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Ignore whitespace Rev 205 → Rev 206

/DUBwise/trunk/shared/src/DUBwiseDefinitions.java
0,0 → 1,220
package org.ligi.ufo;
 
 
public interface DUBwiseDefinitions
{
 
// id for each state - must just be uniq - order isnt important
public final static byte STATEID_SCANNING =0;
public final static byte STATEID_DEVICESELECT =1;
public final static byte STATEID_MAINMENU =2;
public final static byte STATEID_MOTORTEST =3;
public final static byte STATEID_SELECT_PARAMSET =4;
public final static byte STATEID_EDIT_PARAMS =5;
public final static byte STATEID_HANDLE_PARAMS =6;
public final static byte STATEID_FLIGHTVIEW =7;
public final static byte STATEID_RAWDEBUG =8;
public final static byte STATEID_KEYCONTROL =9;
public final static byte STATEID_SETTINGSMENU =10;
public final static byte STATEID_STICKVIEW =11;
public final static byte STATEID_CAMMODE =12;
public final static byte STATEID_READ_PARAMS =13;
public final static byte STATEID_GPSVIEW =14;
public final static byte STATEID_FILEOPEN =15;
public final static byte STATEID_GRAPH =16;
public final static byte STATEID_CONN_DETAILS =17;
public final static byte STATEID_IPINPUT =18;
public final static byte STATEID_PROXY =19;
public final static byte STATEID_TRAFFIC =20;
public final static byte STATEID_SELECT_COMPORT =21;
public final static byte STATEID_ABOUT =22;
public final static byte STATEID_NC_ERRORS =23;
public final static byte STATEID_FLASHING =24;
public final static byte STATEID_NAMEINPUT =25;
public final static byte STATEID_DATABUFF =26;
 
 
public boolean fullscreen=false;
public byte act_motor=0;
public byte act_motor_increase=0;
public boolean motor_test_sel_all=false;
 
 
 
public final static byte ACTIONID_SETTINGS = 0;
public final static byte ACTIONID_DEVICESELECT = 1;
public final static byte ACTIONID_DEBUG = 2;
public final static byte ACTIONID_CONN_DETAILS = 3;
public final static byte ACTIONID_SWITCH_NC = 4;
public final static byte ACTIONID_SWITCH_FC = 5;
 
public final static byte ACTIONID_GRAPH = 6;
public final static byte ACTIONID_LCD = 7;
public final static byte ACTIONID_RAWDEBUG = 8;
public final static byte ACTIONID_RCDATA = 9;
public final static byte ACTIONID_KEYCONTROL = 10;
public final static byte ACTIONID_MOTORTEST = 11;
public final static byte ACTIONID_EDIT_PARAMS = 12;
public final static byte ACTIONID_CAM = 13;
public final static byte ACTIONID_PROXY = 14;
public final static byte ACTIONID_GPSDATA = 15;
public final static byte ACTIONID_TRAFFIC = 16;
public final static byte ACTIONID_ABOUT = 17;
public final static byte ACTIONID_NC_ERRORS = 18;
 
 
public final static byte ACTIONID_WRITE_PARAMS = 19;
public final static byte ACTIONID_UNDO_PARAMS = 20;
public final static byte ACTIONID_MAINMENU = 21;
 
public final static byte ACTIONID_CHANGESKIN = 22;
public final static byte ACTIONID_SOUNDTOGGLE = 23;
public final static byte ACTIONID_VIBRATOGGLE = 24;
public final static byte ACTIONID_GRAPHTOGGLE = 25;
public final static byte ACTIONID_FULLSCREENTOGGLE = 26;
public final static byte ACTIONID_LIGHTTOGGLE =27;
public final static byte ACTIONID_DATABUFF =28;
 
 
public final static byte ACTIONID_SWITCH_MK3MAG = 29;
public final static byte ACTIONID_CONNECT_TCP =30;
public final static byte ACTIONID_SCAN_BT =31;
public final static byte ACTIONID_SELECT_COM =32;
public final static byte ACTIONID_PROXY_INPUT =33;
public final static byte ACTIONID_FLASH =34;
public final static byte ACTIONID_RESET_PARAMS =35;
 
public final static byte ACTIONID_BACK_TO_CONNDETAILS=36;
 
 
public final static byte ACTIONID_QUIT = 100;
 
 
public final static String[] main_menu_items_no_connection = { "Tool Settings" , "Connection" , "Debug DUBwise" , "About","Quit " };
public final static byte[] main_menu_actions_no_connection= { ACTIONID_SETTINGS , ACTIONID_CONN_DETAILS, ACTIONID_DEBUG , ACTIONID_ABOUT, ACTIONID_QUIT};
 
 
public final static String[] main_menu_items_incompatible = { "Tool Settings" , "Connection" , "Debug DUBwise" ,"Flash Firmware", "About","Quit " };
public final static byte[] main_menu_actions_incompatible= { ACTIONID_SETTINGS , ACTIONID_CONN_DETAILS, ACTIONID_DEBUG ,ACTIONID_FLASH , ACTIONID_ABOUT, ACTIONID_QUIT};
 
 
 
public final static String[] main_menu_items_mk3mag = { "Tool Settings" , "Connection" , "Flash Firmware" , "switch to NC","Debug DUBwise" , "About","Quit " };
public final static byte[] main_menu_actions_mk3mag= { ACTIONID_SETTINGS , ACTIONID_CONN_DETAILS, ACTIONID_FLASH, ACTIONID_SWITCH_NC, ACTIONID_DEBUG , ACTIONID_ABOUT, ACTIONID_QUIT};
 
 
public final static String[] main_menu_items_mk ={"Connection", "switch to NC","Sensor Graph" , "LCD","Raw Debug", "view RC-data", "MK-KeyControl", "Motor Test" , "Flight Settings","Flash Firmware","Tool Settings","Remote Cam", "Debug" ,"About", "Quit" };
 
public final static byte[] main_menu_actions_mk = { ACTIONID_CONN_DETAILS , ACTIONID_SWITCH_NC , ACTIONID_GRAPH , ACTIONID_LCD , ACTIONID_RAWDEBUG , ACTIONID_RCDATA , ACTIONID_KEYCONTROL , ACTIONID_MOTORTEST , ACTIONID_EDIT_PARAMS,ACTIONID_FLASH , ACTIONID_SETTINGS , ACTIONID_CAM , ACTIONID_DEBUG , ACTIONID_ABOUT , ACTIONID_QUIT};
 
 
public final static String[] main_menu_items_navi={"Connection" , "view Errors", "switch to FC","switch to MK3MAG","LCD","Raw Debug", "view GPS-Data" ,"Flash Firmware","Tool Settings", "Debug" ,"About", "Quit" };
 
public final static byte[] main_menu_actions_navi = { ACTIONID_CONN_DETAILS , ACTIONID_NC_ERRORS , ACTIONID_SWITCH_FC , ACTIONID_SWITCH_MK3MAG, ACTIONID_LCD , ACTIONID_RAWDEBUG , ACTIONID_GPSDATA , ACTIONID_FLASH , ACTIONID_SETTINGS , ACTIONID_DEBUG , ACTIONID_ABOUT, ACTIONID_QUIT};
 
 
 
public final static String[] handle_params_menu_items={"write to MK","don't write to MK","discard/read again","all to default"};
public final static byte[] handle_params_menu_actions={ACTIONID_WRITE_PARAMS,ACTIONID_MAINMENU,ACTIONID_UNDO_PARAMS,ACTIONID_RESET_PARAMS};
 
 
public final static String[] conn_details_menu_items={ "packet Traffic","view Data","connect via TCP/IP","connect via BT","connect via COM","set Proxy","back" };
 
 
public final static byte[] conn_details_menu_actions={ ACTIONID_TRAFFIC,ACTIONID_DATABUFF,ACTIONID_CONNECT_TCP,ACTIONID_SCAN_BT, ACTIONID_SELECT_COM,ACTIONID_PROXY_INPUT,ACTIONID_MAINMENU};
 
 
public final static String[] settings_menu_items={"Skin ","Sound ","Vibra " ,"Scrolling BG ","FullScreen " ,
//#if devicecontrol=="on"
"Keep BGLight " ,
//#endif
"Back" };
 
 
public final static byte[] settings_menu_actions={ ACTIONID_CHANGESKIN,ACTIONID_SOUNDTOGGLE, ACTIONID_VIBRATOGGLE , ACTIONID_GRAPHTOGGLE , ACTIONID_FULLSCREENTOGGLE ,
//#if devicecontrol=="on"
ACTIONID_LIGHTTOGGLE,
//#endif
ACTIONID_MAINMENU };
 
