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1 | /******************************************************************************************************************************** |
1 | /******************************************************************************************************************************** |
2 | * |
2 | * |
3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
4 | * |
4 | * |
5 | * Author: Marcus -LiGi- Bueschleb |
5 | * Author: Marcus -LiGi- Bueschleb |
6 | * |
6 | * |
7 | * see README for further Infos |
7 | * see README for further Infos |
8 | * |
8 | * |
9 | * |
9 | * |
10 | *******************************************************************************************************************************/ |
10 | *******************************************************************************************************************************/ |
11 | 11 | ||
12 | 12 | ||
13 | package org.ligi.ufo; |
13 | package org.ligi.ufo; |
14 | 14 | ||
15 | 15 | ||
16 | //#ifdef j2me |
16 | //#ifdef j2me |
17 | //# import javax.microedition.io.*; |
17 | //# import javax.microedition.io.*; |
18 | //#endif |
18 | //#endif |
19 | 19 | ||
20 | //#ifdef android |
20 | //#ifdef android |
21 | import android.util.Log; |
21 | import android.util.Log; |
22 | //#endif |
22 | //#endif |
23 | 23 | ||
24 | 24 | ||
25 | 25 | ||
26 | import java.io.*; |
26 | import java.io.*; |
27 | 27 | ||
28 | 28 | ||
29 | public class MKCommunicator |
29 | public class MKCommunicator |
30 | implements Runnable,DUBwiseDefinitions |
30 | implements Runnable,DUBwiseDefinitions |
31 | { |
31 | { |
- | 32 | public byte slave_addr=-1; |
|
- | 33 | ||
- | 34 | public int primary_abo; |
|
- | 35 | public int secondary_abo; |
|
- | 36 | public int default_abo; |
|
32 | 37 | ||
33 | public int angle_nick=-4242; |
38 | public int angle_nick=-4242; |
34 | public int angle_roll=-4242; |
39 | public int angle_roll=-4242; |
35 | public byte bl_retrys=0; |
40 | public byte bl_retrys=0; |
36 | public boolean init_bootloader=false; |
- | |
37 | 41 | ||
38 | public boolean disconnect_notify=false; |
42 | public boolean disconnect_notify=false; |
39 | 43 | ||
40 | public byte lib_version_major=0; |
44 | public byte lib_version_major=0; |
41 | public byte lib_version_minor=7; |
45 | public byte lib_version_minor=9; |
42 | 46 | ||
43 | public byte last_navi_error=0; |
47 | public byte last_navi_error=0; |
- | 48 | ||
- | 49 | public boolean mixer_change_notify=false; |
|
- | 50 | public boolean mixer_change_success=false; |
|
- | 51 | ||
- | 52 | public boolean change_notify=false; |
|
- | 53 | public boolean thread_running=true; |
|
44 | 54 | ||
45 | public String lib_version_str() |
55 | public String lib_version_str() |
46 | { |
56 | { |
47 | return "V"+lib_version_major+"."+lib_version_minor; |
57 | return "V"+lib_version_major+"."+lib_version_minor; |
48 | } |
58 | } |
49 | 59 | ||
50 | 60 | ||
51 | public int AngleNick() |
61 | public int AngleNick() |
52 | { |
62 | { |
53 | if (ufo_prober.is_mk()) |
63 | if (is_mk()) |
54 | return angle_nick; |
64 | return angle_nick; |
55 | else if (ufo_prober.is_navi()) |
65 | else if (is_navi()) |
56 | return debug_data.analog[0]; |
66 | return debug_data.analog[0]; |
57 | return -1; |
67 | return -1; |
58 | 68 | ||
59 | } |
69 | } |
60 | 70 | ||
61 | 71 | ||
62 | public int Alt() // in dm |
72 | public int Alt() // in dm |
63 | { |
73 | { |
64 | int alt=0; |
74 | int alt=0; |
65 | if (ufo_prober.is_mk()) |
75 | if (is_mk()) |
66 | alt=debug_data.analog[5]/3; |
76 | alt=debug_data.analog[5]/3; |
67 | else |
77 | else |
68 | if (ufo_prober.is_navi()) |
78 | if (is_navi()) |
69 | alt=gps_position.Altimeter/3; |
79 | alt=gps_position.Altimeter/3; |
70 | if ( alt<0) alt=0; // mk |
80 | if ( alt<0) alt=0; // mk |
71 | if ( alt>20000) alt=0; // navi |
81 | if ( alt>20000) alt=0; // navi |
72 | 82 | ||
73 | return alt; |
83 | return alt; |
74 | 84 | ||
75 | } |
85 | } |
76 | 86 | ||
77 | public String Alt_formated() // in dm |
87 | public String Alt_formated() // in dm |
78 | { |
88 | { |
79 | return "" + Alt()/10 + "m"; |
89 | return "" + Alt()/10 + "m"; |
80 | } |
90 | } |
81 | public int AngleRoll() |
91 | public int AngleRoll() |
82 | { |
92 | { |
83 | if (ufo_prober.is_mk()) |
93 | if (is_mk()) |
84 | return angle_roll; |
94 | return angle_roll; |
- | 95 | else |
|
85 | else if (ufo_prober.is_navi()) |
96 | if (is_navi()) |
86 | 97 | ||
87 | return debug_data.analog[1]; |
98 | return debug_data.analog[1]; |
88 | return -1; |
99 | return -1; |
89 | 100 | ||
90 | } |
101 | } |
91 | 102 | ||
92 | 103 | ||
93 | /***************** Section: public Attributes **********************************************/ |
104 | /***************** Section: public Attributes **********************************************/ |
94 | public boolean connected=false; // flag for the connection state |
105 | public boolean connected=false; // flag for the connection state |
95 | 106 | ||
96 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
107 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
97 | 108 | ||
98 | public final static int DATA_BUFF_LEN = 20; // in lines |
109 | public final static int DATA_BUFF_LEN = 20; // in lines |
99 | 110 | ||
100 | public String[] data_buff; |
111 | public String[] data_buff; |
101 | 112 | ||
102 | // boolean do_log=false; |
113 | // boolean do_log=false; |
103 | boolean do_log=true; |
114 | boolean do_log=true; |
104 | 115 | ||
105 | int data_buff_pos=0; |
116 | int data_buff_pos=0; |
106 | 117 | ||
107 | 118 | ||
108 | // public final static int DATA_IN_BUFF_SIZE=512; |
119 | // public final static int DATA_IN_BUFF_SIZE=512; |
109 | public final static int DATA_IN_BUFF_SIZE=2048; |
120 | public final static int DATA_IN_BUFF_SIZE=2048; |
110 | // public final static int DATA_IN_BUFF_SIZE=4096; |
121 | // public final static int DATA_IN_BUFF_SIZE=4096; |
111 | 122 | ||
112 | public byte user_intent=0; |
123 | public byte user_intent=0; |
113 | public final static int[] crc16_table = { |
- | |
114 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
- | |
115 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
- | |
116 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
- | |
117 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
- | |
118 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
- | |
119 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
- | |
120 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
- | |
121 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
- | |
122 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
- | |
123 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
- | |
124 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
- | |
125 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
- | |
126 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
- | |
127 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
- | |
128 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
- | |
129 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
- | |
130 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
- | |
131 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
- | |
132 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
- | |
133 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
- | |
134 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
- | |
135 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
- | |
136 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
- | |
137 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
- | |
138 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
- | |
139 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
- | |
140 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
- | |
141 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
- | |
142 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
- | |
143 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
- | |
144 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
- | |
145 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
- | |
146 | }; |
- | |
147 | 124 | ||
148 | public void log(String str) |
125 | public void log(String str) |
149 | { |
126 | { |
150 | //#ifdef android |
127 | //#ifdef android |
151 | if (do_log) Log.d("MK-Comm",str); |
128 | if (do_log) Log.d("MK-Comm",str); |
152 | //#endif |
129 | //#endif |
153 | // canvas.debug.log(str); |
130 | // canvas.debug.log(str); |
154 | // System.out.println(str); |
131 | // System.out.println(str); |
155 | } |
132 | } |
156 | - | ||
157 | public int CRC16(int ch, int crc) |
- | |
158 | { |
- | |
159 | return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
- | |
160 | } |
- | |
161 | - | ||
162 | 133 | ||
163 | public int conn_time_in_s() |
134 | public int conn_time_in_s() |
164 | { |
135 | { |
165 | if (connected) |
136 | if (connected) |
166 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
137 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
167 | else |
138 | else |
168 | return 0; |
139 | return 0; |
169 | } |
140 | } |
170 | public final static byte BOOTLOADER_STAGE_NONE=0; |
- | |
171 | public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
- | |
- | 141 | ||
172 | 142 | ||
173 | byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
143 | // byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
