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