 
 
public final static String[] onlyback_menu_items={"back" };
public final static byte[] back_to_conndetails_actions={ACTIONID_BACK_TO_CONNDETAILS};
 
 
public final static byte USER_INTENT_NONE=0;
public final static byte USER_INTENT_RAWDEBUG=1;
public final static byte USER_INTENT_PARAMS=2;
public final static byte USER_INTENT_GRAPH=3;
public final static byte USER_INTENT_RCDATA=4;
public final static byte USER_INTENT_LCD=5;
 
final static byte SKINID_DARK= 0;
final static byte SKINID_LIGHT = 1;
 
 
 
final static String[] credits= {
//#expand "About DUBwise v%VERSION%",
"",
"Digital UFO",
"Broadcasting With ",
"Byteelligent Service",
"Equipment",
"",
"2007-2008 by ",
"Marcus LiGi B"+(char)(252)+"schleb",
"mailto:ligi"+"@"+"ligi.de",
"",
"Licence:",
"Creative Commons(CC)",
" -Attribution",
" -Noncommercial",
" -Share Alike",
" -No Violence",
" ",
"Credits: ",
" -HolgerB&IngoB",
" -CaScAdE",
" -Orion8",
" -Joko",
" -Speedy",
" -Jamiro",
"",
"More Infos:",
" www.ligi.de",
" www.mikrokopter.com"};
 
public final static int[] default_ip={192,168,1,42,4242};
 
 
 
 
public String[] main_menu_items={"Telemetry","Raw Debug-Values", "RC-Data", "pilot UFO", "Motor Test" , "Flight Settings","(NA)Tool Settings","(NA)Remote Camera","(NA)Relay","(NA)Change Device" , "Quit " };
public final static int MAINMENU_TELEMETRY =0;
public final static int MAINMENU_RAWDEBUG =1+MAINMENU_TELEMETRY;
public final static int MAINMENU_STICKS =1+MAINMENU_RAWDEBUG;
public final static int MAINMENU_KEYCONTROL =1+MAINMENU_STICKS;
public final static int MAINMENU_MOTORTEST =1+MAINMENU_KEYCONTROL;
public final static int MAINMENU_PARAMS =1+MAINMENU_MOTORTEST;
public final static int MAINMENU_SETTINGSMENU =1+MAINMENU_PARAMS;
public final static int MAINMENU_CAMMODE =1+MAINMENU_SETTINGSMENU;
public final static int MAINMENU_PROXY =1+MAINMENU_CAMMODE;
public final static int MAINMENU_DEVICESELECT =1+MAINMENU_PROXY;
public final static int MAINMENU_QUIT =1+MAINMENU_DEVICESELECT;
 
// public String[] settings_menu_items={"Skin ","Sound ","Vibra " ,"Graph ","FullScreen " ,"Keep BGLight " ,"Back" };
public final static int SETTINGSMENU_CHANGESKIN =0;
public final static int SETTINGSMENU_SOUNDTOGGLE =1;
public final static int SETTINGSMENU_VIBRATOGGLE =2;
public final static int SETTINGSMENU_GRAPHTOGGLE =3;
public final static int SETTINGSMENU_FULLSCREENTOGGLE =4;
public final static int SETTINGSMENU_LIGHTTOGGLE =5;
public final static int SETTINGSMENU_BACK =6;
 
 
}
/DUBwise/trunk/shared/src/MKCommunicator.java
0,0 → 1,1169
/********************************************************************************************************************************
*
* Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de )
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
*
*******************************************************************************************************************************/
 
package org.ligi.ufo;
 
 
//#ifdef j2me
//# import javax.microedition.io.*;
//#endif
 
//#ifdef android
import android.util.Log;
//#endif
 
 
 
import java.io.*;
 
 
public class MKCommunicator
implements Runnable
{
/***************** Section: public Attributes **********************************************/
public boolean connected=false; // flag for the connection state
 
public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes
 
public final static int DATA_BUFF_LEN = 20; // in lines
 
public String[] data_buff;
 
// boolean do_log=false;
boolean do_log=true;
 
int data_buff_pos=0;
 
public byte user_intent=0;
public final static int[] crc16_table = {
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
};
 
public void log(String str)
{
//#ifdef android
if (do_log) Log.d("MK-Comm",str);
//#endif
}
 
public int CRC16(int ch, int crc)
{ return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8);
}
 
 
public int conn_time_in_s()
{
if (connected)
return (int)((System.currentTimeMillis()-connection_start_time)/1000);
else
return 0;
}
public final static int BOOTLOADER_STAGE_NONE=0;
public final static int BOOTLOADER_STAGE_GOT_MKBL=1;
 
int bootloader_stage= BOOTLOADER_STAGE_NONE;
 
public MKLCD LCD;
public MKVersion version;
public MKDebugData debug_data;
 
public MKGPSPosition gps_position;
 
public MKStickData stick_data;
public MKParamsParser params;
public MKWatchDog watchdog;
public MKProxy proxy=null;
public MKStatistics stats ;
// public DUBwiseDebug debug;
 
public UFOProber ufo_prober;
public long connection_start_time=-1;
 
 
public String error_str = null;
 
public final static int FC_SLAVE_ADDR = 'a'+1;
public final static int NAVI_SLAVE_ADDR = 'a'+2;
public final static int MK3MAG_SLAVE_ADDR = 'a'+3;
 
 
 
 
/****************** Section: private Attributes **********************************************/
//#ifdef j2me
//# private javax.microedition.io.StreamConnection connection;
//#endif
 
//#ifdef android
// java.net.Socket connection;
java.net.Socket connection;
//#endif
 
 
private java.io.InputStream reader;
private java.io.OutputStream writer;
 
 
 
public String name;
// DUBwise root;
 
 
private boolean sending=false;
private boolean recieving=false;
 
 
 
/****************** Section: public Methods ************************************************/
public MKCommunicator()
{
 
data_buff=new String[DATA_BUFF_LEN];
for (int i=0;i<DATA_BUFF_LEN;i++)
data_buff[i]="";
// debug=debug_;
// root=root_;
version=new MKVersion();
debug_data=new MKDebugData();
stick_data=new MKStickData();
params=new MKParamsParser();
LCD= new MKLCD(this);
watchdog=new MKWatchDog(this);
gps_position=new MKGPSPosition();
stats = new MKStatistics();
proxy =new MKProxy(this);
ufo_prober=new UFOProber();
new Thread( this ).start(); // fire up main Thread
}
 
 
 
public void write_raw(byte[] _data)
{
wait4send();
sending=true;
try {
writer.write(_data,0,_data.length);
writer.flush();
 
stats.bytes_out+=_data.length;
}
catch ( Exception e){}
sending=false;
}
 
public void do_proxy(String proxy_url)
{
proxy.connect(proxy_url);
}
// int port;
 
// URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control
public void connect_to(String _url,String _name)
{
// port=_port;
mk_url=_url; // remember URL for connecting / reconnecting later
name=_name;
force_disconnect=false;
connected=false;
}
 
public boolean ready()
{
return (connected&&(version.major!=-1));
}
 
 
public String get_buff(int age)
{
 
age%=DATA_BUFF_LEN;
if (age<=data_buff_pos)
return ""+data_buff[data_buff_pos-age];
else
return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age];
 
}
/****************** Section: private Methods ************************************************/
private void connect()
{
log("trying to connect to" + mk_url);
try{
// old call
// connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE);
//#ifdef android
connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1])));
//.Socket
 
reader=connection.getInputStream();
writer=connection.getOutputStream();
 
String magic="conn:foo bar\r\n";
writer.write(magic.getBytes());
writer.flush();
 
//#else
 
//# connection = (StreamConnection) Connector.open(mk_url);
 
//# reader=connection.openInputStream();
//# writer=connection.openOutputStream();
 
//#endif
connection_start_time=System.currentTimeMillis();
connected=true; // if we get here everything seems to be OK
 
stats.reset();
 
log("connecting OK");
}
catch (Exception ex)
{
// TODO difference fatal errors from those which will lead to reconnection
log("Problem connecting" + "\n" + ex);
}
}
 
public int[] Decode64(byte[] in_arr, int offset,int len)
{
int ptrIn=offset;
int a,b,c,d,x,y,z;
int ptr=0;
int[] out_arr=new int[len];
 
while(len!=0)
{
a=0;
b=0;
c=0;
d=0;
try {
a = in_arr[ptrIn++] - '=';
b = in_arr[ptrIn++] - '=';
c = in_arr[ptrIn++] - '=';
d = in_arr[ptrIn++] - '=';
}
catch (Exception e) {}
//if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if((len--)!=0) out_arr[ptr++] = x; else break;
if((len--)!=0) out_arr[ptr++] = y; else break;
if((len--)!=0) out_arr[ptr++] = z; else break;
}
return out_arr;
 