174 | 144 | ||
175 | public MKLCD LCD; |
145 | public MKLCD LCD; |
176 | public MKVersion version; |
146 | public MKVersion version; |
177 | public MKDebugData debug_data; |
147 | public MKDebugData debug_data; |
178 | 148 | ||
179 | public int[] extern_control; |
149 | public int[] extern_control; |
180 | 150 | ||
181 | public MKGPSPosition gps_position; |
151 | public MKGPSPosition gps_position; |
182 | 152 | ||
183 | public MKStickData stick_data; |
153 | public MKStickData stick_data; |
184 | public MKParamsParser params; |
154 | public MKParamsParser params; |
185 | public MKWatchDog watchdog; |
155 | public MKWatchDog watchdog; |
186 | public MKProxy proxy=null; |
156 | public MKProxy proxy=null; |
187 | public MKStatistics stats ; |
157 | public MKStatistics stats ; |
188 | // public DUBwiseDebug debug; |
158 | // public DUBwiseDebug debug; |
189 | 159 | ||
190 | public UFOProber ufo_prober; |
160 | // public UFOProber ufo_prober; |
191 | public long connection_start_time=-1; |
161 | public long connection_start_time=-1; |
192 | 162 | ||
193 | 163 | ||
194 | public String error_str = null; |
164 | public String error_str = null; |
195 | 165 | ||
196 | 166 | ||
197 | public final static int FC_SLAVE_ADDR = 'a'+1; |
167 | public final static byte FC_SLAVE_ADDR = 1; |
198 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
168 | public final static byte NAVI_SLAVE_ADDR = 2; |
- | 169 | public final static byte MK3MAG_SLAVE_ADDR = 3; |
|
- | 170 | public final static byte FOLLOWME_SLAVE_ADDR = 10; |
|
- | 171 | public final static byte RE_SLAVE_ADDR = 23; |
|
- | 172 | ||
- | 173 | ||
- | 174 | ||
- | 175 | ||
- | 176 | public boolean is_navi() |
|
- | 177 | { |
|
- | 178 | return (slave_addr==NAVI_SLAVE_ADDR); |
|
- | 179 | } |
|
- | 180 | ||
- | 181 | ||
- | 182 | public boolean is_mk() |
|
- | 183 | { |
|
- | 184 | return (slave_addr==FC_SLAVE_ADDR); |
|
- | 185 | } |
|
- | 186 | ||
- | 187 | public boolean is_mk3mag() |
|
- | 188 | { |
|
- | 189 | return (slave_addr==MK3MAG_SLAVE_ADDR); |
|
- | 190 | } |
|
- | 191 | ||
- | 192 | public boolean is_rangeextender() |
|
- | 193 | { |
|
- | 194 | return (slave_addr==RE_SLAVE_ADDR); |
|
- | 195 | } |
|
- | 196 | ||
- | 197 | public boolean is_followme() |
|
- | 198 | { |
|
- | 199 | return (slave_addr==FOLLOWME_SLAVE_ADDR); |
|
- | 200 | } |
|
- | 201 | ||
- | 202 | ||
- | 203 | ||
- | 204 | public boolean is_incompatible() |
|
- | 205 | { |
|
- | 206 | switch (slave_addr) |
|
- | 207 | { |
|
- | 208 | case FC_SLAVE_ADDR: |
|
- | 209 | case NAVI_SLAVE_ADDR: |
|
- | 210 | case MK3MAG_SLAVE_ADDR: |
|
- | 211 | case FOLLOWME_SLAVE_ADDR: |
|
- | 212 | case RE_SLAVE_ADDR: |
|
- | 213 | return false; |
|
- | 214 | default: |
|
- | 215 | return true; |
|
- | 216 | } |
|
- | 217 | } |
|
- | 218 | ||
- | 219 | public String extended_name() |
|
- | 220 | { |
|
- | 221 | switch (slave_addr) |
|
- | 222 | { |
|
- | 223 | case -1: |
|
- | 224 | return "No Device"; |
|
- | 225 | ||
- | 226 | case FC_SLAVE_ADDR: |
|
- | 227 | return "MK-Connection"; |
|
- | 228 | ||
- | 229 | case NAVI_SLAVE_ADDR: |
|
- | 230 | return "Navi-Connection"; |
|
- | 231 | ||
- | 232 | case MK3MAG_SLAVE_ADDR: |
|
- | 233 | return "MK3MAG-Connection"; |
|
- | 234 | ||
- | 235 | case FOLLOWME_SLAVE_ADDR: |
|
- | 236 | return "FollowMe Connection"; |
|
- | 237 | case RE_SLAVE_ADDR: |
|
- | 238 | return "RangeExtender Connection"; |
|
- | 239 | ||
199 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
240 | default: |
200 | 241 | return "Incompatible Device"; |
|
201 | 242 | } |
|
202 | 243 | } |
|
203 | 244 | ||
204 | /****************** Section: private Attributes **********************************************/ |
245 | /****************** Section: private Attributes **********************************************/ |
205 | //#ifdef j2me |
246 | //#ifdef j2me |
206 | //# private javax.microedition.io.StreamConnection connection; |
247 | //# private javax.microedition.io.StreamConnection connection; |
207 | //#endif |
248 | //#endif |
208 | 249 | ||
209 | //#ifdef android |
250 | //#ifdef android |
210 | // java.net.Socket connection; |
251 | // java.net.Socket connection; |
211 | java.net.Socket connection; |
252 | java.net.Socket connection; |
212 | //#endif |
253 | //#endif |
213 | 254 | ||
214 | 255 | ||
215 | private java.io.InputStream reader; |
256 | private java.io.InputStream reader; |
216 | private java.io.OutputStream writer; |
257 | private java.io.OutputStream writer; |
217 | 258 | ||
218 | 259 | ||
219 | 260 | ||
220 | public String name; |
261 | public String name; |
221 | // DUBwise root; |
262 | // DUBwise root; |
222 | 263 | ||
223 | 264 | ||
224 | private boolean sending=false; |
265 | private boolean sending=false; |
225 | private boolean recieving=false; |
266 | private boolean recieving=false; |
226 | 267 | ||
227 | 268 | ||
228 | 269 | ||
229 | /****************** Section: public Methods ************************************************/ |
270 | /****************** Section: public Methods ************************************************/ |
230 | public MKCommunicator() |
271 | public MKCommunicator() |
231 | { |
272 | { |
232 | 273 | ||
233 | data_buff=new String[DATA_BUFF_LEN]; |
274 | data_buff=new String[DATA_BUFF_LEN]; |
234 | for (int i=0;i<DATA_BUFF_LEN;i++) |
275 | for (int i=0;i<DATA_BUFF_LEN;i++) |
235 | data_buff[i]=""; |
276 | data_buff[i]=""; |
236 | // debug=debug_; |
277 | // debug=debug_; |
237 | // root=root_; |
278 | // root=root_; |
238 | version=new MKVersion(); |
279 | version=new MKVersion(); |
239 | debug_data=new MKDebugData(); |
280 | debug_data=new MKDebugData(); |
240 | stick_data=new MKStickData(); |
281 | stick_data=new MKStickData(); |
241 | params=new MKParamsParser(); |
282 | params=new MKParamsParser(); |
242 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
283 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
243 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
284 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
244 | extern_control[EXTERN_CONTROL_FRAME]=1; |
285 | extern_control[EXTERN_CONTROL_FRAME]=1; |
245 | 286 | ||
246 | LCD= new MKLCD(this); |
287 | LCD= new MKLCD(this); |
247 | watchdog=new MKWatchDog(this); |
288 | watchdog=new MKWatchDog(this); |
248 | gps_position=new MKGPSPosition(); |
289 | gps_position=new MKGPSPosition(); |
249 | stats = new MKStatistics(); |
290 | stats = new MKStatistics(); |
250 | proxy =new MKProxy(this); |
291 | proxy =new MKProxy(this); |
251 | ufo_prober=new UFOProber(); |
292 | // ufo_prober=new UFOProber(); |
252 | new Thread( this ).start(); // fire up main Thread |
293 | new Thread( this ).start(); // fire up main Thread |
253 | } |
294 | } |
254 | 295 | ||
255 | 296 | ||
256 | 297 | ||
257 | public void write_raw(byte[] _data) |
298 | public void write_raw(byte[] _data) |
258 | { |
299 | { |
259 | wait4send(); |
300 | wait4send(); |
260 | sending=true; |
301 | sending=true; |
261 | try { |
302 | try { |
262 | writer.write(_data,0,_data.length); |
303 | writer.write(_data,0,_data.length); |
263 | writer.flush(); |
304 | writer.flush(); |
264 | 305 | ||
265 | stats.bytes_out+=_data.length; |
306 | stats.bytes_out+=_data.length; |
266 | } |
307 | } |
267 | catch ( Exception e){} |
308 | catch ( Exception e){} |
268 | sending=false; |
309 | sending=false; |
269 | } |
310 | } |
270 | 311 | ||
271 | public void do_proxy(String proxy_url) |
312 | public void do_proxy(String proxy_url) |
272 | { |
313 | { |
273 | proxy.connect(proxy_url); |
314 | proxy.connect(proxy_url); |
274 | } |
315 | } |
275 | 316 | ||
276 | // int port; |
317 | // int port; |
277 | 318 | ||
278 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
319 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
279 | public void connect_to(String _url,String _name) |
320 | public void connect_to(String _url,String _name) |
280 | { |
321 | { |
281 | // port=_port; |
322 | // port=_port; |
282 | mk_url=_url; // remember URL for connecting / reconnecting later |
323 | mk_url=_url; // remember URL for connecting / reconnecting later |
283 | name=_name; |
324 | name=_name; |
284 | force_disconnect=false; |
325 | force_disconnect=false; |
285 | connected=false; |
326 | connected=false; |
286 | } |
327 | } |
287 | 328 | ||
288 | public boolean ready() |
329 | public boolean ready() |
289 | { |
330 | { |
290 | return (connected&&(version.major!=-1)); |
331 | return (connected&&(version.major!=-1)); |
291 | } |
332 | } |
292 | 333 | ||
293 | 334 | ||
294 | public String get_buff(int age) |
335 | public String get_buff(int age) |
295 | { |
336 | { |
296 | 337 | ||
297 | age%=DATA_BUFF_LEN; |
338 | age%=DATA_BUFF_LEN; |
298 | 339 | ||
299 | if (age<=data_buff_pos) |
340 | if (age<=data_buff_pos) |
300 | return ""+data_buff[data_buff_pos-age]; |
341 | return ""+data_buff[data_buff_pos-age]; |
301 | else |
342 | else |
302 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
343 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
303 | 344 | ||
304 | 345 | ||
305 | } |
346 | } |
306 | /****************** Section: private Methods ************************************************/ |
347 | /****************** Section: private Methods ************************************************/ |
307 | private void connect() |
348 | private void connect() |
