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1 | #include <Parser.h> |
1 | #include <Parser.h> |
- | 2 | ||
- | 3 | /** |
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- | 4 | * create a frame that can be send to the MK using the |
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- | 5 | * connection class. |
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- | 6 | * see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
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- | 7 | * how the protocol is encoded and |
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- | 8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
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- | 9 | * to look at the possible commands that are already coded |
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- | 10 | * in data |
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- | 11 | */ |
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- | 12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
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- | 13 | //if # is cmd we do not touch anything, because |
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- | 14 | // the command is already encoded in data |
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- | 15 | if (cmd != '#') { |
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- | 16 | /* |
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- | 17 | //calculate buffer length |
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- | 18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
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- | 19 | //(the rest for the data length - see encode how this is calculated) |
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- | 20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
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- | 21 | ||
- | 22 | //allociate memory for the data we want to send |
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- | 23 | char * send_data = (char *)malloc(buf_len); |
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- | 24 | */ |
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- | 25 | char send_data[150]; |
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- | 26 | send_data[0]='#'; |
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- | 27 | send_data[1]=(char)address; |
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- | 28 | send_data[2]=cmd; |
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- | 29 | for (int i = 0; i < length; i++) |
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- | 30 | send_data[i+3] = data[i]; |
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- | 31 | //TODO: abgleich mit MKCommunication::send_command |
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- | 32 | Parser::encode64(send_data, length); |
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- | 33 | address = 'a' + address; |
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- | 34 | ||
- | 35 | } |
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- | 36 | } |
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- | 37 | ||
- | 38 | ||
2 | 39 | /** |
|
3 | // Base64 Decoder |
40 | * Base64 Decoder |
- | 41 | * see Parser.h for details about sRxData |
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- | 42 | * data = data that will be decoded |
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- | 43 | * len = length of data |
|
4 | // see Parser.h for details about sRxData |
44 | * ptrOut = pointer to decoded data |
- | 45 | * offset = offset in data |
|
- | 46 | */ |
|
5 | bool Parser::decode64(sRxData &rx) |
47 | int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
6 | { |
- | |
7 | int length = rx.str.size(); |
48 | { |
8 | unsigned char a,b,c,d; |
49 | unsigned char a,b,c,d; |
9 | unsigned char ptr = 0; |
50 | unsigned char ptr = 0; |
10 | unsigned char x,y,z; |
51 | unsigned char x,y,z; |
11 | int ptrOut[150]; |
- | |
12 | - | ||
13 | int ptrIn = 3; |
- | |
14 | int max = length; |
- | |
15 | int len = length; |
52 | |
16 | int decLen = 0; |
53 | int decLen = 0; |
- | 54 | /* |
|
17 | 55 | //FIXME: dies wieder einklammern! |
|
18 | if (rx.input[ptrIn] == 0) { |
56 | if (data[ptrIn] == 0) { |
19 | return false; |
57 | return -1; |
20 | //TODO: catch error to show that something went wrong during the decode process |
58 | //TODO: catch error to show that something went wrong during the decode process |