}
 
public void wait4send()
{
while(sending) //||recieving)
sleep(50);
}
 
 
public void sleep(int time)
{
try { Thread.sleep(time); }
catch (Exception e) { }
}
 
// FC - Function Mappers
 
// send a version Request to the FC - the reply to this request will be processed in process_data when it arrives
public void get_version()
{
stats.version_data_request_count++;
send_command(0,'v');
}
 
public void set_gps_target(int longitude,int latitude)
{
int[] target=new int[8];
target[0]= (0xFF)&(longitude<<24);
target[1]= (0xFF)&(longitude<<16);
target[2]= (0xFF)&(longitude<<8);
target[3]= (0xFF)&(longitude);
// send_command(0,'s',target);
}
 
// send a MotorTest request - params are the speed for each Motor
public void motor_test(int[] params)
{
stats.motortest_request_count++;
send_command(FC_SLAVE_ADDR,'t',params);
}
 
public void send_keys(int[] params)
{
send_command(FC_SLAVE_ADDR,'k',params);
}
 
// get params
public void get_params(int id)
{
wait4send();
send_command(FC_SLAVE_ADDR,'q',id+1);
stats.params_data_request_count++;
}
 
public void get_debug_name(int id)
{
 
wait4send();
send_command(0,'a',id);
}
 
public void trigger_LCD_by_page(int page)
{
wait4send();
send_command(0,'l',page);
stats.lcd_data_request_count++;
}
 
public void trigger_debug()
{
if (sending||recieving) return; // its not that important - can be dropped
send_command(0,'c');
}
 
 
 
public void switch_to_fc()
{
wait4send();
send_command(NAVI_SLAVE_ADDR,'u',0);
sleep(50);
version=new MKVersion();
LCD= new MKLCD(this);
}
 
 
public void switch_to_mk3mag()
{
wait4send();
send_command(NAVI_SLAVE_ADDR ,'u',1);
sleep(50);
version=new MKVersion();
LCD= new MKLCD(this);
}
 
public void switch_to_navi()
{
wait4send();
sending=true;
try
{
writer.write( 27);
writer.write( 27);
writer.write( 0x55);
writer.write( 0xaa);
writer.write( 0);
writer.write('\r');
stats.bytes_out+=6;
writer.flush();
}
catch (Exception e) { }
sending=false;
sleep(50);
version=new MKVersion();
LCD= new MKLCD(this);
}
 
public String[] flash_msgs;
int msg_pos=0;
 
 
public boolean bootloader_intension_flash=false;
public void jump_bootloader()
{
 
msg_pos=0;
bootloader_stage= BOOTLOADER_STAGE_NONE;
flash_msgs=new String[100];
flash_msgs[msg_pos++]="Initiializing Bootloader";
wait4send();
sending=true;
try
{
int attempt=0;
 
while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL)
{
flash_msgs[msg_pos]="attempt "+attempt;
attempt++;
send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]);
writer.write( 27);
writer.flush();
 
sleep(20);
writer.write( 0xAA);
writer.flush();
 
sleep((attempt%2==0)?80:800); //800
}
msg_pos++;
}
 
catch (Exception e) {
flash_msgs[msg_pos++]="Exception:" +e.getMessage() ;
flash_msgs[msg_pos++]=e.toString() ;
}
 
new Thread( this ).start(); // fire up main Thread
}
 
 
public void get_error_str()
{
send_command(NAVI_SLAVE_ADDR,'e');
}
 
public void trigger_rcdata()
{
send_command(FC_SLAVE_ADDR,'p');
}
 
 
public void write_params()
{
params.update_backup();
wait4send();
send_command(FC_SLAVE_ADDR,'s',params.field_bak[params.act_paramset]);
}
 
public void send_command(int modul,char cmd)
{
send_command(modul,cmd,new int[0]);
}
 
public void send_command(int modul,char cmd,int param)
{
int[] params=new int[1];
params[0]=param;
send_command(modul,cmd,params);
}
 
public void send_command_nocheck(byte modul,char cmd,int[] params)
{
// char[] send_buff=new char[5 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc
 
byte[] send_buff=new byte[3 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc
send_buff[0]='#';
send_buff[1]=modul;
send_buff[2]=(byte)cmd;
for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++)
{
int a = (param_pos*3<params.length)?params[param_pos*3]:0;
int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0;
int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0;
 
send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' );
send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)));
send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)));
send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f));
 
//send_buff[3+foo]='=';
}
 
/* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++)
{
int a = (foo<params.length) params[foo];
int a = params[foo];
//send_buff[3+foo]='=';
}
*/
try
{
int tmp_crc=0;
for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++)
tmp_crc+=(int)send_buff[tmp_i];
writer.write(send_buff,0,send_buff.length);
tmp_crc%=4096;
 
writer.write( (char)(tmp_crc/64 + '='));
writer.write( (char)(tmp_crc%64 + '='));
writer.write('\r');
stats.bytes_out+=send_buff.length+3;
writer.flush();
}
catch (Exception e)
{ // problem sending data to FC
}
 
}
// send command to FC ( add crc and pack into pseudo Base64
public void send_command(int modul,char cmd,int[] params)
{
 
// if (modul==0) return;
sending=true;
send_command_nocheck((byte)modul,cmd,params);
sending=false;
}
 
 
public int slave_addr=-1;
 
 
public int UBatt()
{
if (ufo_prober.is_mk())
return debug_data.UBatt();
else if (ufo_prober.is_navi())
return gps_position.UBatt;
return -1;
 
}
 
 
 
public int SenderOkay()
{
if (ufo_prober.is_mk())
return debug_data.SenderOkay();
else if (ufo_prober.is_navi())
return gps_position.SenderOkay;
return -1;
 
}
 
 
public void process_data(byte[] data,int len)
{
 
 
log("command " +(char)data[2] );
switch((char)data[2])
{
 
case 'A': // debug Data Names
stats.debug_names_count++;
debug_data.set_names_by_mk_data(Decode64(data,3,len-3));
break;
 
case 'L': // LCD Data
stats.lcd_data_count++;
LCD.handle_lcd_data(Decode64(data,3,len-3));
 
break;
 
case 'D': // debug Data
log("got debug data");
stats.debug_data_count++;
debug_data.set_by_mk_data(Decode64(data,3,len-3),version);
log("processed debug data");
break;
case 'V': // Version Info
stats.version_data_count++;
slave_addr=data[1];
 
switch(slave_addr)
{
case FC_SLAVE_ADDR:
ufo_prober.set_to_mk();
break;
 
case NAVI_SLAVE_ADDR:
ufo_prober.set_to_navi();
break;
 
case MK3MAG_SLAVE_ADDR:
// ufo_prober.set_to_mk();
ufo_prober.set_to_mk3mag();
break;
 
default:
ufo_prober.set_to_incompatible();
break;
}
 
 
version.set_by_mk_data(Decode64(data,3,len-3));
break;
 
case 'w':
stats.angle_data_count++;
 
break;
 
 
case 'Q':
if (ufo_prober.is_mk())
{
stats.params_data_count++;
params.set_by_mk_data(Decode64(data,3,len-3));
}
break;
case 'P':
stats.stick_data_count++;
stick_data.set_by_mk_data(Decode64(data,3,20));
break;
 
 
case 'E':
int[] dec_data=Decode64(data,3,len-3);
error_str="";
for(int foo=0;foo<20;foo++)
if (dec_data[foo]!=0)
error_str+=(char)dec_data[foo];
break;
 
 
case 'O':
stats.navi_data_count++;
log("got navi data(" + len +"):");
gps_position.set_by_mk_data(Decode64(data,3,len-3),version);
 
log("long:" + gps_position.Longitude);
log("lat:" + gps_position.Latitude);
 
break;
 
 
// Error from Navi
 
 
default:
stats.other_data_count++;
break;
 
}
}
 
public boolean force_disconnect=true;
 
public void close_connections(boolean force)
{
// if ((!force)&&root.canvas.do_vibra) root.vibrate(500);
force_disconnect=force;
try{ reader.close(); }
catch (Exception inner_ex) { }
 
try{ writer.close(); }
catch (Exception inner_ex) { }
//#ifdef j2me
//# try{ connection.close(); }
//# catch (Exception inner_ex) { }
//#endif
ufo_prober.set_to_none();
stats.reset();
connected=false;
version=new MKVersion();
}
 