308 | { |
349 | { |
309 | log("trying to connect to" + mk_url); |
350 | log("trying to connect to" + mk_url); |
310 | try{ |
351 | try{ |
311 | 352 | ||
312 | // old call |
353 | // old call |
313 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
354 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
314 | 355 | ||
315 | //#ifdef android |
356 | //#ifdef android |
316 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
357 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
317 | //.Socket |
358 | //.Socket |
318 | 359 | ||
319 | reader=connection.getInputStream(); |
360 | reader=connection.getInputStream(); |
320 | writer=connection.getOutputStream(); |
361 | writer=connection.getOutputStream(); |
321 | 362 | ||
322 | String magic="conn:foo bar\r\n"; |
363 | String magic="conn:foo bar\r\n"; |
323 | writer.write(magic.getBytes()); |
364 | writer.write(magic.getBytes()); |
324 | writer.flush(); |
365 | writer.flush(); |
325 | 366 | ||
326 | //#else |
367 | //#else |
327 | 368 | ||
328 | //# connection = (StreamConnection) Connector.open(mk_url); |
369 | //# connection = (StreamConnection) Connector.open(mk_url); |
329 | 370 | ||
330 | //# reader=connection.openInputStream(); |
371 | //# reader=connection.openInputStream(); |
331 | //# writer=connection.openOutputStream(); |
372 | //# writer=connection.openOutputStream(); |
332 | 373 | ||
333 | //#endif |
374 | //#endif |
334 | connection_start_time=System.currentTimeMillis(); |
375 | connection_start_time=System.currentTimeMillis(); |
335 | connected=true; // if we get here everything seems to be OK |
376 | connected=true; // if we get here everything seems to be OK |
336 | 377 | ||
337 | stats.reset(); |
378 | stats.reset(); |
338 | 379 | ||
339 | log("connecting OK"); |
380 | log("connecting OK"); |
340 | } |
381 | } |
341 | catch (Exception ex) |
382 | catch (Exception ex) |
342 | { |
383 | { |
343 | // TODO difference fatal errors from those which will lead to reconnection |
384 | // TODO difference fatal errors from those which will lead to reconnection |
344 | log("Problem connecting" + "\n" + ex); |
385 | log("Problem connecting" + "\n" + ex); |
345 | } |
386 | } |
346 | } |
387 | } |
347 | 388 | ||
348 | public int[] Decode64(byte[] in_arr, int offset,int len) |
389 | public int[] Decode64(byte[] in_arr, int offset,int len) |
349 | { |
390 | { |
350 | int ptrIn=offset; |
391 | int ptrIn=offset; |
351 | int a,b,c,d,x,y,z; |
392 | int a,b,c,d,x,y,z; |
352 | int ptr=0; |
393 | int ptr=0; |
353 | 394 | ||
354 | int[] out_arr=new int[len]; |
395 | int[] out_arr=new int[len]; |
355 | 396 | ||
356 | while(len!=0) |
397 | while(len!=0) |
357 | { |
398 | { |
358 | a=0; |
399 | a=0; |
359 | b=0; |
400 | b=0; |
360 | c=0; |
401 | c=0; |
361 | d=0; |
402 | d=0; |
362 | try { |
403 | try { |
363 | a = in_arr[ptrIn++] - '='; |
404 | a = in_arr[ptrIn++] - '='; |
364 | b = in_arr[ptrIn++] - '='; |
405 | b = in_arr[ptrIn++] - '='; |
365 | c = in_arr[ptrIn++] - '='; |
406 | c = in_arr[ptrIn++] - '='; |
366 | d = in_arr[ptrIn++] - '='; |
407 | d = in_arr[ptrIn++] - '='; |
367 | } |
408 | } |
368 | catch (Exception e) {} |
409 | catch (Exception e) {} |
369 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
410 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
370 | 411 | ||
371 | x = (a << 2) | (b >> 4); |
412 | x = (a << 2) | (b >> 4); |
372 | y = ((b & 0x0f) << 4) | (c >> 2); |
413 | y = ((b & 0x0f) << 4) | (c >> 2); |
373 | z = ((c & 0x03) << 6) | d; |
414 | z = ((c & 0x03) << 6) | d; |
374 | 415 | ||
375 | if((len--)!=0) out_arr[ptr++] = x; else break; |
416 | if((len--)!=0) out_arr[ptr++] = x; else break; |
376 | if((len--)!=0) out_arr[ptr++] = y; else break; |
417 | if((len--)!=0) out_arr[ptr++] = y; else break; |
377 | if((len--)!=0) out_arr[ptr++] = z; else break; |
418 | if((len--)!=0) out_arr[ptr++] = z; else break; |
378 | } |
419 | } |
379 | 420 | ||
380 | return out_arr; |
421 | return out_arr; |
381 | 422 | ||
382 | } |
423 | } |
- | 424 | ||
- | 425 | ||
383 | 426 | ||
384 | public void wait4send() |
427 | public void wait4send() |
385 | { |
428 | { |
386 | while(sending) //||recieving) |
429 | while(sending) //||recieving) |
387 | sleep(50); |
430 | sleep(50); |
388 | } |
431 | } |
389 | 432 | ||
390 | 433 | ||
391 | public void sleep(int time) |
434 | public void sleep(int time) |
392 | { |
435 | { |
393 | try { Thread.sleep(time); } |
436 | try { Thread.sleep(time); } |
394 | catch (Exception e) { } |
437 | catch (Exception e) { } |
395 | } |
438 | } |
396 | 439 | ||
397 | // FC - Function Mappers |
440 | // FC - Function Mappers |
398 | 441 | ||
399 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
442 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
400 | public void get_version() |
443 | public void get_version() |
401 | { |
444 | { |
402 | stats.version_data_request_count++; |
445 | stats.version_data_request_count++; |
403 | send_command(0,'v'); |
446 | send_command(0,'v'); |
404 | } |
447 | } |
405 | 448 | ||
406 | public void set_gps_target(int longitude,int latitude) |
449 | public void set_gps_target(int longitude,int latitude) |
407 | { |
450 | { |
408 | int[] target=new int[8]; |
451 | int[] target=new int[8]; |
409 | target[0]= (0xFF)&(longitude<<24); |
452 | target[0]= (0xFF)&(longitude<<24); |
410 | target[1]= (0xFF)&(longitude<<16); |
453 | target[1]= (0xFF)&(longitude<<16); |
411 | target[2]= (0xFF)&(longitude<<8); |
454 | target[2]= (0xFF)&(longitude<<8); |
412 | target[3]= (0xFF)&(longitude); |
455 | target[3]= (0xFF)&(longitude); |
413 | // send_command(0,'s',target); |
456 | // send_command(0,'s',target); |
414 | } |
457 | } |
415 | 458 | ||
416 | // send a MotorTest request - params are the speed for each Motor |
459 | // send a MotorTest request - params are the speed for each Motor |
417 | public void motor_test(int[] params) |
460 | public void motor_test(int[] params) |
418 | { |
461 | { |
419 | stats.motortest_request_count++; |
462 | stats.motortest_request_count++; |
420 | send_command(FC_SLAVE_ADDR,'t',params); |
463 | send_command(FC_SLAVE_ADDR,'t',params); |
421 | } |
464 | } |
- | 465 | ||
- | 466 | public void set_mixer_table(int[] params) |
|
- | 467 | { |
|
- | 468 | ||
- | 469 | send_command(FC_SLAVE_ADDR,'m',params); |
|
- | 470 | } |
|
- | 471 | ||
- | 472 | ||
- | 473 | public long lon; |
|
- | 474 | public long lat; |
|
- | 475 | ||
- | 476 | public void send_follow_me(int time) |
|
- | 477 | { |
|
- | 478 | long alt=0; |
|
- | 479 | ||
- | 480 | int[] params=new int[29]; |
|
- | 481 | ||
- | 482 | ||
- | 483 | params[0]=(int)((lon)&0xFF) ; |
|
- | 484 | params[1]=(int)((lon>>8)&0xFF) ; |
|
- | 485 | params[2]=(int)((lon>>16)&0xFF) ; |
|
- | 486 | params[3]=(int)((lon>>24)&0xFF) ; |
|
- | 487 | ||
- | 488 | params[4]=(int)((lat)&0xFF) ; |
|
- | 489 | params[5]=(int)((lat>>8)&0xFF) ; |
|
- | 490 | params[6]=(int)((lat>>16)&0xFF) ; |
|
- | 491 | params[7]=(int)((lat>>24)&0xFF) ; |
|
- | 492 | ||
- | 493 | params[8]=(int)((alt)&0xFF ); |
|
- | 494 | params[9]=(int)((alt>>8)&0xFF ); |
|
- | 495 | params[10]=(int)((alt>>16)&0xFF); |
|
- | 496 | params[11]=(int)((alt>>24)&0xFF ); |
|
- | 497 | ||
- | 498 | params[12]=2; // newdata |
|
- | 499 | ||
- | 500 | params[13]=0; // heading |
|
- | 501 | params[14]=0; // heading |
|
- | 502 | ||
- | 503 | params[15]=1; // tolerance |
|
- | 504 | ||
- | 505 | params[16]=time; // time |
|
- | 506 | params[17]=0; // event |
|
- | 507 | ||
- | 508 | send_command(NAVI_SLAVE_ADDR,'s',params); |
|
- | 509 | } |
|
422 | 510 | ||
423 | 511 | ||
424 | public void send_extern_control() |
512 | public void send_extern_control() |
425 | { |
513 | { |
426 | 514 | ||
427 | stats.external_control_request_count++; |
515 | stats.external_control_request_count++; |
428 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
516 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
429 | } |
517 | } |
430 | 518 | ||
431 | /* public void send_keys(int[] params) |
519 | /* public void send_keys(int[] params) |
432 | { |
520 | { |
433 | send_command(FC_SLAVE_ADDR,'k',params); |
521 | send_command(FC_SLAVE_ADDR,'k',params); |
434 | }*/ |
522 | }*/ |
435 | 523 | ||
436 | // get params |
524 | // get params |
437 | public void get_params(int id) |
525 | public void get_params(int id) |
438 | { |
526 | { |
439 | wait4send(); |
527 | wait4send(); |
440 | send_command(FC_SLAVE_ADDR,'q',id+1); |
528 | send_command(FC_SLAVE_ADDR,'q',id+1); |
441 | stats.params_data_request_count++; |
529 | stats.params_data_request_count++; |
442 | } |
530 | } |
443 | 531 | ||
444 | public void get_debug_name(int id) |
532 | public void get_debug_name(int id) |
445 | { |
533 | { |
446 | 534 | ||
447 | wait4send(); |
535 | wait4send(); |
448 | send_command(0,'a',id); |
536 | send_command(0,'a',id); |
449 | } |
537 | } |
450 | 538 | ||
451 | 539 | ||
452 | public void trigger_LCD_by_page(int page) |
540 | public void trigger_LCD_by_page(int page) |
453 | { |
541 | { |
454 | wait4send(); |
542 | wait4send(); |
455 | send_command(0,'l',page); |
543 | send_command(0,'l',page); |
456 | stats.lcd_data_request_count++; |
544 | stats.lcd_data_request_count++; |
457 | } |
545 | } |
458 | 546 | ||
459 | public void trigger_debug() |
547 | public void trigger_debug() |
460 | { |
548 | { |
461 | if (sending||recieving) return; // its not that important - can be dropped |