21 | //throw "Nothing received"; |
59 | //throw "Nothing received"; |
22 | } |
60 | } |
- | 61 | */ |
|
- | 62 | //decode data |
|
- | 63 | while(len) { |
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- | 64 | a = data[offset++] - '='; |
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- | 65 | b = data[offset++] - '='; |
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- | 66 | c = data[offset++] - '='; |
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- | 67 | d = data[offset++] - '='; |
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23 | - | ||
24 | while(len != 0) { |
- | |
25 | a = rx.input[ptrIn++] - '='; |
- | |
26 | b = rx.input[ptrIn++] - '='; |
- | |
27 | c = rx.input[ptrIn++] - '='; |
- | |
28 | d = rx.input[ptrIn++] - '='; |
- | |
29 | 68 | ||
30 | if(ptrIn > max - 2) break; |
69 | //if(offset > max - 2) break; |
31 | 70 | ||
32 | x = (a << 2) | (b >> 4); |
71 | x = (a << 2) | (b >> 4); |
33 | y = ((b & 0x0f) << 4) | (c >> 2); |
72 | y = ((b & 0x0f) << 4) | (c >> 2); |
34 | z = ((c & 0x03) << 6) | d; |
73 | z = ((c & 0x03) << 6) | d; |
35 | 74 | ||
36 | if(len--) ptrOut[ptr++] = x; else break; |
75 | if(len--) ptrOut[ptr++] = x; else break; |
37 | if(len--) ptrOut[ptr++] = y; else break; |
76 | if(len--) ptrOut[ptr++] = y; else break; |
38 | if(len--) ptrOut[ptr++] = z; else break; |
77 | if(len--) ptrOut[ptr++] = z; else break; |
39 | } |
78 | } |
40 | - | ||
- | 79 | //decoded data |
|
- | 80 | unsigned char * decData; |
|
41 | for (int a=0; a<ptr; a++) { |
81 | for (int a=0; a<ptr; a++) { |
42 | if (length == false) { |
82 | if (len) { |
- | 83 | decData[decLen] = ptrOut[a]; |
|
- | 84 | decLen++; |
|
- | 85 | } else { |
|
43 | int b1, b2, b3; |
86 | int b1, b2, b3; |
44 | 87 | ||
45 | b1 = ptrOut[a++]; |
88 | b1 = ptrOut[a++]; |
46 | b2 = ptrOut[a]; |
89 | b2 = ptrOut[a]; |
47 | 90 | ||
48 | b3 = (b2 << 8) | b1; |
91 | b3 = (b2 << 8) | b1; |
49 | 92 | ||
50 | if (b3 > 32767) |
93 | if (b3 > 32767) |
51 | b3 = b3 - 65536; |
94 | b3 = b3 - 65536; |
52 | 95 | ||
53 | rx.decode[decLen] = b3; |
- | |
54 | decLen++; |
- | |
55 | } else { |
- | |
56 | rx.decode[decLen] = ptrOut[a]; |
96 | decData[decLen] = b3; |
57 | decLen++; |
97 | decLen++; |
58 | } |
- | |
59 | rx.decLen = decLen; |
98 | } |
- | 99 | } |
|
60 | } |
100 | ptrOut = decData; |
61 | return true; |
101 | return decLen; |
- | 102 | } |
|
62 | } |
103 | |
- | 104 | /** |
|
63 | 105 | * base64 encoder |
|
64 | // base64 encoder |
106 | */ |
65 | string Parser::encode64(char data[150],unsigned int length) |
107 | void Parser::encode64(char data[150],unsigned int length) |
66 | { |
108 | { |
67 | unsigned int pt = 0; |
109 | unsigned int pt = 0; |
68 | unsigned char a,b,c; |
110 | unsigned char a,b,c; |
69 | unsigned char ptr = 0; |
111 | unsigned char ptr = 0; |
70 | 112 | ||
71 | char tx_buff[150]; |
113 | char tx_buff[150]; |
72 | 114 | ||
73 | while(length > 0) |
115 | while(length > 0) |
74 | { |
116 | { |
75 | if(length) { a = data[ptr++]; length--;} else a = 0; |
117 | if(length) { a = data[ptr++]; length--;} else a = 0; |
76 | if(length) { b = data[ptr++]; length--;} else b = 0; |
118 | if(length) { b = data[ptr++]; length--;} else b = 0; |
77 | if(length) { c = data[ptr++]; length--;} else c = 0; |
119 | if(length) { c = data[ptr++]; length--;} else c = 0; |
78 | 120 | ||
79 | tx_buff[pt++] = '=' + (a >> 2); |
121 | tx_buff[pt++] = '=' + (a >> 2); |
80 | tx_buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
122 | tx_buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
81 | tx_buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
123 | tx_buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
82 | tx_buff[pt++] = '=' + ( c & 0x3f); |
124 | tx_buff[pt++] = '=' + ( c & 0x3f); |
83 | } |
125 | } |
84 | tx_buff[pt] = 0; |
126 | tx_buff[pt] = 0; |
- | 127 | ||
85 | 128 | //move pointer of tx_buff to data |
|
86 | return string(tx_buff); |
129 | data = tx_buff; |
87 | } |
130 | } |
88 | 131 | ||
89 | // Datensatz nach 8bit Integer |
132 | // Datensatz nach 8bit Integer |
90 | int Parser::dataToChar(int *data , int start, bool is_signed) { |
133 | int Parser::dataToChar(int *data , int start, bool is_signed) { |
91 | int out = (data[start]); |
134 | int out = (data[start]); |
92 | 135 | ||
93 | if ((out > 128) && (is_signed)) |
136 | if ((out > 128) && (is_signed)) |
94 | out = out - 256; |
137 | out = out - 256; |
95 | 138 | ||
96 | return out; |
139 | return out; |
97 | } |
140 | } |
- | 141 | ||
98 | 142 | /** |