// Thread to recieve data from Connection
public void run()
{
 
if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL)
{
try {
flash_msgs[msg_pos++]="reading avr_sig";
 
writer.write( 't');
writer.flush();
int avr_sig=reader.read();
flash_msgs[msg_pos++]="got avr sig " + avr_sig;
 
 
if (reader.read()!=0)
throw new Exception("val after avrsig isnt 0");
 
if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120))
throw new Exception("avr sig" + avr_sig + " unknown");
writer.write('T');
// writer.flush();
writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76
writer.flush();
 
if (reader.read()!=0x0d)
throw new Exception("cant get buffer size");
writer.write('V');
writer.flush();
 
int bl_version_major=reader.read();
int bl_version_minor=reader.read();
 
flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor;
writer.write('b');
writer.flush();
 
if (reader.read()!='Y')
throw new Exception("cant get buffer size");
 
int send_buff_size1=reader.read();
int send_buff_size2=reader.read();
int send_buff_size=send_buff_size1*0x100+send_buff_size2;
flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size;
// if (send_buff_size>128)
// send_buff_size=128;
if (bootloader_intension_flash)
{
 
byte[] flash_buff =new byte[send_buff_size]; ///!!
 
 
flash_msgs[msg_pos++]="Opening firmware ..";
 
 
InputStream in;
try {
in=this.getClass().getResourceAsStream((avr_sig==224)?"/navi.bin":((avr_sig==120)?"mk3.bin":"/fc.bin"));
}
catch (Exception e) { throw new Exception(" cant open firmware"); }
 
 
int firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ;
 
flash_msgs[msg_pos++]=".. open with " + firmware_size + "bytes";
 
 
 
// if (true) throw new Exception("before erasing" );
 
flash_msgs[msg_pos++]="Erasing Flash ..";
writer.write('e');
writer.flush();
 
if (reader.read()!=0x0d)
throw new Exception("cant erase flash");
 
flash_msgs[msg_pos]+="OK";
 
 
writer.write('A');
writer.write(0);
writer.write(0);
writer.flush();
 
if (reader.read()!=0x0d)
throw new Exception("cant set addr");
flash_msgs[msg_pos++]="addr set";
 
 
int blocks2write=((firmware_size/send_buff_size));
if ((firmware_size%send_buff_size)>0)
blocks2write++;
 
for ( int block=0; block<blocks2write; block ++)
{
int hex_bytes_read=in.read(flash_buff,0,send_buff_size);
flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ;
 
 
writer.write('B');
writer.write((hex_bytes_read>>8)& 0xFF);
writer.write((hex_bytes_read)& 0xFF);
writer.write('F');
writer.flush();
 
writer.write(flash_buff,0,hex_bytes_read);
writer.flush();
 
if (avr_sig==224)
{
int crc=0xFFFF;
for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++)
crc=CRC16(flash_buff[crc_pos],crc);
writer.write(crc>>8);
writer.write(crc&0xff);
writer.flush();
}
// flash_msgs[msg_pos]+="ok";
// writer.flush();
 
 
if (reader.read()!=0x0d)
throw new Exception("abort write at block"+block);
// sleep(1000);
}
// flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ;
/*
 
int inp=0;
int block=0;
while (inp!=-1)
{
int flash_buff_pos=0;
int crc=0xFFFF;
while ((flash_buff_pos<send_buff_size)&&(inp!=-1))
{
inp=in.read();
if (inp!=-1)
{
crc=CRC16(inp,crc);
flash_buff[flash_buff_pos++]=(byte)inp;
}
}
// flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos;
block++;
boolean block_fin=false;
 
 
while(!block_fin)
{
writer.write('B');
writer.write((flash_buff_pos>>8)& 0xFF);
writer.write((flash_buff_pos)& 0xFF);
writer.write('F');
writer.flush();
 
// int ret_v=-1;
writer.write(flash_buff,0,flash_buff_pos);
flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ;
writer.flush();
// flash_msgs[msg_pos]+="wtc";
// append crc if navi
if (avr_sig==224)
{
writer.write(crc>>8);
writer.write(crc&0xff);
writer.flush();
}
// flash_msgs[msg_pos]+="ok";
// writer.flush();
// if (reader.read()!=0x0d)
// throw new Exception("abort write at block"+block);
//ret_v=reader.read();
// flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc;
if (reader.read()==0x0d)
block_fin=true;
}
 
}
*/
flash_msgs[++msg_pos]="written last block ";
msg_pos++;
flash_buff=null;
 
ufo_prober.set_to_none();
stats.reset();
version=new MKVersion();
System.gc();
}
else // bootloader intension clear settings
{
 
flash_msgs[msg_pos]="reset params ..";
writer.write('B');
writer.write(0);
writer.write(4);
writer.write('E');
writer.flush();
writer.write(0xFF);
writer.write(0xFF);
writer.write(0xFF);
writer.write(0xFF);
writer.flush();
flash_msgs[msg_pos++]+=" done";
}
 
flash_msgs[msg_pos++]="Exiting Bootloader" ;
params=new MKParamsParser();
try{
writer.write('E');
writer.flush();
}
catch (Exception e) {
flash_msgs[msg_pos++]="cant exit bootloader" ;
}
flash_msgs[msg_pos++]="Exit BL done" ;
 
 
}
catch (Exception e) {
flash_msgs[msg_pos++]="Fail:" +e.getMessage() ;
 
 
flash_msgs[msg_pos++]="Exiting Bootloader" ;
params=new MKParamsParser();
try{
writer.write('E');
writer.flush();
}
catch (Exception e2) {
flash_msgs[msg_pos++]="cant exit bootloader" ;
}
flash_msgs[msg_pos++]="Exit BL done" ;
 
 
 
close_connections(false);
}
 
 
sending=false;
}
 
 
byte[] data_set=new byte[1024];
int data_set_pos=0;
byte[] data_in_buff=new byte[2048];
int input;
int pos=0;
 
 
 
 
 
log("Thread started");
while(true)
{
if (!connected)
{
if (!force_disconnect) connect();
sleep(100);
}
else
try{
/*
while(sending)
{try { Thread.sleep(50); }
catch (Exception e) { }
}
*/
recieving=true;
int read_count =reader.read(data_in_buff,0,reader.available());
log("Connected - reading data " + read_count);
// pos=0;
input=0;
//data_buff[data_buff_pos]="";
// recieve data-set
if (read_count==0) sleep(50);
 
// int read_count =reader.read(data_in_buff,0,reader.available());
stats.bytes_in+=read_count;
if (read_count>0)
{
log("read" + read_count + " ds_pos" + data_set_pos);
for ( pos=0;pos<read_count;pos++)
{
if (data_in_buff[pos]==13)
{
data_buff[data_buff_pos]=""+data_buff_pos+ "--"+new String(data_set, 0, data_set_pos);
data_buff_pos++;
data_buff_pos%=DATA_BUFF_LEN;
 
try{process_data(data_set,data_set_pos); }
catch (Exception e)
{
log(".. problem processing");
log(e.toString());
}
 
 
 
 
proxy.write(data_set,0,data_set_pos);
// proxy.writer.write('\r');
//proxy.writer.write('\n');
//proxy.writer.flush();
/*
if (proxy!=null)
{
 
 
}
*/
data_set_pos=0;
 
}
else
{
data_set[data_set_pos++]=data_in_buff[pos];
 
if ( (data_set_pos>4) && (data_set[data_set_pos-4]==(byte)'M') && (data_set[data_set_pos-3]==(byte)'K') && (data_set[data_set_pos-2]==(byte)'B') && (data_set[data_set_pos-1]==(byte)'L'))
{
bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL;
return;
}
}
 
}
}
else
sleep(50);
/*
while ((input != 13)) //&&(input!=-1))
{
{
//log("pre read");
log(""+reader.available());
input = reader.read() ;
log("Byte rcv" + input +"pos"+ pos);
proxy.write(input);
data_buff[data_buff_pos]+=(char)input;
if ((data_buff[data_buff_pos].length()>3)&&(data_buff[data_buff_pos].substring(data_buff[data_buff_pos].length()-4,data_buff[data_buff_pos].length()).equals("MKBL")))
{
bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL;
return;
}
if (input==-1) throw new Exception("disconnect");
else
{
stats.bytes_in++;
data_set[pos]=input;
pos++;
}
}
}
 
data_buff_pos++;
data_buff_pos%=DATA_BUFF_LEN;
recieving=false;
log("Data recieved (" + pos + "Bytes)");
log("processing ..");
*/
 