549 | if (sending||recieving) return; // its not that important - can be dropped |
462 | send_command(0,'c'); |
550 | send_command(0,'c'); |
463 | } |
551 | } |
464 | 552 | ||
465 | 553 | ||
466 | public void switch_todo() |
554 | public void switch_todo() |
467 | { |
555 | { |
468 | sleep(150); |
556 | sleep(150); |
469 | version.reset(); |
557 | version.reset(); |
470 | // LCD= new MKLCD(this); |
558 | // LCD= new MKLCD(this); |
471 | debug_data=new MKDebugData(); |
559 | debug_data=new MKDebugData(); |
472 | 560 | ||
473 | } |
561 | } |
474 | 562 | ||
475 | public void switch_to_fc() |
563 | public void switch_to_fc() |
476 | { |
564 | { |
477 | wait4send(); |
565 | wait4send(); |
478 | send_command(NAVI_SLAVE_ADDR,'u',0); |
566 | send_command(NAVI_SLAVE_ADDR,'u',0); |
479 | switch_todo(); |
567 | switch_todo(); |
480 | 568 | ||
481 | } |
569 | } |
482 | 570 | ||
483 | 571 | ||
484 | public void switch_to_mk3mag() |
572 | public void switch_to_mk3mag() |
485 | { |
573 | { |
486 | wait4send(); |
574 | wait4send(); |
487 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
575 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
488 | switch_todo(); |
576 | switch_todo(); |
489 | } |
577 | } |
490 | 578 | ||
491 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
579 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
492 | public void switch_to_navi() |
580 | public void switch_to_navi() |
493 | { |
581 | { |
494 | wait4send(); |
582 | wait4send(); |
495 | sending=true; |
583 | sending=true; |
496 | try |
584 | try |
497 | { |
585 | { |
498 | writer.write(navi_switch_magic); |
586 | writer.write(navi_switch_magic); |
499 | stats.bytes_out+=6; |
587 | stats.bytes_out+=6; |
500 | writer.flush(); |
588 | writer.flush(); |
501 | } |
589 | } |
502 | catch (Exception e) { } |
590 | catch (Exception e) { } |
503 | sending=false; |
591 | sending=false; |
504 | 592 | ||
505 | switch_todo(); |
593 | switch_todo(); |
506 | 594 | ||
507 | } |
595 | } |
508 | - | ||
- | 596 | ||
509 | public String[] flash_msgs; |
597 | |
510 | int msg_pos=0; |
598 | int msg_pos=0; |
511 | 599 | ||
512 | 600 | ||
513 | public boolean bootloader_intension_flash=false; |
601 | // public boolean bootloader_intension_flash=false; |
514 | - | ||
515 | public boolean bootloader_finish_ok=false; |
- | |
- | 602 | ||
- | 603 | // public boolean bootloader_finish_ok=false; |
|
- | 604 | ||
516 | 605 | ||
517 | public void jump_bootloader() |
606 | // public void jump_bootloader() |
518 | { |
607 | // { |
519 | 608 | /* |
|
520 | bootloader_finish_ok=false; |
609 | bootloader_finish_ok=false; |
521 | msg_pos=0; |
610 | msg_pos=0; |
522 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
611 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
523 | flash_msgs=new String[100]; |
612 | // flash_msgs=new String[100]; |
524 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
613 | // flash_msgs[msg_pos++]="Initiializing Bootloader"; |
525 | wait4send(); |
614 | wait4send(); |
526 | sending=true; |
615 | sending=true; |
527 | 616 | |
|
528 | try |
617 | try |
529 | { |
618 | { |
530 | int attempt=0; |
619 | int attempt=0; |
531 | 620 | ||
532 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
621 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
533 | { |
622 | { |
534 | flash_msgs[msg_pos]="attempt "+attempt; |
623 | flash_msgs[msg_pos]="attempt "+attempt; |
535 | attempt++; |
624 | attempt++; |
536 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
625 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
537 | 626 | |
|
538 | try{ |
627 | try{ |
539 | writer.write( 27); |
628 | writer.write( 27); |
540 | writer.flush(); |
629 | writer.flush(); |
541 | 630 | ||
542 | sleep(20); |
631 | sleep(20); |
543 | 632 | |
|
544 | writer.write( 0xAA); |
633 | writer.write( 0xAA); |
545 | writer.flush(); |
634 | writer.flush(); |
546 | } |
635 | } |
547 | catch (Exception e) { } |
636 | catch (Exception e) { } |
548 | sleep((attempt%2==0)?80:800); //800 |
637 | sleep((attempt%2==0)?80:800); //800 |
549 | } |
638 | } |
550 | msg_pos++; |
639 | msg_pos++; |
551 | } |
640 | } |
552 | 641 | ||
553 | catch (Exception e) { |
642 | catch (Exception e) { |
554 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
643 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
555 | flash_msgs[msg_pos++]=e.toString() ; |
644 | flash_msgs[msg_pos++]=e.toString() ; |
556 | } |
645 | } |
557 | 646 | ||
558 | new Thread( this ).start(); // fire up main Thread |
647 | new Thread( this ).start(); // fire up main Thread |
- | 648 | */ |
|
559 | } |
649 | // } |
560 | 650 | ||
561 | 651 | ||
562 | public void get_error_str() |
652 | public void get_error_str() |
563 | { |
653 | { |
564 | send_command(NAVI_SLAVE_ADDR,'e'); |
654 | send_command(NAVI_SLAVE_ADDR,'e'); |
565 | } |
655 | } |
566 | 656 | ||
567 | public void trigger_rcdata() |
657 | public void trigger_rcdata() |
568 | { |
658 | { |
569 | send_command(FC_SLAVE_ADDR,'p'); |
659 | send_command(FC_SLAVE_ADDR,'p'); |
570 | } |
660 | } |
571 | 661 | ||
572 | 662 | ||
573 | public void write_params(int to) |
663 | public void write_params(int to) |
574 | { |
664 | { |
575 | params.update_backup(to); |
665 | params.update_backup(to); |
576 | write_params_(to) ; |
666 | write_params_(to) ; |
577 | } |
667 | } |
578 | 668 | ||
579 | public void write_params_(int to) |
669 | public void write_params_(int to) |
580 | { |
670 | { |
581 | wait4send(); |
671 | wait4send(); |
582 | params.active_paramset=to; |
672 | params.active_paramset=to; |
583 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
673 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
584 | 674 | ||
585 | } |
675 | } |
586 | 676 | ||
587 | public void set_debug_interval(int interval) |
677 | public void set_debug_interval(int interval) |
588 | { |
678 | { |
589 | send_command(2,'d',interval); |
679 | send_command(2,'d',interval); |
590 | } |
680 | } |
591 | 681 | ||
592 | 682 | ||
593 | public void set_gpsosd_interval(int interval) |
683 | public void set_gpsosd_interval(int interval) |
594 | { |
684 | { |
595 | send_command(NAVI_SLAVE_ADDR,'o',interval); |
685 | send_command(NAVI_SLAVE_ADDR,'o',interval); |
596 | } |
686 | } |
597 | 687 | ||
598 | public void send_command(int modul,char cmd) |
688 | public void send_command(int modul,char cmd) |
599 | { |
689 | { |
600 | send_command(modul,cmd,new int[0]); |
690 | send_command(modul,cmd,new int[0]); |
601 | } |
691 | } |
602 | 692 | ||
603 | 693 | ||
604 | 694 | ||
605 | public void send_command(int modul,char cmd,int param) |
695 | public void send_command(int modul,char cmd,int param) |
606 | { |
696 | { |
607 | int[] params=new int[1]; |
697 | int[] params=new int[1]; |
608 | params[0]=param; |
698 | params[0]=param; |
609 | send_command(modul,cmd,params); |
699 | send_command(modul,cmd,params); |
610 | } |
700 | } |
611 | 701 | ||
612 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
702 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
613 | { |
703 | { |
614 | // 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 |
704 | // 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 |
615 | 705 | ||
616 | 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 |
706 | 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 |
617 | send_buff[0]='#'; |
707 | send_buff[0]='#'; |
618 | send_buff[1]=modul; |
708 | send_buff[1]=(byte)(modul+'a'); |
619 | send_buff[2]=(byte)cmd; |
709 | send_buff[2]=(byte)cmd; |
620 | 710 | ||
621 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
711 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
622 | { |
712 | { |
623 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
713 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
624 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
714 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
625 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
715 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
626 | 716 | ||
627 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
717 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
628 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
718 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
629 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
719 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
630 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
720 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
631 | 721 | ||
632 | //send_buff[3+foo]='='; |
722 | //send_buff[3+foo]='='; |
633 | } |
723 | } |
634 | 724 | ||
635 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
725 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
636 | { |
726 | { |
637 | int a = (foo<params.length) params[foo]; |
727 | int a = (foo<params.length) params[foo]; |
638 | int a = params[foo]; |
728 | int a = params[foo]; |
639 | |
729 | |
640 | //send_buff[3+foo]='='; |
730 | //send_buff[3+foo]='='; |
641 | } |
731 | } |
642 | */ |
732 | */ |
643 | try |
733 | try |
644 | { |
734 | { |
645 | int tmp_crc=0; |
735 | int tmp_crc=0; |
646 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
736 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
647 | tmp_crc+=(int)send_buff[tmp_i]; |
737 | tmp_crc+=(int)send_buff[tmp_i]; |
648 | 738 | ||
