1,34 → 1,73 |
#include <Parser.h> |
|
// Base64 Decoder |
// see Parser.h for details about sRxData |
bool Parser::decode64(sRxData &rx) |
/** |
* create a frame that can be send to the MK using the |
* connection class. |
* see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
* how the protocol is encoded and |
* see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
* to look at the possible commands that are already coded |
* in data |
*/ |
void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
//if # is cmd we do not touch anything, because |
// the command is already encoded in data |
if (cmd != '#') { |
/* |
//calculate buffer length |
//(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
//(the rest for the data length - see encode how this is calculated) |
int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
|
//allociate memory for the data we want to send |
char * send_data = (char *)malloc(buf_len); |
*/ |
char send_data[150]; |
send_data[0]='#'; |
send_data[1]=(char)address; |
send_data[2]=cmd; |
for (int i = 0; i < length; i++) |
send_data[i+3] = data[i]; |
//TODO: abgleich mit MKCommunication::send_command |
Parser::encode64(send_data, length); |
address = 'a' + address; |
|
} |
} |
|
|
/** |
* Base64 Decoder |
* see Parser.h for details about sRxData |
* data = data that will be decoded |
* len = length of data |
* ptrOut = pointer to decoded data |
* offset = offset in data |
*/ |
int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
{ |
int length = rx.str.size(); |
unsigned char a,b,c,d; |
unsigned char ptr = 0; |
unsigned char x,y,z; |
int ptrOut[150]; |
|
int ptrIn = 3; |
int max = length; |
int len = length; |
int decLen = 0; |
|
if (rx.input[ptrIn] == 0) { |
return false; |
/* |
//FIXME: dies wieder einklammern! |
if (data[ptrIn] == 0) { |
return -1; |
//TODO: catch error to show that something went wrong during the decode process |
//throw "Nothing received"; |
} |
*/ |
//decode data |
while(len) { |
a = data[offset++] - '='; |
b = data[offset++] - '='; |
c = data[offset++] - '='; |
d = data[offset++] - '='; |
|
while(len != 0) { |
a = rx.input[ptrIn++] - '='; |
b = rx.input[ptrIn++] - '='; |
c = rx.input[ptrIn++] - '='; |
d = rx.input[ptrIn++] - '='; |
//if(offset > max - 2) break; |
|
if(ptrIn > max - 2) break; |
|
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
37,9 → 76,13 |
if(len--) ptrOut[ptr++] = y; else break; |
if(len--) ptrOut[ptr++] = z; else break; |
} |
|
//decoded data |
unsigned char * decData; |
for (int a=0; a<ptr; a++) { |
if (length == false) { |
if (len) { |
decData[decLen] = ptrOut[a]; |
decLen++; |
} else { |
int b1, b2, b3; |
|
b1 = ptrOut[a++]; |
50,19 → 93,18 |
if (b3 > 32767) |
b3 = b3 - 65536; |
|
rx.decode[decLen] = b3; |
decData[decLen] = b3; |
decLen++; |
} else { |
rx.decode[decLen] = ptrOut[a]; |
decLen++; |
} |
rx.decLen = decLen; |
} |
return true; |
ptrOut = decData; |
return decLen; |
} |
|
// base64 encoder |
string Parser::encode64(char data[150],unsigned int length) |
/** |
* base64 encoder |
*/ |
void Parser::encode64(char data[150],unsigned int length) |
{ |
unsigned int pt = 0; |
unsigned char a,b,c; |
83,7 → 125,8 |
} |
tx_buff[pt] = 0; |
|
return string(tx_buff); |
//move pointer of tx_buff to data |
data = tx_buff; |
} |
|
// Datensatz nach 8bit Integer |
96,7 → 139,9 |
return out; |
} |
|
// received char to 8 bit integer |
/** |
* received char to 8 bit integer |
*/ |
int Parser::charToData(int data) { |
if (data < 0) |
return data + 256; |
103,7 → 148,9 |
return data; |
} |
|
// convert data to 16bit Integer |
/** |
* convert data to 16bit Integer |
*/ |
int Parser::dataToInt(int *Data , int Start, bool is_signed) |
{ |
int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
115,7 → 162,9 |
|
} |
|
// convert data to 32bit Long |
/** |
* convert data to 32bit Long |
*/ |
long Parser::dataToLong(int *Data , int Start, bool is_signed) |
{ |
long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
135,43 → 184,31 |
return temp / num; |
} |
|
string Parser::dataToString(int Data[150], int Start, int End) |
/** |
* check CRC |
*/ |
bool Parser::check_CRC(char * rx, int length) |
{ |
char String[150]; |
for (int a = Start; a < End; a++) |
{ |
String[a - Start] = Data[a]; |
} |
String[End - Start] = '\0'; |
|
return string(String); |
} |
|
// check CRC |
bool Parser::check_CRC(string RXstr) |
{ |
int length = RXstr.size(); |
int CRC = 0; |
char *RX = (char *)RXstr.c_str(); |
|
if (RX[1] == 127) |
if (rx[1] == 127) |
{ |
RX[1] = 0; |
rx[1] = 0; |
} |
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for(int i=0; i < length-2; i++) |
{ |
CRC+=RX[i]; |
CRC+=rx[i]; |
} |
|
CRC = CRC % 4096; |
|
if(RX[length - 2] != ('=' + (CRC / 64))) |
if(rx[length - 2] != ('=' + (CRC / 64))) |
{ |
return false; |
} |
|
if(RX[length - 1] != ('=' + CRC % 64)) |
if(rx[length - 1] != ('=' + CRC % 64)) |
{ |
return false; |
} |
179,25 → 216,22 |
return true; |
} |
|
// add CRC |
string Parser::add_CRC(string TX) |
/** |
* create CRC and add it to tx |
*/ |
void Parser::add_CRC(char * tx, int length) |
{ |
int length = TX.size(); |
unsigned int tmpCRC = 0; |
|
char CRC[2]; |
|
for(int i = 0; i < length; i++) |
{ |
tmpCRC += TX[i]; |
tmpCRC += tx[i]; |
} |
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tmpCRC %= 4096; |
|
CRC[0] = '=' + tmpCRC / 64; |
CRC[1] = '=' + tmpCRC % 64; |
CRC[2] = '\0'; |
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return string(TX) + string(CRC); |
tx[length-2] = '=' + tmpCRC / 64; |
tx[length-1] = '=' + tmpCRC % 64; |
tx[length] = '\0'; |
} |
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