/*
if (proxy!=null)
{
proxy.writer.write('\r');
proxy.writer.write('\n');
proxy.writer.flush();
}
*/
/*if (pos>5)
{
try{process_data(data_set,pos); }
catch (Exception e)
{
log(".. problem processing");
log(e.toString());
}
log(".. processing done");
}
*/
}
catch (Exception ex)
{
log("Problem reading from MK -> closing conn");
log(ex.toString());
// close the connection
close_connections(false);
}
// sleep a bit to get someting more done
// sleep(5); //50
} // while
// log("Leaving Communicator thread");
} // run()
}
/DUBwise/trunk/shared/src/MKDebugData.java
0,0 → 1,82
/*********************************************
*
* class representing the DebugData Structure
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
********************************************/
 
package org.ligi.ufo;
 
public class MKDebugData
{
 
public int[] analog;
public String[] names;
public boolean[] got_name;
public int motor_complete=-1;
 
private int i;
 
public int motor_val(int id) { return analog[12+id]; }
public int nick_int() { return analog[0]; }
public int roll_int() { return analog[1]; }
public int accnick() { return analog[2]; }
public int accroll() { return analog[3]; }
 
 
public int UBatt() { return analog[9]; }
public int SenderOkay() { return analog[10]; }
 
 
 
public MKDebugData()
{
names=new String[32];
analog=new int[32];
got_name=new boolean[32];
for (i=0;i<32;i++)
{
analog[i]=-1;
names[i]="-#"+i+"->";
got_name[i]=false;
}
 
}
 
public void set_names_by_mk_data(int[] in_arr)
{
int id=in_arr[0];
names[id]="";
for (i=0;i<16;i++)
{
if ((char)in_arr[i+1]!=' ')
names[id]+=(char)in_arr[i+1];
got_name[id]=true;
}
names[id]+=":";
}
 
public void set_by_mk_data(int[] in_arr,MKVersion version)
{
 
for (i=0;i<32;i++)
{
analog[i]=(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]);
if ((analog[i]&(1<<15))!=0)
analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1);
}
motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3);
 
 
}
 
 
 
}
/DUBwise/trunk/shared/src/MKGPSPosition.java
0,0 → 1,419
/*********************************************
*
* class representing the DebugData Structure
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
* Some code taken from here:
* http://www.koders.com/java/fidFC75A641A87B51BB757E9CD3136C7886C491487F.aspx
*
* and
* http://www.movable-type.co.uk/scripts/latlong.html
*
* thanx a lot for sharing!
*
********************************************/
 
package org.ligi.ufo;
 
 
import java.lang.Math;
public class MKGPSPosition
{
public final byte GPS_FORMAT_DECIMAL=0;
public final byte GPS_FORMAT_MINSEC=1;
public final byte GPS_FORMAT_COUNT=2;
 
byte act_gps_format=GPS_FORMAT_DECIMAL;
 
public final static int MAX_WAYPOINTS=100;
 
public int[] LongWP;
public int[] LatWP;
public String[] NameWP;
 
int UBatt;
 
public int last_wp=0;
 
public int Longitude;
public int Latitude;
public int Altitude;
 
public int TargetLongitude;
public int TargetLatitude;
public int TargetAltitude;
 
public int HomeLongitude;
public int HomeLatitude;
public int HomeAltitude;
 
public int Distance2Target;
public int Angle2Target;
 
public int Distance2Home;
public int Angle2Home;
 
public byte SatsInUse=-1;
public byte WayPointNumber=-1;
public byte WayPointIndex=-1;
public int AngleNick = -1;
public int AngleRoll = -1;
public int SenderOkay = -1;
public int MKFlags= -1;
public int NCFlags= -1;
public int ErrorCode= -1;
 
 
 
public int Altimeter=-1; // hight according to air pressure
public int Variometer=-1; // climb(+) and sink(-) rate
public int FlyingTime=-1;
 
public int GroundSpeed=-1;
public int Heading=-1;
public int CompasHeading=-1;
 
 
 
//#if cldc11=="on"
public static final double PI = Math.PI;
public static final double PI_div2 = PI / 2.0;
public static final double PI_div4 = PI / 4.0;
public static final double RADIANS = PI / 180.0;
public static final double DEGREES = 180.0 / PI;
 
private static final double p4 = 0.161536412982230228262e2;
private static final double p3 = 0.26842548195503973794141e3;
private static final double p2 = 0.11530293515404850115428136e4;
private static final double p1 = 0.178040631643319697105464587e4;
private static final double p0 = 0.89678597403663861959987488e3;
private static final double q4 = 0.5895697050844462222791e2;
private static final double q3 = 0.536265374031215315104235e3;
private static final double q2 = 0.16667838148816337184521798e4;
private static final double q1 = 0.207933497444540981287275926e4;
private static final double q0 = 0.89678597403663861962481162e3;
 
 
 
private static double _ATAN(double X)
{
if (X < 0.414213562373095048802)
return _ATANX(X);
else if (X > 2.414213562373095048802)
return PI_div2 - _ATANX(1.0 / X);
else
return PI_div4 + _ATANX((X - 1.0) / (X + 1.0));
}
 
 
private static double _ATANX(double X)
{
double XX = X * X;
return X * ((((p4 * XX + p3) * XX + p2) * XX + p1) * XX + p0)/ (((((XX + q4) * XX + q3) * XX + q2) * XX + q1) * XX + q0);
}
 
 
 
public double aTan2(double Y, double X)
{
 
if (X == 0.0) {
if (Y > 0.0)
return PI_div2;
else if (Y < 0.0)
return -PI_div2;
else
return 0.0;
}
 
// X<0
else if (X < 0.0) {
if (Y >= 0.0)
return (PI - _ATAN(Y / -X)); // Y>=0,X<0 |Y/X|
else
return -(PI - _ATAN(Y / X)); // Y<0,X<0 |Y/X|
}
 
// X>0
else if (X > 0.0)
{
if (Y > 0.0)
return _ATAN(Y / X);
else
return -_ATAN(-Y / X);
}
 
return 0.0;
 
}
 
public int distance2wp(int id)
{
double lat1=(Latitude/10000000.0)*RADIANS;
double long1=(Longitude/10000000.0)*RADIANS;
 
double lat2=(LatWP[id]/10000000.0)*RADIANS;
double long2=(LongWP[id]/10000000.0)*RADIANS;
 
 
double dLat= (lat2-lat1);
double dLon= (long2-long1);
 
double a = Math.sin(dLat/2.0) * Math.sin(dLat/2.0) +
Math.cos(lat1) * Math.cos(lat2) *
Math.sin(dLon/2.0) * Math.sin(dLon/2.0);
 
return (int)(( 2.0 * aTan2(Math.sqrt(a), Math.sqrt(1.0-a)) )*6371008.8);
}
 
 
 
 
public int angle2wp(int id)
{
// TODO reuse from distance
double lat1=(Latitude/10000000.0)*RADIANS;
double long1=(Longitude/10000000.0)*RADIANS;
 
double lat2=(LatWP[id]/10000000.0)*RADIANS;
double long2=(LongWP[id]/10000000.0)*RADIANS;
 
 
double dLat= (lat2-lat1);
double dLon= (long2-long1);
 
 
double y = Math.sin(dLon) * Math.cos(lat2);
double x = Math.cos(lat1)*Math.sin(lat2) - Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
return ((int)(aTan2(y, x)*DEGREES)+360)%360;
 
}
 
 
//#endif
 
//#if cldc11!="on"
//# public int distance2wp(int id)
//# {
//# return -1;
//# }
 
//# public int angle2wp(int id)
//# {
//# return -1;
//# }
//#endif
 
public void push_wp()
{
LongWP[last_wp]=Longitude;
LatWP[last_wp]=Latitude;
 
last_wp++;
}
 
public void next_gps_format()
{
act_gps_format=(byte)((act_gps_format+1)%GPS_FORMAT_COUNT);
}
 
public String act_gps_format_str(int val)
{
switch(act_gps_format)
{
case GPS_FORMAT_DECIMAL:
return "" + val/10000000 + "." +val%10000000 ;
case GPS_FORMAT_MINSEC:
return "" + val/10000000 + "^" + ((val%10000000)*60)/10000000 + "'" + ((((val%10000000)*60)%10000000)*60)/10000000 + "." + ((((val%10000000)*60)%10000000)*60)%10000000;
default:
return "invalid format";
}
}
 
public String WP_Latitude_str(int id)
{
return act_gps_format_str(LatWP[id]); //+ "''N" ;
}
 
public String WP_Longitude_str(int id)
{
return act_gps_format_str(LongWP[id]); //+ "''E" ;
 
}
 
public String Latitude_str()
{
return act_gps_format_str(Latitude) ;
}
 
public String Longitude_str()
{
return act_gps_format_str(Longitude) ;
 