649 | writer.write(send_buff,0,send_buff.length); |
739 | writer.write(send_buff,0,send_buff.length); |
650 | tmp_crc%=4096; |
740 | tmp_crc%=4096; |
651 | 741 | ||
652 | writer.write( (char)(tmp_crc/64 + '=')); |
742 | writer.write( (char)(tmp_crc/64 + '=')); |
653 | writer.write( (char)(tmp_crc%64 + '=')); |
743 | writer.write( (char)(tmp_crc%64 + '=')); |
654 | writer.write('\r'); |
744 | writer.write('\r'); |
655 | stats.bytes_out+=send_buff.length+3; |
745 | stats.bytes_out+=send_buff.length+3; |
656 | writer.flush(); |
746 | writer.flush(); |
657 | } |
747 | } |
658 | catch (Exception e) |
748 | catch (Exception e) |
659 | { // problem sending data to FC |
749 | { // problem sending data to FC |
660 | } |
750 | } |
661 | 751 | ||
662 | } |
752 | } |
663 | // send command to FC ( add crc and pack into pseudo Base64 |
753 | // send command to FC ( add crc and pack into pseudo Base64 |
664 | public void send_command(int modul,char cmd,int[] params) |
754 | public void send_command(int modul,char cmd,int[] params) |
665 | { |
755 | { |
666 | // if (modul==0) return; |
756 | // if (modul==0) return; |
667 | sending=true; |
757 | sending=true; |
668 | send_command_nocheck((byte)modul,cmd,params); |
758 | send_command_nocheck((byte)modul,cmd,params); |
669 | sending=false; |
759 | sending=false; |
670 | } |
760 | } |
671 | 761 | ||
672 | - | ||
- | 762 | ||
673 | public int slave_addr=-1; |
763 | |
674 | 764 | ||
675 | 765 | ||
676 | public int UBatt() |
766 | public int UBatt() |
677 | { |
767 | { |
- | 768 | ||
- | 769 | switch (slave_addr) |
|
- | 770 | { |
|
678 | if (ufo_prober.is_mk()) |
771 | case FC_SLAVE_ADDR: |
679 | return debug_data.UBatt(); |
772 | return debug_data.analog[8]; |
- | 773 | ||
680 | else if (ufo_prober.is_navi()) |
774 | case NAVI_SLAVE_ADDR: |
681 | return gps_position.UBatt; |
775 | return gps_position.UBatt; |
- | 776 | ||
- | 777 | case FOLLOWME_SLAVE_ADDR: |
|
- | 778 | return debug_data.analog[8]; |
|
- | 779 | ||
- | 780 | default: |
|
- | 781 | return -1; // No Info |
|
- | 782 | } |
|
- | 783 | ||
- | 784 | } |
|
- | 785 | ||
- | 786 | ||
- | 787 | ||
- | 788 | public int SatsInUse() |
|
- | 789 | { |
|
- | 790 | ||
- | 791 | switch (slave_addr) |
|
- | 792 | { |
|
- | 793 | case NAVI_SLAVE_ADDR: |
|
- | 794 | return gps_position.SatsInUse; |
|
- | 795 | ||
- | 796 | case FOLLOWME_SLAVE_ADDR: |
|
- | 797 | return debug_data.analog[12]; |
|
682 | 798 | ||
- | 799 | default: |
|
683 | return -1; |
800 | return -1; // No Info |
- | 801 | } |
|
684 | 802 | ||
685 | } |
803 | } |
686 | 804 | ||
687 | 805 | ||
688 | 806 | ||
689 | public int SenderOkay() |
807 | public int SenderOkay() |
690 | { |
808 | { |
691 | if (ufo_prober.is_mk()) |
809 | switch (slave_addr) |
692 | return debug_data.SenderOkay(); |
810 | { |
693 | else if (ufo_prober.is_navi()) |
811 | case FC_SLAVE_ADDR: |
694 | return gps_position.SenderOkay; |
812 | return debug_data.analog[10]; |
695 | 813 | ||
- | 814 | case NAVI_SLAVE_ADDR: |
|
696 | return -1; |
815 | return gps_position.SenderOkay; |
- | 816 | ||
- | 817 | default: |
|
- | 818 | return -1; // No Info |
|
697 | 819 | } |
|
698 | } |
820 | } |
699 | 821 | ||
700 | 822 | ||
701 | public int[][] debug_buff=null; |
823 | public int[][] debug_buff=null; |
702 | public int debug_buff_off=0; |
824 | public int debug_buff_off=0; |
703 | public int debug_buff_len=0; |
825 | public int debug_buff_len=0; |
704 | public int debug_buff_interval=0; |
826 | public int debug_buff_interval=0; |
705 | public int debug_buff_lastset=0; |
827 | public int debug_buff_lastset=0; |
706 | public int debug_buff_max=1; |
828 | public int debug_buff_max=1; |
707 | 829 | ||
708 | public int[] debug_buff_targets=null; |
830 | public int[] debug_buff_targets=null; |
709 | 831 | ||
710 | public void setup_debug_buff(int[] targets,int len,int interval) |
832 | public void setup_debug_buff(int[] targets,int len,int interval) |
711 | { |
833 | { |
712 | debug_buff=new int[len][targets.length]; |
834 | debug_buff=new int[len][targets.length]; |
713 | 835 | ||
714 | debug_buff_off=0; |
836 | debug_buff_off=0; |
715 | debug_buff_len=len; |
837 | debug_buff_len=len; |
716 | 838 | ||
717 | debug_buff_interval=interval; |
839 | debug_buff_interval=interval; |
718 | if (debug_buff_interval<2)debug_buff_interval=2; |
840 | if (debug_buff_interval<2)debug_buff_interval=2; |
719 | debug_buff_targets=targets; |
841 | debug_buff_targets=targets; |
720 | debug_buff_max=1; |
842 | debug_buff_max=1; |
721 | debug_buff_lastset=0; |
843 | debug_buff_lastset=0; |
722 | } |
844 | } |
723 | 845 | ||
724 | public int chg_debug_max(int val) |
846 | public int chg_debug_max(int val) |
725 | { |
847 | { |
726 | if (val>debug_buff_max) |
848 | if (val>debug_buff_max) |
727 | debug_buff_max=val; |
849 | debug_buff_max=val; |
728 | if (-val>debug_buff_max) |
850 | if (-val>debug_buff_max) |
729 | debug_buff_max=-val; |
851 | debug_buff_max=-val; |
730 | return val; |
852 | return val; |
731 | } |
853 | } |
732 | 854 | ||
733 | public void destroy_debug_buff() |
855 | public void destroy_debug_buff() |
734 | { |
856 | { |
735 | debug_buff_targets=null; |
857 | debug_buff_targets=null; |
736 | } |
858 | } |
737 | 859 | ||
738 | public void process_data(byte[] data,int len) |
860 | public void process_data(byte[] data,int len) |
739 | { |
861 | { |
- | 862 | ||
- | 863 | // check crc |
|
- | 864 | int tmp_crc=0; |
|
- | 865 | for ( int i=0 ; i<len-2 ; i++) |
|
- | 866 | tmp_crc+=(int)data[i]; |
|
- | 867 | ||
- | 868 | tmp_crc%=4096; |
|
- | 869 | ||
- | 870 | if (!((data[len-2]==(char)(tmp_crc/64 + '=')) |
|
- | 871 | && |
|
- | 872 | (data[len-1]==(char)(tmp_crc%64 + '=')))) |
|
- | 873 | { |
|
- | 874 | stats.crc_fail++; |
|
- | 875 | return; |
|
- | 876 | } |
|
- | 877 | // end of c |
|
740 | 878 | ||
741 | slave_addr=data[1]; |
879 | // slave_addr=data[1]; |
- | 880 | log("command " +(char)data[2] ); |
|
- | 881 | ||
- | 882 | ||
- | 883 | int[] decoded_data=Decode64(data,3,len-5); |
|
742 | log("command " +(char)data[2] ); |
884 | |
743 | switch((char)data[2]) |
885 | switch((char)data[2]) |
744 | { |
886 | { |
745 | 887 | ||
746 | case 'A': // debug Data Names |
888 | case 'A': // debug Data Names |
747 | stats.debug_names_count++; |
889 | stats.debug_names_count++; |
748 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
890 | debug_data.set_names_by_mk_data(decoded_data); |
749 | break; |
891 | break; |
750 | 892 | ||
751 | case 'B': // external_control confirm frames |
893 | case 'B': // external_control confirm frames |
752 | stats.external_control_confirm_frame_count++; |
894 | stats.external_control_confirm_frame_count++; |
753 | break; |
895 | break; |
754 | 896 | ||
755 | case 'L': // LCD Data |
897 | case 'L': // LCD Data |
756 | stats.lcd_data_count++; |
898 | stats.lcd_data_count++; |
757 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
899 | LCD.handle_lcd_data(decoded_data); |
758 | 900 | ||
759 | break; |
901 | break; |
760 | 902 | ||
761 | case 'D': // debug Data |
903 | case 'D': // debug Data |
762 | log("got debug data"); |
904 | log("got debug data"); |
763 | stats.debug_data_count++; |
905 | stats.debug_data_count++; |
764 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
906 | debug_data.set_by_mk_data(decoded_data,version); |
765 | 907 | ||
766 | if (ufo_prober.is_mk()) |
908 | if (is_mk()) |
767 | { |
909 | { |
768 | stats.process_mkflags(debug_data.motor_val(0)); // TODO remove dirty hack |
910 | stats.process_mkflags(debug_data.motor_val(0)); // TODO remove dirty hack |
769 | stats.process_alt(Alt()); |
911 | stats.process_alt(Alt()); |
770 | } |
912 | } |
771 | if (debug_buff_targets!=null) |
913 | if (debug_buff_targets!=null) |
772 | { |
914 | { |
773 | for (int sp=0;sp<debug_buff_targets.length;sp++) |
915 | for (int sp=0;sp<debug_buff_targets.length;sp++) |
774 | debug_buff[debug_buff_off][sp]=chg_debug_max(debug_data.analog[debug_buff_targets[sp]]); |
916 | debug_buff[debug_buff_off][sp]=chg_debug_max(debug_data.analog[debug_buff_targets[sp]]); |
775 | if (debug_buff_off>debug_buff_lastset) |
917 | if (debug_buff_off>debug_buff_lastset) |
776 | debug_buff_lastset=debug_buff_off; |
918 | debug_buff_lastset=debug_buff_off; |
777 | 919 | ||
778 | debug_buff_off=(debug_buff_off+1)%debug_buff_len; |
920 | debug_buff_off=(debug_buff_off+1)%debug_buff_len; |
779 | 921 | ||
780 | } |
922 | } |
781 | log("processed debug data"); |
923 | log("processed debug data"); |
782 | break; |
924 | break; |
783 | 925 | ||
784 | case 'V': // Version Info |
926 | case 'V': // Version Info |
785 | stats.version_data_count++; |
927 | stats.version_data_count++; |
786 | slave_addr=data[1]; |
928 | if (slave_addr!=data[1]-'a') |
- | 929 | { |
|
- | 930 | slave_addr=(byte)(data[1]-'a'); |
|
- | 931 | change_notify=true; |
|
- | 932 | } |
|
- | 933 | ||
787 | 934 | /* |
|
788 | switch(slave_addr) |
935 | switch(slave_addr) |
789 | { |
936 | { |
790 | case FC_SLAVE_ADDR: |
937 | case FC_SLAVE_ADDR: |
791 | ufo_prober.set_to_mk(); |
938 | ufo_prober.set_to_mk(); |
792 | break; |
939 | break; |
793 | 940 | ||
794 | case NAVI_SLAVE_ADDR: |
941 | case NAVI_SLAVE_ADDR: |
795 | ufo_prober.set_to_navi(); |
942 | ufo_prober.set_to_navi(); |
796 | break; |
943 | break; |
797 | 944 | ||
798 | case MK3MAG_SLAVE_ADDR: |
945 | case MK3MAG_SLAVE_ADDR: |