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- | 143 | * received char to 8 bit integer |
|
99 | // received char to 8 bit integer |
144 | */ |
100 | int Parser::charToData(int data) { |
145 | int Parser::charToData(int data) { |
101 | if (data < 0) |
146 | if (data < 0) |
102 | return data + 256; |
147 | return data + 256; |
103 | return data; |
148 | return data; |
104 | } |
149 | } |
- | 150 | ||
105 | 151 | /** |
|
- | 152 | * convert data to 16bit Integer |
|
106 | // convert data to 16bit Integer |
153 | */ |
107 | int Parser::dataToInt(int *Data , int Start, bool is_signed) |
154 | int Parser::dataToInt(int *Data , int Start, bool is_signed) |
108 | { |
155 | { |
109 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
156 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
110 | 157 | ||
111 | if ((Out > 32767) && (is_signed)) |
158 | if ((Out > 32767) && (is_signed)) |
112 | Out = Out - 65536; |
159 | Out = Out - 65536; |
113 | 160 | ||
114 | return Out; |
161 | return Out; |
115 | 162 | ||
116 | } |
163 | } |
- | 164 | ||
117 | 165 | /** |
|
- | 166 | * convert data to 32bit Long |
|
118 | // convert data to 32bit Long |
167 | */ |
119 | long Parser::dataToLong(int *Data , int Start, bool is_signed) |
168 | long Parser::dataToLong(int *Data , int Start, bool is_signed) |
120 | { |
169 | { |
121 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
170 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
122 | 171 | ||
123 | if ((Out > 32767) && (is_signed)) |
172 | if ((Out > 32767) && (is_signed)) |
124 | Out = Out; |
173 | Out = Out; |
125 | 174 | ||
126 | return Out; |
175 | return Out; |
127 | } |
176 | } |
128 | 177 | ||
129 | float Parser::getFloat(long value, int count) |
178 | float Parser::getFloat(long value, int count) |
130 | { |
179 | { |
131 | long num = pow(10, count); |
180 | long num = pow(10, count); |
132 | 181 | ||
133 | float temp = value; |
182 | float temp = value; |
134 | 183 | ||
135 | return temp / num; |
184 | return temp / num; |
136 | } |
185 | } |
- | 186 | ||
- | 187 | /** |
|
- | 188 | * check CRC |
|
137 | 189 | */ |
|
138 | string Parser::dataToString(int Data[150], int Start, int End) |
190 | bool Parser::check_CRC(char * rx, int length) |
139 | { |
- | |
140 | char String[150]; |
- | |
141 | for (int a = Start; a < End; a++) |
- | |
142 | { |
- | |
143 | String[a - Start] = Data[a]; |
- | |
144 | } |
- | |
145 | String[End - Start] = '\0'; |
- | |
146 | - | ||
147 | return string(String); |
- | |
148 | } |
- | |
149 | - | ||
150 | // check CRC |
- | |
151 | bool Parser::check_CRC(string RXstr) |
- | |
152 | { |
- | |
153 | int length = RXstr.size(); |
191 | { |
154 | int CRC = 0; |
- | |
155 | char *RX = (char *)RXstr.c_str(); |
192 | int CRC = 0; |
156 | 193 | ||
157 | if (RX[1] == 127) |
194 | if (rx[1] == 127) |
158 | { |
195 | { |
159 | RX[1] = 0; |
196 | rx[1] = 0; |
160 | } |
197 | } |
161 | 198 | ||
162 | for(int i=0; i < length-2; i++) |
199 | for(int i=0; i < length-2; i++) |
163 | { |
200 | { |
164 | CRC+=RX[i]; |
201 | CRC+=rx[i]; |
165 | } |
202 | } |
166 | 203 | ||
167 | CRC = CRC % 4096; |
204 | CRC = CRC % 4096; |
168 | 205 | ||
169 | if(RX[length - 2] != ('=' + (CRC / 64))) |
206 | if(rx[length - 2] != ('=' + (CRC / 64))) |
170 | { |
207 | { |
171 | return false; |
208 | return false; |
172 | } |
209 | } |
173 | 210 | ||
174 | if(RX[length - 1] != ('=' + CRC % 64)) |
211 | if(rx[length - 1] != ('=' + CRC % 64)) |
175 | { |
212 | { |
176 | return false; |
213 | return false; |
177 | } |
214 | } |
178 | 215 | ||
179 | return true; |
216 | return true; |
180 | } |
217 | } |
- | 218 | ||
- | 219 | /** |
|
181 | 220 | * create CRC and add it to tx |
|
182 | // add CRC |
221 | */ |
183 | string Parser::add_CRC(string TX) |
222 | void Parser::add_CRC(char * tx, int length) |
184 | { |
- | |
185 | int length = TX.size(); |
223 | { |
186 | unsigned int tmpCRC = 0; |
- | |
187 | - | ||
188 | char CRC[2]; |
224 | unsigned int tmpCRC = 0; |
189 | 225 | ||
190 | for(int i = 0; i < length; i++) |
226 | for(int i = 0; i < length; i++) |
191 | { |
227 | { |
192 | tmpCRC += TX[i]; |
228 | tmpCRC += tx[i]; |
193 | } |
229 | } |
194 | 230 | ||
195 | tmpCRC %= 4096; |
231 | tmpCRC %= 4096; |
196 | 232 | ||
197 | CRC[0] = '=' + tmpCRC / 64; |
233 | tx[length-2] = '=' + tmpCRC / 64; |
198 | CRC[1] = '=' + tmpCRC % 64; |
234 | tx[length-1] = '=' + tmpCRC % 64; |
199 | CRC[2] = '\0'; |
- | |
200 | - | ||
201 | return string(TX) + string(CRC); |
235 | tx[length] = '\0'; |
202 | } |
236 | } |
203 | 237 | ||
204 | 238 |