}
 
 
public String TargetLatitude_str()
{
return act_gps_format_str(TargetLatitude) ;
}
 
public String TargetLongitude_str()
{
return act_gps_format_str(TargetLongitude) ;
}
 
public String HomeLatitude_str()
{
return act_gps_format_str(HomeLatitude) ;
}
 
public String HomeLongitude_str()
{
return act_gps_format_str(HomeLongitude) ;
}
 
 
 
 
// Constructor
public MKGPSPosition()
{
 
LongWP=new int[MAX_WAYPOINTS];
LatWP=new int[MAX_WAYPOINTS];
 
NameWP=new String[MAX_WAYPOINTS];
// predefined waypoints
 
/*
LongWP[0]=123230170;
LatWP[0]= 513600170 ;
NameWP[0]="Sicherer PC1";
 
LongWP[1]=123269000;
LatWP[1]= 513662670;
NameWP[1]="Sicherer PC2";
 
LongWP[2]=123475570;
LatWP[2]= 513569750 ;
NameWP[2]="Treffpunkt Seba";
*/
 
last_wp=0;
}
 
private int parse_arr_4(int offset,int[] in_arr)
{
return ((in_arr[offset+3]<<24) |
(in_arr[offset+2]<<16) |
(in_arr[offset+1]<<8) |
(in_arr[offset+0]));
}
 
 
private int parse_arr_2(int offset,int[] in_arr)
{
return ((in_arr[offset+1]<<8) |
(in_arr[offset+0]));
}
 
 
 
public void set_by_mk_data(int[] in_arr,MKVersion version)
{
Longitude=parse_arr_4(0,in_arr);
Latitude=parse_arr_4(4,in_arr);
Altitude=parse_arr_4(8,in_arr);
//status=in_arr[12];
 
TargetLongitude=parse_arr_4(13,in_arr);
TargetLatitude=parse_arr_4(17,in_arr);
TargetAltitude=parse_arr_4(21,in_arr);
//Targetstatus=in_arr[25];
 
Distance2Target=parse_arr_2(26,in_arr);
Angle2Target=parse_arr_2(28,in_arr);
 
HomeLongitude=parse_arr_4(30,in_arr);
HomeLatitude=parse_arr_4(34,in_arr);
HomeAltitude=parse_arr_4(38,in_arr);
//Targetstatus=in_arr[42];
 
Distance2Home=parse_arr_2(43,in_arr);
Angle2Home=parse_arr_2(45,in_arr);
 
WayPointIndex=(byte)in_arr[47];
WayPointNumber=(byte)in_arr[48];
 
SatsInUse=(byte)in_arr[49];
Altimeter=parse_arr_2(50,in_arr); // hight according to air pressure
Variometer=parse_arr_2(52,in_arr);; // climb(+) and sink(-) rate
FlyingTime=parse_arr_2(54,in_arr);;
UBatt= in_arr[56];
 
GroundSpeed= parse_arr_2(57,in_arr);
Heading= parse_arr_2(59,in_arr);
CompasHeading= parse_arr_2(61,in_arr);
AngleNick = in_arr[63];
AngleRoll = in_arr[64];
SenderOkay = in_arr[65];
 
MKFlags=in_arr[66];
NCFlags=in_arr[67];
 
ErrorCode=in_arr[67];
 
 
// ground_speed 54 / 55
/*
if (version.compare(0,11)==version.VERSION_PREVIOUS)
{
 
TargetLongitude=parse_arr(8,in_arr);
TargetLatitude=parse_arr(12,in_arr);
Distance2Target=parse_arr(16,in_arr);
Angle2Target=parse_arr(20,in_arr);
Used_Sat=(byte)in_arr[24];
}
else
{
 
Longitude=parse_arr(0,in_arr);
Latitude=parse_arr(4,in_arr);
 
TargetLongitude=parse_arr(13,in_arr);
TargetLatitude=parse_arr(17,in_arr);
 
Distance2Target=-23 ; //parse_arr(16,in_arr);
Angle2Target=parse_arr(20,in_arr);
 
WayPointNumber=-1;
WayPointIndex=-1;
Used_Sat=(byte)in_arr[24];
 
 
 
}
*/
}
 
 
 
}
/DUBwise/trunk/shared/src/MKLCD.java
0,0 → 1,85
/*******************************************
*
* Handling of MK LCD
*
* Author: Marcus -LiGi- Bueschleb
* see README for further Infos
*
*
*******************************************/
 
package org.ligi.ufo;
 
public class MKLCD
// implements Runnable
{
 
MKCommunicator mk=null;
 
int last_recieved_page=0;
int act_page=0;
public int pages=-1;
 
private String[] lcd_buf;
private String[] lcd_buf_;
 
public String[] get_act_page()
{ return lcd_buf; }
 
public MKLCD(MKCommunicator _mk)
{
lcd_buf=new String[4];
 
lcd_buf[0]="no ";
lcd_buf[1]="DisplayData " ;
lcd_buf[2]="read ";
lcd_buf[3]="yet ";
mk=_mk;
}
 
public void set_page(int page)
{
act_page=page;
}
 
public void handle_lcd_data(int[] data)
{
 
lcd_buf_=new String[4];
last_recieved_page=data[0];
pages=data[1];
 
for(int row=0;row<4;row++)
{
lcd_buf_[row]="";
for(int col=0;col<20;col++)
lcd_buf_[row]+=(char)data[row*20+col+2];
}
lcd_buf=lcd_buf_;
}
 
public void trigger_LCD()
{
mk.trigger_LCD_by_page(act_page);
}
 
 
public void LCD_NEXTPAGE()
{
if (act_page!=pages)
act_page++;
else
act_page=0;
 
}
 
public void LCD_PREVPAGE()
{
if (act_page!=0)
act_page--;
else
act_page=pages;
}
}
/DUBwise/trunk/shared/src/MKParamDefinitions.java
0,0 → 1,11
package org.ligi.ufo;
 
public interface MKParamDefinitions
{
 
public final static int PARAMTYPE_BYTE=0;
public final static int PARAMTYPE_BITSWITCH=1;
public final static int PARAMTYPE_STICK=2;
 
 
}
/DUBwise/trunk/shared/src/MKParamsParser.java
0,0 → 1,174
/**************************************************
*
* class representing the Params Structure
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
*************************************************/
 
package org.ligi.ufo;
 
 
 
public class MKParamsParser
implements MKParamDefinitions
 
{
 
// -- start generated code --
public final static int PARAMTYPE_BYTE=0;
public final static int PARAMTYPE_BITSWITCH=1;
public final static int PARAMTYPE_STICK=2;
public final static String[][] all_tab_names={{"Altitude","Camera","Channels","Configuration","Coupling","Gyro","Looping","Navi","Other","Output","Stick","User"}};
public final static String[][][] all_field_names={{{"Min. Accelerate","Barometric D","Setpoint","Altitude P","Gain","Z-ACC","3-Way switch"},{"Servo control","Nick compensation","Servo min","Servo max","Refresh rate","Invert Direction"},{"Nick","Roll","Accelerate","Gier","POTI1","POTI2","POTI3","POTI4"},{"ALTITUDE_CONTROL","Switch for Setpoint","Heading Hold","Compas Active","Compas Fix","GPS","Coupling","Yaw Rate Limiter"},{"Yaw pos. feedback","Yaw neg. feedback"},{"ACC/Gyro Factor","P-Rate","I-Rate","ACC/Gyro Comp","Drift-Compensation","Dynamic stability"},{"Gas Limit","Threshold","Hysterese","TurnOver Nick","TurnOver Roll","UP","DOWN","LEFT","RIGHT"},{"Mode Control","GPS-Gain","GPS-P","GPS-I","GPS-D","GPS-ACC","Satelite Minimum","Stick Threhsold","Wind Correction","Speed Compensation","Operating Radius","Angle Limit"},{"Min Gas","Max Gas","Compass Effect","Voltage Warning","Distress Gas","Distress Gas Time"},{"J16 Bitmask","J16 Timing","J17 Bitmask","J17 Timing"},{"Nick/Roll P","Nick/Roll D","Gier P","External Control"},{"Param 1","Param 2","Param 3","Param 4","Param 5","Param 6","Param 7","Param 8"}}};
public final static int[][][] all_field_positions={{{9,10,11,12,13,14,556},{33,34,35,36,37,560},{0,1,2,3,4,5,6,7},{64,65,66,67,68,69,70,71},{41,42},{20,22,23,45,46,47},{38,39,40,43,44,552,553,554,555},{56,57,58,59,60,61,62,63,64,65,66,67},{18,19,21,24,25,26},{52,53,54,55},{15,16,17,68},{29,30,31,32,48,49,50,51}}};
public final static int[][][] all_field_types={{{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BITSWITCH},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BITSWITCH},{PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK,PARAMTYPE_STICK},{PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH},{PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH,PARAMTYPE_BITSWITCH},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE},{PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE,PARAMTYPE_BYTE}}};
public final static int[] all_name_positions={75};
public final static int[] all_lengths={87};
// -- end generated code --
 
public final static int MAX_PARAMSETS=5;
// public final static int MAX_PARAMLENGTH=100;
 
public int[][] field;
public int[][] field_bak;
public String[] names={"Paramset 1","Paramset 2","Paramset 3","Paramset 4","Paramset 5"};
 
public int act_paramset=0;
 
 
public int params_version=-1;
public int last_parsed_paramset=-1;
public int active_paramset=-1;
public boolean found_incompatible=false;
 
public String[] stick_names;
 
public int get_field_from_act(int pos)
{ return field[act_paramset][pos]; }
 
public void set_field_from_act(int pos,int val)
{
if (val>255) val=255;
if (val<0) val=255;
field[act_paramset][pos]=val;
}
 
 
public void field_from_act_add(int pos,int val)
{
set_field_from_act(pos , get_field_from_act(pos)+val);
}
 