799 | // ufo_prober.set_to_mk(); |
- | |
800 | ufo_prober.set_to_mk3mag(); |
946 | ufo_prober.set_to_mk3mag(); |
801 | break; |
947 | break; |
- | 948 | ||
- | 949 | case RE_SLAVE_ADDR: |
|
- | 950 | ufo_prober.set_to_rangeextender(); |
|
- | 951 | break; |
|
802 | 952 | ||
803 | default: |
953 | default: |
804 | ufo_prober.set_to_incompatible(); |
954 | ufo_prober.set_to_incompatible(); |
805 | break; |
955 | break; |
806 | } |
956 | } |
- | 957 | */ |
|
807 | - | ||
808 | 958 | ||
809 | version.set_by_mk_data(Decode64(data,3,len-3)); |
959 | version.set_by_mk_data(decoded_data); |
810 | break; |
960 | break; |
811 | 961 | ||
812 | case 'w': |
962 | case 'w': |
813 | int[] dec=Decode64(data,3,len-3); |
- | |
814 | angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
963 | angle_nick=MKHelper.parse_signed_int_2(decoded_data[0],decoded_data[1]); |
815 | angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
964 | angle_roll=MKHelper.parse_signed_int_2(decoded_data[2],decoded_data[3]); |
816 | stats.angle_data_count++; |
965 | stats.angle_data_count++; |
817 | - | ||
818 | break; |
966 | break; |
819 | 967 | ||
820 | 968 | ||
821 | case 'Q': |
969 | case 'Q': |
822 | if (ufo_prober.is_mk()) |
970 | if (is_mk()) |
823 | { |
971 | { |
824 | stats.params_data_count++; |
972 | stats.params_data_count++; |
825 | params.set_by_mk_data(Decode64(data,3,len-3)); |
973 | params.set_by_mk_data(decoded_data); |
826 | } |
974 | } |
827 | break; |
975 | break; |
828 | 976 | ||
- | 977 | case 'M': |
|
- | 978 | mixer_change_notify=true; |
|
- | 979 | mixer_change_success=(decoded_data[0]==1); |
|
- | 980 | break; |
|
829 | case 'P': |
981 | case 'P': |
830 | stats.stick_data_count++; |
982 | stats.stick_data_count++; |
831 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
983 | stick_data.set_by_mk_data(decoded_data); |
832 | break; |
984 | break; |
833 | 985 | ||
834 | - | ||
835 | case 'E': |
986 | |
836 | int[] dec_data=Decode64(data,3,len-3); |
987 | case 'E': // Error Str from Navi |
837 | error_str=""; |
988 | error_str=""; |
838 | for(int foo=0;foo<20;foo++) |
989 | for(int foo=0;foo<20;foo++) |
839 | if (dec_data[foo]!=0) |
990 | if (decoded_data[foo]!=0) |
840 | error_str+=(char)dec_data[foo]; |
991 | error_str+=(char)decoded_data[foo]; |
841 | break; |
992 | break; |
842 | 993 | ||
843 | 994 | ||
844 | case 'O': |
995 | case 'O': // OSD Values Str from Navi |
845 | stats.navi_data_count++; |
996 | stats.navi_data_count++; |
846 | log("got navi data(" + len +"):"); |
997 | log("got navi data(" + len +"):"); |
847 | 998 | ||
848 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
999 | gps_position.set_by_mk_data(decoded_data,version); |
849 | 1000 | ||
850 | stats.process_mkflags(gps_position.MKFlags); |
1001 | stats.process_mkflags(gps_position.MKFlags); |
851 | stats.process_compas(gps_position.CompasHeading); |
1002 | stats.process_compas(gps_position.CompasHeading); |
852 | stats.process_speed(gps_position.GroundSpeed); |
1003 | stats.process_speed(gps_position.GroundSpeed); |
853 | stats.process_alt(Alt()); |
1004 | stats.process_alt(Alt()); |
854 | log("long:" + gps_position.Longitude); |
- | |
855 | log("lat:" + gps_position.Latitude); |
- | |
856 | 1005 | ||
857 | break; |
1006 | break; |
858 | 1007 | ||
859 | - | ||
860 | // Error from Navi |
- | |
861 | - | ||
862 | 1008 | ||
863 | default: |
1009 | default: |
864 | stats.other_data_count++; |
1010 | stats.other_data_count++; |
865 | break; |
1011 | break; |
866 | 1012 | ||
867 | } |
1013 | } |
868 | 1014 | ||
869 | } |
1015 | } |
870 | 1016 | ||
871 | 1017 | ||
872 | 1018 | ||
873 | public boolean force_disconnect=true; |
1019 | public boolean force_disconnect=true; |
874 | 1020 | ||
875 | public void close_connections(boolean force) |
1021 | public void close_connections(boolean force) |
876 | { |
1022 | { |
877 | 1023 | ||
878 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
1024 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
879 | force_disconnect=force; |
1025 | force_disconnect|=force; |
880 | try{ reader.close(); } |
1026 | try{ reader.close(); } |
881 | catch (Exception inner_ex) { } |
1027 | catch (Exception inner_ex) { } |
882 | 1028 | ||
883 | try{ writer.close(); } |
1029 | try{ writer.close(); } |
884 | catch (Exception inner_ex) { } |
1030 | catch (Exception inner_ex) { } |
885 | 1031 | ||
886 | //#ifdef j2me |
1032 | //#ifdef j2me |
887 | //# try{ connection.close(); } |
1033 | //# try{ connection.close(); } |
888 | //# catch (Exception inner_ex) { } |
1034 | //# catch (Exception inner_ex) { } |
889 | //#endif |
1035 | //#endif |
- | 1036 | slave_addr=-1; |
|
890 | ufo_prober.set_to_none(); |
1037 | // ufo_prober.set_to_none(); |
891 | stats.reset(); |
1038 | stats.reset(); |
892 | connected=false; |
1039 | connected=false; |
893 | version.reset(); |
1040 | version.reset(); |
- | 1041 | // if (bootloader_stage==BOOTLOADER_STAGE_NONE) |
|
894 | disconnect_notify=true; |
1042 | disconnect_notify=true; |
895 | } |
1043 | } |
- | 1044 | ||
- | 1045 | ||
896 | 1046 | int last_avr_sig=-1; |
|
897 | // Thread to recieve data from Connection |
1047 | // Thread to recieve data from Connection |
898 | public void run() |
1048 | public void run() |
899 | { |
1049 | { |
900 | boolean sigfail=false; |
1050 | // boolean sigfail=false; |
901 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
1051 | /* if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
902 | { |
1052 | { |
903 | try { |
1053 | try { |
904 | flash_msgs[msg_pos++]="reading avr_sig"; |
- | |
905 | - | ||
906 | writer.write( 't'); |
- | |
907 | writer.flush(); |
- | |
908 | - | ||
909 | int avr_sig=reader.read(); |
- | |
910 | - | ||
911 | //while (avr_sig==63) |
- | |
912 | // avr_sig=reader.read(); |
- | |
913 | - | ||
914 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
- | |
915 | - | ||
916 | int avrsig_suff=reader.read(); |
- | |
917 | if (avrsig_suff!=0) |
- | |
918 | throw new Exception("val after avrsig is" +avrsig_suff +"should b 0"); |
- | |
919 | - | ||
920 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
- | |
921 | { |
- | |
922 | sigfail=true; |
- | |
923 | throw new Exception("avr sig" + avr_sig + " unknown"); |
- | |
924 | } |
- | |
925 | - | ||
926 | writer.write('T'); |
- | |
927 | // writer.flush(); |
- | |
928 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
- | |
929 | writer.flush(); |
- | |
930 | - | ||
931 | if (reader.read()!=0x0d) |
- | |
932 | throw new Exception("cant get buffer size"); |
- | |
933 | - | ||
934 | writer.write('V'); |
- | |
935 | writer.flush(); |
- | |
936 | - | ||
937 | int bl_version_major=reader.read(); |
- | |
938 | int bl_version_minor=reader.read(); |
- | |
939 | - | ||
940 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
- | |
941 | - | ||
942 | - | ||
943 | writer.write('b'); |
- | |
944 | writer.flush(); |
- | |
945 | - | ||
946 | if (reader.read()!='Y') |
- | |
947 | throw new Exception("cant get buffer size"); |
- | |
948 | - | ||
949 | int send_buff_size1=reader.read(); |
- | |
950 | int send_buff_size2=reader.read(); |
- | |
951 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
- | |
952 | - | ||
953 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
1054 | |
954 | // if (send_buff_size>128) |
1055 | // if (send_buff_size>128) |
955 | // send_buff_size=128; |
1056 | // send_buff_size=128; |
956 | 1057 | ||
957 | // if (!bootloader_intension |
1058 | // if (!bootloader_intension |
958 | if (bootloader_intension_flash) |
1059 | if (bootloader_intension_flash) |
959 | { |
1060 | { |
960 | 1061 | |
|
961 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
1062 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
962 | 1063 | |
|
963 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
1064 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
964 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
1065 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
965 | 1066 | |
|
966 | 1067 | |
|
967 | InputStream in; |
1068 | InputStream in; |
968 | try { |
1069 | try { |
969 | in=this.getClass().getResourceAsStream(firmware_filename); |
1070 | in=this.getClass().getResourceAsStream(firmware_filename); |
970 | } |
1071 | } |
971 | 1072 | |
|
972 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
1073 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
973 | int firmware_size=-1; |
1074 | int firmware_size=-1; |
974 | try { |
1075 | try { |
975 | 1076 | |
|
976 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
1077 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
977 | } |
1078 | } |
978 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
1079 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
979 | - | ||
980 | - | ||
981 | 1080 | |
|
982 | int blocks2write=((firmware_size/send_buff_size)); |
1081 | int blocks2write=((firmware_size/send_buff_size)); |
983 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
1082 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
984 | 1083 | |
|
985 | - | ||
986 | 1084 | |
|
987 | // if (true) throw new Exception("before erasing"); |
1085 | // if (true) throw new Exception("before erasing"); |
988 | 1086 | |
|
989 | // if (true) throw new Exception("before erasing" ); |
1087 | // if (true) throw new Exception("before erasing" ); |
990 | 1088 | |
|
