState = compassCalState; |
||
362 | */ |
||
363 | // Waste 8 bytes to make CRC match. |
||
1559 | - | 364 | base64InputStream.readBytes(8); |
1539 | - | 365 | result = f; |
366 | break; |
||
367 | } |
||
368 | case 'Q': |
||
369 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
||
1559 | - | 370 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
371 | f.setConfigurationVersion(base64InputStream.readByte()); |
||
372 | int length = base64InputStream.readByte(); |
||
373 | f.setData(base64InputStream.readBytes(length)); |
||
1539 | - | 374 | result = f; |
375 | break; |
||
376 | default: |
||
1562 | - | 377 | int b; |
378 | int count = 0; |
||
379 | while((b=read()) != '\r') { |
||
380 | count++; |
||
381 | } |
||
382 | System.err.println("Unknown frame " + (char)iid + " received from " + address); |
||
383 | System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
||
384 | System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
||
1539 | - | 385 | result = null; |
386 | } |
||
387 | |||
388 | int receivedCRC = (read() - '=') << 6; |
||
389 | receivedCRC += (read() - '='); |
||
390 | crc %= 4096; |
||
391 | if (receivedCRC != crc) { |
||
392 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
||
393 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
||
394 | } |
||
395 | if (read() != '\r') { |
||
396 | throw new IOException("CR at end of frame missing"); |
||
397 | } |
||
398 | |||
399 | return result; |
||
400 | } |
||
401 | } |