// for boolean Flags
public void field_from_act_xor(int pos,int val)
{
field[act_paramset][pos]^=val;
}
 
public MKParamsParser()
{
field=new int[MAX_PARAMSETS][];
field_bak=new int[MAX_PARAMSETS][];
for (int ii=0;ii<MAX_PARAMSETS;ii++)
{
field[ii]=null;
field_bak[ii]=null;
}
 
stick_names=new String[10];
for (int i=0;i<10;i++)
stick_names[i]="not read yet";
}
 
 
public int[] param_type;
public int[] param_pos;
public int[] param_innerpos;
 
public String[] tab_names;
public String[][] field_names;
public int[][] field_positions;
public int[][] field_types;
 
public int length;
public int name_start;
 
 
 
public void use_backup()
{
set_by_mk_data(field_bak[act_paramset]);
}
 
public void update_backup()
{
for ( int i=0 ; i<field[act_paramset].length;i++)
field_bak[act_paramset][i+2]=field[act_paramset][i];
 
field_bak[act_paramset][0]=act_paramset+1;
field_bak[act_paramset][1]=params_version;
 
}
 
public void set_by_mk_data(int[] in_arr)
{
params_version=in_arr[1];
int definition_pos=params_version-73;
 
 
if ((definition_pos<0)||( (definition_pos>all_tab_names.length)))
{
found_incompatible=true;
return;
}
 
 
 
last_parsed_paramset=in_arr[0]-1;
 
if (active_paramset==-1)active_paramset=last_parsed_paramset;
 
tab_names=all_tab_names[definition_pos];
field_names=all_field_names[definition_pos];
field_positions=all_field_positions[definition_pos];
field_types=all_field_types[definition_pos];
 
name_start=all_name_positions[definition_pos];
length=all_lengths[definition_pos];
 
field[last_parsed_paramset]=new int[length];
field_bak[last_parsed_paramset]=new int[length+2];
 
names[last_parsed_paramset]="" + (last_parsed_paramset+1) +": ";
for ( int i=0;i<length+2;i++)
{
if (i<length)
field[last_parsed_paramset][i]=in_arr[i+2];
field_bak[last_parsed_paramset][i]=in_arr[i];
}
 
for ( int i=name_start;i<length;i++)
{
if(in_arr[i+2]==0)break;
names[last_parsed_paramset]+=(char)in_arr[i+2];
}
 
for (int i=0;i<10;i++)
stick_names[i]="not associated";
 
for (int tab=0;tab<tab_names.length;tab++)
for (int item=0;item<field_types[tab].length;item++)
if (field_types[tab][item]==PARAMTYPE_STICK)
stick_names[ field[last_parsed_paramset][field_positions[tab][item]] ] = field_names[tab][item];
}
 
 
 
}
/DUBwise/trunk/shared/src/MKProxy.java
0,0 → 1,122
package org.ligi.ufo;
 
 
import java.io.*;
//import javax.microedition.io.*;
 
//#ifdef j2me
//# import javax.microedition.io.*;
//#endif
 
public class MKProxy
implements Runnable
{
 
public boolean connected;
public String url;
public String err_str="none";
 
//#ifdef j2me
//# StreamConnection connection;
//#endif
 
//#ifdef android
java.net.Socket connection;
//#endif
 
public java.io.InputStream reader;
public java.io.OutputStream writer;
 
MKCommunicator mk;
 
 
public MKProxy(MKCommunicator _mk)
{
mk=_mk;
new Thread( this ).start(); // fire up main Thread
}
 
public void connect(String url_)
{
url=url_;
 
try
{
//
 
//#ifdef android
connection = new java.net.Socket(url_,9876);
 
reader=connection.getInputStream();
writer=connection.getOutputStream();
//#endif
 
//#ifdef j2me
//# connection = (StreamConnection) Connector.open(url, Connector.READ_WRITE);
//# reader=connection.openInputStream();
//# writer=connection.openOutputStream();
 
//#endif
 
String init="new:foo bar\r\n";
writer.write(init.getBytes());
writer.flush();
connected=true;
}
catch (Exception e)
{
// err_str=e.toString();
// this=null;
 
connected=false;
}
 
}
 
public void write(byte[] input,int off,int len)
{
if (connected)
try{ writer.write(input,off,len);
writer.write(13);
writer.flush();
// if (input==13) writer.flush();
 
}
catch(Exception e) { connected=false; }
}
public void sleep(int time)
{
try { Thread.sleep(time); }
catch (Exception e) { }
}
 
 
 
public void run()
{
 
while(true)
{
 
try {
if (connected)
{
byte[] data_in_buff=new byte[reader.available()];
int read_count =reader.read(data_in_buff,0,reader.available());
if (read_count>0) mk.write_raw(data_in_buff);
sleep(30);
}
else
sleep(300);
}
catch ( Exception e){}
}
 
}
 
 
 
}
/DUBwise/trunk/shared/src/MKStatistics.java
0,0 → 1,69
/********************************************************************************
* Statistics from MK-Connection ( needed for 2. Thread and Readability of Code )
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
********************************************************************************/
 
package org.ligi.ufo;
 
 
 
public class MKStatistics
 
{
 
public int bytes_in=0;
public int bytes_out=0;
 
 
public int debug_data_count=0;
public int debug_names_count=0;
public int angle_data_count=0;
public int version_data_count=0;
public int other_data_count=0;
public int lcd_data_count=0;
public int params_data_count=0;
public int navi_data_count=0;
public int stick_data_count=0;
 
 
public int debug_data_request_count=0;
public int debug_name_request_count=0;
public int version_data_request_count=0;
public int lcd_data_request_count=0;
public int params_data_request_count=0;
// public int navi_data_count=0;
public int stick_data_request_count=0;
public int motortest_request_count=0;
 
public void reset()
{
 
debug_data_count=0;
debug_names_count=0;
angle_data_count=0;
version_data_count=0;
other_data_count=0;
lcd_data_count=0;
params_data_count=0;
navi_data_count=0;
bytes_in=0;
bytes_out=0;
stick_data_count=0;
 
 
debug_data_request_count=0;
debug_name_request_count=0;
version_data_request_count=0;
lcd_data_request_count=0; //
params_data_request_count=0; //
stick_data_request_count=0;
motortest_request_count=0; //
 
 
}
}
/DUBwise/trunk/shared/src/MKStickData.java
0,0 → 1,44
/*********************************************
*
* class representing the StickData Structure
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
********************************************/
 
package org.ligi.ufo;
 
public class MKStickData
{
// holing stick data
public int[] stick;
 
// general counter
private int i;
 
public MKStickData()
{
 
stick=new int[10];
for (i=0;i<10;i++)
stick[i]=-1;
 
}
 
public void set_by_mk_data(int[] in_arr)
{
 
for (i=0;i<10;i++)
{
stick[i]=(int)((in_arr[1+i*2]<<8) | in_arr[i*2]);
if ((stick[i]&(1<<15))!=0)
stick[i]=-(stick[i]&(0xFFFF-1))^(0xFFFF-1);
}
 
}
 
 
 
}
/DUBwise/trunk/shared/src/MKVersion.java
0,0 → 1,48
/************************************
*
* class representing the MK-Version
* Author: Marcus -LiGi- Bueschleb
* Project-Start: 9/2007 *
*
* see README for further Infos
*
****************************************/
package org.ligi.ufo;
 
public class MKVersion
 
{
public int major=-1;
public int minor=-1;
public int compatible=-1;
public String str="--";
 