991 | flash_msgs[msg_pos++]="Erasing Flash .."; |
1089 | flash_msgs[msg_pos++]="Erasing Flash .."; |
992 | writer.write('e'); |
1090 | writer.write('e'); |
993 | writer.flush(); |
1091 | writer.flush(); |
994 | 1092 | |
|
995 | if (reader.read()!=0x0d) |
1093 | if (reader.read()!=0x0d) |
996 | throw new Exception("cant erase flash"); |
1094 | throw new Exception("cant erase flash"); |
997 | 1095 | |
|
998 | flash_msgs[msg_pos]+="OK"; |
1096 | flash_msgs[msg_pos]+="OK"; |
999 | 1097 | |
|
1000 | 1098 | |
|
1001 | writer.write('A'); |
1099 | writer.write('A'); |
1002 | writer.write(0); |
1100 | writer.write(0); |
1003 | writer.write(0); |
1101 | writer.write(0); |
1004 | writer.flush(); |
1102 | writer.flush(); |
1005 | 1103 | |
|
1006 | if (reader.read()!=0x0d) |
1104 | if (reader.read()!=0x0d) |
1007 | throw new Exception("cant set addr"); |
1105 | throw new Exception("cant set addr"); |
1008 | 1106 | |
|
1009 | flash_msgs[msg_pos++]="addr set"; |
1107 | flash_msgs[msg_pos++]="addr set"; |
1010 | 1108 | |
|
1011 | 1109 | |
|
1012 | // int blocks2write=((firmware_size/send_buff_size)); |
1110 | // int blocks2write=((firmware_size/send_buff_size)); |
1013 | if ((firmware_size%send_buff_size)>0) |
1111 | if ((firmware_size%send_buff_size)>0) |
1014 | blocks2write++; |
1112 | blocks2write++; |
1015 | 1113 | |
|
1016 | for ( int block=0; block<blocks2write; block ++) |
1114 | for ( int block=0; block<blocks2write; block ++) |
1017 | { |
1115 | { |
1018 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
1116 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
1019 | 1117 | |
|
1020 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1118 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1021 | 1119 | |
|
1022 | 1120 | |
|
1023 | writer.write('B'); |
1121 | writer.write('B'); |
1024 | writer.write((hex_bytes_read>>8)& 0xFF); |
1122 | writer.write((hex_bytes_read>>8)& 0xFF); |
1025 | writer.write((hex_bytes_read)& 0xFF); |
1123 | writer.write((hex_bytes_read)& 0xFF); |
1026 | writer.write('F'); |
1124 | writer.write('F'); |
1027 | writer.flush(); |
1125 | writer.flush(); |
1028 | 1126 | |
|
1029 | 1127 | |
|
1030 | writer.write(flash_buff,0,hex_bytes_read); |
1128 | writer.write(flash_buff,0,hex_bytes_read); |
1031 | writer.flush(); |
1129 | writer.flush(); |
1032 | 1130 | |
|
1033 | 1131 | |
|
1034 | if (avr_sig==224) |
1132 | if (avr_sig==224) |
1035 | { |
1133 | { |
1036 | int crc=0xFFFF; |
1134 | int crc=0xFFFF; |
1037 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
1135 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
1038 | crc=CRC16(flash_buff[crc_pos],crc); |
1136 | crc=CRC16(flash_buff[crc_pos],crc); |
1039 | writer.write(crc>>8); |
1137 | writer.write(crc>>8); |
1040 | writer.write(crc&0xff); |
1138 | writer.write(crc&0xff); |
1041 | writer.flush(); |
1139 | writer.flush(); |
1042 | } |
1140 | } |
1043 | // flash_msgs[msg_pos]+="ok"; |
1141 | // flash_msgs[msg_pos]+="ok"; |
1044 | // writer.flush(); |
1142 | // writer.flush(); |
1045 | 1143 | |
|
1046 | 1144 | |
|
1047 | 1145 | |
|
1048 | if (reader.read()!=0x0d) |
1146 | if (reader.read()!=0x0d) |
1049 | throw new Exception("abort write at block"+block); |
1147 | throw new Exception("abort write at block"+block); |
1050 | 1148 | |
|
1051 | 1149 | |
|
1052 | 1150 | |
|
1053 | // sleep(1000); |
1151 | // sleep(1000); |
1054 | } |
1152 | } |
- | 1153 | ||
- | 1154 | ||
- | 1155 | */ |
|
1055 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1156 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1056 | /* |
1157 | /* |
1057 | |
1158 | |
1058 | int inp=0; |
1159 | int inp=0; |
1059 | int block=0; |
1160 | int block=0; |
1060 | while (inp!=-1) |
1161 | while (inp!=-1) |
1061 | { |
1162 | { |
1062 | int flash_buff_pos=0; |
1163 | int flash_buff_pos=0; |
1063 | int crc=0xFFFF; |
1164 | int crc=0xFFFF; |
1064 | |
1165 | |
1065 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
1166 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
1066 | { |
1167 | { |
1067 | inp=in.read(); |
1168 | inp=in.read(); |
1068 | if (inp!=-1) |
1169 | if (inp!=-1) |
1069 | { |
1170 | { |
1070 | crc=CRC16(inp,crc); |
1171 | crc=CRC16(inp,crc); |
1071 | flash_buff[flash_buff_pos++]=(byte)inp; |
1172 | flash_buff[flash_buff_pos++]=(byte)inp; |
1072 | } |
1173 | } |
1073 | } |
1174 | } |
1074 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
1175 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
1075 | |
1176 | |
1076 | block++; |
1177 | block++; |
1077 | |
1178 | |
1078 | boolean block_fin=false; |
1179 | boolean block_fin=false; |
1079 | 1180 | ||
1080 | 1181 | ||
1081 | while(!block_fin) |
1182 | while(!block_fin) |
1082 | { |
1183 | { |
1083 | |
1184 | |
1084 | writer.write('B'); |
1185 | writer.write('B'); |
1085 | writer.write((flash_buff_pos>>8)& 0xFF); |
1186 | writer.write((flash_buff_pos>>8)& 0xFF); |
1086 | writer.write((flash_buff_pos)& 0xFF); |
1187 | writer.write((flash_buff_pos)& 0xFF); |
1087 | writer.write('F'); |
1188 | writer.write('F'); |
1088 | writer.flush(); |
1189 | writer.flush(); |
1089 | 1190 | ||
1090 | // int ret_v=-1; |
1191 | // int ret_v=-1; |
1091 | |
1192 | |
1092 | writer.write(flash_buff,0,flash_buff_pos); |
1193 | writer.write(flash_buff,0,flash_buff_pos); |
1093 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
1194 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
1094 | |
1195 | |
1095 | writer.flush(); |
1196 | writer.flush(); |
1096 | // flash_msgs[msg_pos]+="wtc"; |
1197 | // flash_msgs[msg_pos]+="wtc"; |
1097 | |
1198 | |
1098 | |
1199 | |
1099 | // append crc if navi |
1200 | // append crc if navi |
1100 | if (avr_sig==224) |
1201 | if (avr_sig==224) |
1101 | { |
1202 | { |
1102 | writer.write(crc>>8); |
1203 | writer.write(crc>>8); |
1103 | writer.write(crc&0xff); |
1204 | writer.write(crc&0xff); |
1104 | writer.flush(); |
1205 | writer.flush(); |
1105 | } |
1206 | } |
1106 | // flash_msgs[msg_pos]+="ok"; |
1207 | // flash_msgs[msg_pos]+="ok"; |
1107 | // writer.flush(); |
1208 | // writer.flush(); |
1108 | // if (reader.read()!=0x0d) |
1209 | // if (reader.read()!=0x0d) |
1109 | // throw new Exception("abort write at block"+block); |
1210 | // throw new Exception("abort write at block"+block); |
1110 | |
1211 | |
1111 | |
1212 | |
1112 | //ret_v=reader.read(); |
1213 | //ret_v=reader.read(); |
1113 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
1214 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
1114 | |
1215 | |
1115 | if (reader.read()==0x0d) |
1216 | if (reader.read()==0x0d) |
1116 | block_fin=true; |
1217 | block_fin=true; |
1117 | |
1218 | |
1118 | } |
1219 | } |
1119 | 1220 | ||
1120 | } |
1221 | } |
1121 | */ |
1222 | */ |
- | 1223 | ||
- | 1224 | ||
- | 1225 | ||
- | 1226 | /** |
|
1122 | flash_msgs[++msg_pos]="written last block "; |
1227 | flash_msgs[++msg_pos]="written last block "; |
1123 | msg_pos++; |
1228 | msg_pos++; |
1124 | flash_buff=null; |
1229 | flash_buff=null; |
1125 | 1230 | ||
1126 | ufo_prober.set_to_none(); |
1231 | ufo_prober.set_to_none(); |
1127 | stats.reset(); |
1232 | stats.reset(); |
1128 | version=new MKVersion(); |
1233 | version=new MKVersion(); |
1129 | System.gc(); |
1234 | System.gc(); |
1130 | } |
1235 | } |
1131 | else // bootloader intension clear settings |
1236 | else // bootloader intension clear settings |
1132 | { |
1237 | { |
1133 | 1238 | ||
1134 | flash_msgs[msg_pos]="reset params .."; |
1239 | flash_msgs[msg_pos]="reset params .."; |
1135 | writer.write('B'); |
1240 | writer.write('B'); |
1136 | writer.write(0); |
1241 | writer.write(0); |
1137 | writer.write(4); |
1242 | writer.write(4); |
1138 | writer.write('E'); |
1243 | writer.write('E'); |
1139 | writer.flush(); |
1244 | writer.flush(); |
1140 | 1245 | |
|
1141 | writer.write(0xFF); |
1246 | writer.write(0xFF); |
1142 | writer.write(0xFF); |
1247 | writer.write(0xFF); |
1143 | writer.write(0xFF); |
1248 | writer.write(0xFF); |
1144 | writer.write(0xFF); |
1249 | writer.write(0xFF); |
1145 | writer.flush(); |
1250 | writer.flush(); |
1146 | flash_msgs[msg_pos++]+=" done"; |
1251 | flash_msgs[msg_pos++]+=" done"; |
1147 | } |
1252 | } |
1148 | 1253 | ||
1149 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1254 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1150 | params=new MKParamsParser(); |
1255 | params=new MKParamsParser(); |
1151 | try{ |
1256 | try{ |
1152 | writer.write('E'); |
1257 | writer.write('E'); |
1153 | writer.flush(); |
1258 | writer.flush(); |
1154 | } |
1259 | } |
1155 | catch (Exception e) { |
1260 | catch (Exception e) { |
1156 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1261 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1157 | } |
1262 | } |
1158 | flash_msgs[msg_pos++]="Exit BL done" ; |
1263 | flash_msgs[msg_pos++]="Exit BL done" ; |
1159 | 1264 | ||
1160 | bootloader_finish_ok=true; |
1265 | bootloader_finish_ok=true; |
1161 | } |
1266 | } |
1162 | 1267 | |
|
1163 | catch (Exception e) { |
1268 | catch (Exception e) { |
1164 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
1269 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
1165 | 1270 | ||
1166 | 1271 | ||
1167 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1272 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1168 | params=new MKParamsParser(); |
1273 | params=new MKParamsParser(); |
1169 | try{ |
1274 | try{ |
1170 | writer.write('E'); |
1275 | writer.write('E'); |
1171 | writer.flush(); |
1276 | writer.flush(); |
1172 | } |
1277 | } |
1173 | catch (Exception e2) { |
1278 | catch (Exception e2) { |
1174 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1279 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1175 | } |
1280 | } |
1176 | flash_msgs[msg_pos++]="Exit BL done" ; |
1281 | flash_msgs[msg_pos++]="Exit BL done" ; |
1177 | if (sigfail&&(bl_retrys<3)) |
1282 | if (sigfail&&(bl_retrys<3)) |
1178 | { |
1283 | { |
1179 | bl_retrys++; |
1284 | bl_retrys++; |
1180 | init_bootloader=true; |
1285 | init_bootloader=true; |
1181 | } |
1286 | } |
1182 | close_connections(false); |
1287 | close_connections(false); |
1183 | } |
1288 | } |
1184 | 1289 | ||
1185 | 1290 | ||
1186 | sending=false; |
1291 | sending=false; |
1187 | } |
1292 | } |
- | 1293 | ||
1188 | 1294 | **/ |
|
1189 | 1295 | ||
1190 | byte[] data_set=new byte[1024]; |
1296 | byte[] data_set=new byte[1024]; |
1191 | int data_set_pos=0; |
1297 | int data_set_pos=0; |
1192 | - | ||
1193 | - | ||
1194 | - | ||
1195 | 1298 | ||
1196 | byte[] data_in_buff=new byte[DATA_IN_BUFF_SIZE]; |
1299 | byte[] data_in_buff=new byte[DATA_IN_BUFF_SIZE]; |
1197 | 1300 | ||
1198 | int input; |
1301 | int input; |
1199 | int pos=0; |
1302 | int pos=0; |
1200 | - | ||
1201 | - | ||
1202 | - | ||
1203 | - | ||
1204 | 1303 | ||
1205 | log("Thread started"); |
1304 | log("Thread started"); |
1206 | while(true) |
1305 | while(thread_running) |
1207 | { |
1306 | { |
1208 | 1307 | ||
1209 | if (!connected) |
1308 | if (!connected) |
1210 | { |
1309 | { |
- | 1310 | sleep(10); |
|
1211 | if (!force_disconnect) connect(); |
1311 | if (!force_disconnect) connect(); |
1212 | sleep(100); |
- | |
1213 | } |
1312 | } |
1214 | else |
1313 | else |
1215 | try{ |
1314 | try{ |
1216 | 1315 | ||
1217 | /* |
1316 | /* |
1218 | while(sending) |
1317 | while(sending) |
1219 | {try { Thread.sleep(50); } |
1318 | {try { Thread.sleep(50); } |
1220 | catch (Exception e) { } |
1319 | catch (Exception e) { } |
1221 | } |
1320 | } |
1222 | */ |
1321 | */ |
1223 | recieving=true; |
1322 | recieving=true; |
1224 | int read_count ; |
1323 | int read_count ; |
1225 | 1324 | ||
1226 | if (reader.available()<DATA_IN_BUFF_SIZE) |
1325 | if (reader.available()<DATA_IN_BUFF_SIZE) |
1227 | read_count =reader.read(data_in_buff,0,reader.available()); |
1326 | read_count =reader.read(data_in_buff,0,reader.available()); |
1228 | else |
1327 | else |
1229 | read_count =reader.read(data_in_buff,0,DATA_IN_BUFF_SIZE); |
1328 | read_count =reader.read(data_in_buff,0,DATA_IN_BUFF_SIZE); |
1230 | 1329 | ||
1231 | // log("Connected - reading data " + read_count); |
1330 | // log("Connected - reading data " + read_count); |
1232 | // pos=0; |
1331 | // pos=0; |
1233 | input=0; |
1332 | input=0; |
1234 | //data_buff[data_buff_pos]=""; |
1333 | //data_buff[data_buff_pos]=""; |
1235 | // recieve data-set |
1334 | // recieve data-set |
1236 | 1335 | ||
1237 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
1336 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
1238 | stats.bytes_in+=read_count; |
1337 | stats.bytes_in+=read_count; |
1239 | if (read_count>0) |
1338 | if (read_count>0) |
1240 | { |
1339 | { |
1241 | log("read" + read_count + " ds_pos" + data_set_pos); |
1340 | log("read" + read_count + " ds_pos" + data_set_pos); |
1242 | 1341 | ||
1243 | for ( pos=0;pos<read_count;pos++) |
1342 | for ( pos=0;pos<read_count;pos++) |
1244 | { |
1343 | { |
1245 | if (data_in_buff[pos]==13) |
1344 | if (data_in_buff[pos]==13) |
1246 | { |
1345 | { |
1247 | data_buff[data_buff_pos]=new String(data_set, 0, data_set_pos); |
1346 | data_buff[data_buff_pos]=new String(data_set, 0, data_set_pos); |
1248 | data_buff_pos++; |
1347 | data_buff_pos++; |
1249 | data_buff_pos%=DATA_BUFF_LEN; |
1348 | data_buff_pos%=DATA_BUFF_LEN; |
1250 | 1349 | ||
1251 | 1350 | ||
1252 | try{process_data(data_set,data_set_pos); } |
1351 | try{process_data(data_set,data_set_pos); } |
1253 | catch (Exception e) |
1352 | catch (Exception e) |
1254 | { |
1353 | { |
1255 | log(".. problem processing"); |
1354 | log(".. problem processing"); |
1256 | log(e.toString()); |
1355 | log(e.toString()); |
1257 | } |
1356 | } |
1258 | 1357 | ||
1259 | 1358 | ||
1260 | 1359 | ||
1261 | 1360 | ||
1262 | proxy.write(data_set,0,data_set_pos); |
1361 | proxy.write(data_set,0,data_set_pos); |
1263 | // proxy.writer.write('\r'); |
1362 | // proxy.writer.write('\r'); |
1264 | //proxy.writer.write('\n'); |
1363 | //proxy.writer.write('\n'); |
1265 | //proxy.writer.flush(); |
1364 | //proxy.writer.flush(); |
1266 | /* |
1365 | /* |
1267 | if (proxy!=null) |
1366 | if (proxy!=null) |
1268 | { |
1367 | { |
1269 | |
1368 | |
1270 | 1369 | ||
1271 | 1370 | ||
1272 | } |
1371 | } |
1273 | */ |
1372 | */ |
1274 | data_set_pos=0; |
1373 | data_set_pos=0; |
1275 | 1374 | ||
1276 | } |
1375 | } |
1277 | else |
1376 | else |
1278 | { |
1377 | // { |
1279 | data_set[data_set_pos++]=data_in_buff[pos]; |
1378 | data_set[data_set_pos++]=data_in_buff[pos]; |
1280 | 1379 | ||
1281 | 1380 | /* |
|
- | 1381 | ||
1282 | 1382 | 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')) |
|
- | 1383 | ||
1283 | 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')) |
1384 | { |
1284 | { |
1385 | |
1285 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1386 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1286 | return; |
1387 | return; |
1287 | } |
1388 | } |
1288 | 1389 | |
|
1289 | } |
1390 | }*/ |
1290 | 1391 | ||
1291 | } |
1392 | } |
1292 | 1393 | ||
1293 | 1394 | ||
1294 | } |
1395 | } |
1295 | else |
1396 | else |
1296 | { |
1397 | { |
1297 | recieving=false; |
1398 | recieving=false; |
1298 | sleep(20); |
1399 | sleep(20); |
1299 | } |
1400 | } |
1300 | /* |
1401 | /* |
1301 | while ((input != 13)) //&&(input!=-1)) |
1402 | while ((input != 13)) //&&(input!=-1)) |
1302 | { |
1403 | { |
1303 | { |
1404 | { |
1304 | //log("pre read"); |
1405 | //log("pre read"); |
1305 | log(""+reader.available()); |
1406 | log(""+reader.available()); |
1306 | input = reader.read() ; |
1407 | input = reader.read() ; |
1307 | log("Byte rcv" + input +"pos"+ pos); |
1408 | log("Byte rcv" + input +"pos"+ pos); |
1308 | |
1409 | |
1309 | proxy.write(input); |
1410 | proxy.write(input); |
1310 | |
1411 | |
1311 | data_buff[data_buff_pos]+=(char)input; |
1412 | data_buff[data_buff_pos]+=(char)input; |
1312 | |
1413 | |
1313 | 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"))) |
1414 | 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"))) |
1314 | { |
1415 | { |
1315 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1416 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1316 | return; |
1417 | return; |
1317 | } |
1418 | } |
1318 | if (input==-1) throw new Exception("disconnect"); |
1419 | if (input==-1) throw new Exception("disconnect"); |
1319 | else |
1420 | else |
1320 | { |
1421 | { |
1321 | stats.bytes_in++; |
1422 | stats.bytes_in++; |
1322 | data_set[pos]=input; |
1423 | data_set[pos]=input; |
1323 | pos++; |
1424 | pos++; |
1324 | } |
1425 | } |
1325 | } |
1426 | } |
1326 | |
1427 | |
1327 | } |
1428 | } |
1328 | |
1429 | |
1329 | |
1430 | |
1330 | 1431 | ||
1331 | data_buff_pos++; |
1432 | data_buff_pos++; |
1332 | data_buff_pos%=DATA_BUFF_LEN; |
1433 | data_buff_pos%=DATA_BUFF_LEN; |
1333 | recieving=false; |
1434 | recieving=false; |
1334 | log("Data recieved (" + pos + "Bytes)"); |
1435 | log("Data recieved (" + pos + "Bytes)"); |
1335 | log("processing .."); |
1436 | log("processing .."); |
1336 | */ |
1437 | */ |
1337 | 1438 | ||
1338 | /* |
1439 | /* |
1339 | if (proxy!=null) |
1440 | if (proxy!=null) |
1340 | { |
1441 | { |
1341 | proxy.writer.write('\r'); |
1442 | proxy.writer.write('\r'); |
1342 | proxy.writer.write('\n'); |
1443 | proxy.writer.write('\n'); |
1343 | proxy.writer.flush(); |
1444 | proxy.writer.flush(); |
1344 | } |
1445 | } |
1345 | */ |
1446 | */ |
1346 | /*if (pos>5) |
1447 | /*if (pos>5) |
1347 | { |
1448 | { |
1348 | try{process_data(data_set,pos); } |
1449 | try{process_data(data_set,pos); } |
1349 | catch (Exception e) |
1450 | catch (Exception e) |
1350 | { |
1451 | { |
1351 | log(".. problem processing"); |
1452 | log(".. problem processing"); |
1352 | log(e.toString()); |
1453 | log(e.toString()); |
1353 | } |
1454 | } |
1354 | |
1455 | |
1355 | log(".. processing done"); |
1456 | log(".. processing done"); |
1356 | } |
1457 | } |
1357 | */ |
1458 | */ |
1358 | } |
1459 | } |
1359 | catch (Exception ex) |
1460 | catch (Exception ex) |
1360 | { |
1461 | { |
1361 | log("Problem reading from MK -> closing conn"); |
1462 | log("Problem reading from MK -> closing conn"); |
1362 | log(ex.toString()); |
1463 | log(ex.toString()); |
1363 | // close the connection |
1464 | // close the connection |
1364 | close_connections(false); |
1465 | close_connections(false); |
1365 | } |
1466 | } |
1366 | 1467 | ||
1367 | // sleep a bit to get someting more done |
1468 | // sleep a bit to get someting more done |
1368 | // sleep(5); //50 |
1469 | // sleep(5); //50 |
1369 | 1470 | ||
1370 | } // while |
1471 | } // while |
1371 | // log("Leaving Communicator thread"); |
1472 | // log("Leaving Communicator thread"); |
1372 | } // run() |
1473 | } // run() |
1373 | } |
1474 | } |
1374 | 1475 |