// version known?
public boolean known=false;
 
public final byte VERSION_AFTER=0;
public final byte VERSION_EQUAL=1;
public final byte VERSION_PREVIOUS=2;
 
 
public void set_by_mk_data(int[] data)
{
major=data[0];
minor=data[1];
compatible=data[2];
str="v"+major+"."+minor+"/"+compatible;
known=true;
}
public byte compare(int major_c,int minor_c)
{
if ((major_c==major)&&(minor_c==minor))
return VERSION_EQUAL;
// TODO - compare major - PC-COMPATIBLE
else if (minor_c>minor) return VERSION_AFTER;
return VERSION_PREVIOUS;
}
 
}
/DUBwise/trunk/shared/src/MKWatchDog.java
0,0 → 1,235
/**************************************
*
* WatchDog for MK-Connection
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
*
 
**************************************/
package org.ligi.ufo;
 
public class MKWatchDog
implements Runnable,DUBwiseDefinitions
{
MKCommunicator mk=null;
 
int debug_data_count_buff=-123;
 
public MKWatchDog(MKCommunicator _mk)
{
 
mk=_mk;
new Thread( this ).start(); // fire up main Thread
}
 
 
public int act_paramset=0;
int conn_check_timeout=0;
 
 
public byte resend_timeout=0;
int last_count=0;
 
 
//#ifdef android
// public final static int BASE_SLEEP=50;
//#else
public final static int BASE_SLEEP=40;
//#endif
 
public void run()
{
mk.log("starting Watchdog");
// get all params
int act_debug_name=0;
int sleeper=BASE_SLEEP;
while(true)
{
try {
Thread.sleep(sleeper);
sleeper=BASE_SLEEP;
if (mk.connected&&(!mk.force_disconnect))
{
 
mk.log("watchdog pre main loop");
/* if (mk.root.canvas.init_bootloader)
{
mk.jump_bootloader();
mk.root.canvas.init_bootloader=false;
}
else */if ( mk.version.major==-1 )
mk.get_version();
else if (mk.ufo_prober.is_navi()&&(mk.error_str==null))
mk.get_error_str();
 
else if (mk.ufo_prober.is_mk()&&(mk.params.last_parsed_paramset==-1))
{
mk.get_params(0xFF-1);
sleeper+=150;
act_paramset=0; // warning - if dropped problem
}
else switch (mk.user_intent)
{
case USER_INTENT_PARAMS:
 
if ((act_paramset<5))
{
 
if (resend_timeout==0) {
mk.get_params(act_paramset);
resend_timeout=50;
}
if(mk.params.field[act_paramset]!=null)
{
mk.get_params(++act_paramset);
resend_timeout=50;
}
else
resend_timeout--;
/*
// act_paramset++;
else
mk.get_params(act_paramset);
sleeper+=1200;
*/
}
break;
case USER_INTENT_RAWDEBUG:
if (act_debug_name<32)
{
 
if (resend_timeout==0) {
mk.get_debug_name(act_debug_name);
resend_timeout=50;
}
//sleeper+=100;
if (mk.debug_data.got_name[act_debug_name])
{
mk.get_debug_name(++act_debug_name);
resend_timeout=50;
}
else
resend_timeout--;
 
}
 
break;
 
case USER_INTENT_RCDATA:
mk.trigger_rcdata();
sleeper+=250;
break;
case USER_INTENT_LCD:
if (resend_timeout==0)
{
mk.LCD.trigger_LCD();
resend_timeout=50;
}
if ( last_count!=mk.stats.lcd_data_count)
{
mk.LCD.trigger_LCD();
resend_timeout=50;
}
else
resend_timeout--;
//sleeper +=250;
break;
 
default:
// mk.log("uncactched intent " +mk.root.canvas.user_intent );
break;
}
 
// if ((!mk.ufo_prober.is_incompatible()))
{
mk.log("watchdog after main loop");
if (debug_data_count_buff==mk.stats.debug_data_count)
{
mk.log("timeout:" +conn_check_timeout );
conn_check_timeout++;
if (conn_check_timeout==100)
{
mk.log("disconnecting");
mk.close_connections(false);
conn_check_timeout=0;
}
debug_data_count_buff=mk.stats.debug_data_count;
}
else
conn_check_timeout=0;
 
 
/*else if ((mk.root.canvas.user_intent==USER_INTENT_RAWDEBUG) || (mk.root.canvas.user_intent==USER_INTENT_GRAPH) )
{
mk.trigger_debug();
try { Thread.sleep(100); }
catch (Exception e) { }
}
*/
 
 
 
 
/*
 
 
if (debug_data_count_buff==mk.debug_data_count)
{
// mk.close_connections(false);
}
 
*/
 
/*if (mk.version.major==-1)
mk.get_version();
else
*/
/*for ( int cnt=0;cnt<5;cnt++)
if (mk.params.field[cnt]==null)
{
mk.get_params(cnt+1);
break;
}*/
/*
for (int c=0;c<32;c++)
if (!mk.debug_data.got_name[c])
{
mk.get_debug_name(c);
break;
}
*/
 
}
}
 
} // 3000
catch (Exception e) {
mk.log("err in watchdog:");
mk.log(e.toString());
 
}
}
 
 
// mk.log("watchdog quit");
}
 
}
/DUBwise/trunk/shared/src/UFOProber.java
0,0 → 1,161
/**********************************************************************************
*
* Probe which type of UFO we talk to
*
* Author: Marcus -LiGi- Bueschleb
*
* see README for further Infos
*
*
**********************************************************************************/
 
package org.ligi.ufo;
 
//#ifdef j2me
//# import javax.microedition.io.*;
//#endif
 
import java.io.*;
 
public class UFOProber
 
{
public final static int PROBE_RESULT_NONE =0;
public final static int PROBE_RESULT_INCOMPATIBLE =1;
public final static int PROBE_RESULT_MK =2;
public final static int PROBE_RESULT_NG =3;
public final static int PROBE_RESULT_NAVCTRL =4;
public final static int PROBE_RESULT_MK3MAG =5;
 
 
 
 
public boolean change_notify=false;
 
public String[] extended_names= { "No Device" , "Inkompatible Device","MK-Connection" , "NG-Connection" , "NavCtrl-Connection","MK3Mag Connection" };
 
public int probe_result=PROBE_RESULT_NONE;
 
 
public void set_to(int _probe_result)
{
if (_probe_result!=probe_result)
{
probe_result=_probe_result;
change_notify=true;
}
}
public void set_to_navi()
{
set_to(PROBE_RESULT_NAVCTRL);
}
 
public void set_to_mk3mag()
{
set_to(PROBE_RESULT_MK3MAG);
}
 
public void set_to_mk()
{
set_to(PROBE_RESULT_MK);
}
 
 
public void set_to_none()
{
set_to(PROBE_RESULT_NONE);
}
 
public void set_to_incompatible()
{
set_to(PROBE_RESULT_INCOMPATIBLE);
}
 
public boolean is_navi()
{
return (probe_result==PROBE_RESULT_NAVCTRL);
}
 
public boolean is_mk()
{
return (probe_result==PROBE_RESULT_MK);
}
 
public boolean is_mk3mag()
{
return (probe_result==PROBE_RESULT_MK3MAG);
}
 
public boolean is_incompatible()
{
return (probe_result==PROBE_RESULT_INCOMPATIBLE);
}
 
 
public String extended_name()
{
return extended_names[probe_result];
}
 
String reply="";
public boolean probe_error=false;
 
// j2me
// private javax.microedition.io.StreamConnection connection;
// ej2me
 
 
// private java.io.InputStream reader;
//private java.io.OutputStream writer;
public void bluetooth_probe(String url)
{
try{
/*
connection = (StreamConnection) Connector.open(url);
reader=connection.openInputStream();
writer=connection.openOutputStream();
String magic="\rmk-mode\r";
writer.write(magic.getBytes());
writer.flush();
*/
 
/*
int input=0;
// recieve data-set
 
// the 1st line is the echo of the command when ng
while ((input != 13) &&(input!=-1))
{
input = reader.read() ;
reply+=(char)input;
}
reply="";
input=0;
while ((input != 13) &&(input!=-1))
if (input!=10){
input = reader.read() ;
reply+=(char)input;
}
 
if (reply=="NG here\r")
probe_result=PROBE_RESULT_NG;
 
probe_result=PROBE_RESULT_MK;
*/
// writer.close();
// reader.close();
// connection.close();
}
catch (Exception ex)
{
probe_error=true;
}
 
 
}
 
}