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1 | #include <Parser.h> |
1 | #include <Parser.h> |
2 | 2 | ||
3 | /** |
3 | /** |
4 | * create a frame that can be send to the MK using the |
4 | * create a frame that can be send to the MK using the |
5 | * connection class. |
5 | * connection class. |
6 | * see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
6 | * see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
7 | * how the protocol is encoded and |
7 | * how the protocol is encoded and |
8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
8 | * see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
9 | * to look at the possible commands that are already coded |
9 | * to look at the possible commands that are already coded |
10 | * in data |
10 | * in data |
11 | */ |
11 | */ |
12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
12 | void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
13 | //if # is cmd we do not touch anything, because |
13 | //if # is cmd we do not touch anything, because |
14 | // the command is already encoded in data |
14 | // the command is already encoded in data |
15 | if (cmd != '#') { |
15 | if (cmd != '#') { |
16 | /* |
16 | /* |
17 | //calculate buffer length |
17 | //calculate buffer length |
18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
18 | //(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
19 | //(the rest for the data length - see encode how this is calculated) |
19 | //(the rest for the data length - see encode how this is calculated) |
20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
20 | int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
21 | 21 | ||
22 | //allociate memory for the data we want to send |
22 | //allociate memory for the data we want to send |
23 | char * send_data = (char *)malloc(buf_len); |
23 | char * send_data = (char *)malloc(buf_len); |
24 | */ |
24 | */ |
- | 25 | Parser::encode64(data, length); |
|
25 | char send_data[150]; |
26 | char send_data[150]; |
26 | send_data[0]='#'; |
27 | send_data[0]='#'; |
27 | send_data[1]=(char)address; |
28 | send_data[1]=(char)address+'a'; |
28 | send_data[2]=cmd; |
29 | send_data[2]=cmd; |
29 | for (int i = 0; i < length; i++) |
30 | for (int i = 0; i < length; i++) |
30 | send_data[i+3] = data[i]; |
31 | send_data[i+3] = data[i]; |
31 | //TODO: abgleich mit MKCommunication::send_command |
- | |
32 | Parser::encode64(send_data, length); |
32 | add_CRC(send_data, length+3); |
33 | address = 'a' + address; |
33 | data = send_data; |
34 | - | ||
35 | } |
34 | } |
36 | } |
35 | } |
37 | 36 | ||
38 | 37 | ||
39 | /** |
38 | /** |
40 | * Base64 Decoder |
39 | * Base64 Decoder |
41 | * see Parser.h for details about sRxData |
40 | * see Parser.h for details about sRxData |
42 | * data = data that will be decoded |
41 | * data = data that will be decoded |
43 | * len = length of data |
42 | * len = length of data |
44 | * ptrOut = pointer to decoded data |
43 | * ptrOut = pointer to decoded data |
45 | * offset = offset in data |
44 | * offset = offset in data |
46 | */ |
45 | */ |
47 | int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
46 | int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
48 | { |
47 | { |
49 | unsigned char a,b,c,d; |
48 | unsigned char a,b,c,d; |
50 | unsigned char ptr = 0; |
49 | unsigned char ptr = 0; |
51 | unsigned char x,y,z; |
50 | unsigned char x,y,z; |
52 | 51 | ||
53 | int decLen = 0; |
52 | int decLen = 0; |
54 | /* |
53 | /* |
55 | //FIXME: dies wieder einklammern! |
54 | //FIXME: dies wieder einklammern! |
56 | if (data[ptrIn] == 0) { |
55 | if (data[ptrIn] == 0) { |
57 | return -1; |
56 | return -1; |
58 | //TODO: catch error to show that something went wrong during the decode process |
57 | //TODO: catch error to show that something went wrong during the decode process |
59 | //throw "Nothing received"; |
58 | //throw "Nothing received"; |
60 | } |
59 | } |
61 | */ |
60 | */ |
62 | //decode data |
61 | //decode data |
63 | while(len) { |
62 | while(len) { |
64 | a = data[offset++] - '='; |
63 | a = data[offset++] - '='; |
65 | b = data[offset++] - '='; |
64 | b = data[offset++] - '='; |
66 | c = data[offset++] - '='; |
65 | c = data[offset++] - '='; |
67 | d = data[offset++] - '='; |
66 | d = data[offset++] - '='; |
68 | 67 | ||
69 | //if(offset > max - 2) break; |
68 | //if(offset > max - 2) break; |
70 | 69 | ||
71 | x = (a << 2) | (b >> 4); |
70 | x = (a << 2) | (b >> 4); |
72 | y = ((b & 0x0f) << 4) | (c >> 2); |
71 | y = ((b & 0x0f) << 4) | (c >> 2); |
73 | z = ((c & 0x03) << 6) | d; |
72 | z = ((c & 0x03) << 6) | d; |
74 | 73 | ||
75 | if(len--) ptrOut[ptr++] = x; else break; |
74 | if(len--) ptrOut[ptr++] = x; else break; |
76 | if(len--) ptrOut[ptr++] = y; else break; |
75 | if(len--) ptrOut[ptr++] = y; else break; |
77 | if(len--) ptrOut[ptr++] = z; else break; |
76 | if(len--) ptrOut[ptr++] = z; else break; |
78 | } |
77 | } |
79 | //decoded data |
78 | //decoded data |
80 | unsigned char * decData; |
79 | unsigned char * decData; |
81 | for (int a=0; a<ptr; a++) { |
80 | for (int a=0; a<ptr; a++) { |
82 | if (len) { |
81 | if (len) { |
83 | decData[decLen] = ptrOut[a]; |
82 | decData[decLen] = ptrOut[a]; |
84 | decLen++; |
83 | decLen++; |
85 | } else { |
84 | } else { |
86 | int b1, b2, b3; |
85 | int b1, b2, b3; |
87 | 86 | ||
88 | b1 = ptrOut[a++]; |
87 | b1 = ptrOut[a++]; |
89 | b2 = ptrOut[a]; |
88 | b2 = ptrOut[a]; |
90 | 89 | ||
91 | b3 = (b2 << 8) | b1; |
90 | b3 = (b2 << 8) | b1; |
92 | 91 | ||
93 | if (b3 > 32767) |
92 | if (b3 > 32767) |
94 | b3 = b3 - 65536; |
93 | b3 = b3 - 65536; |
95 | 94 | ||
96 | decData[decLen] = b3; |
95 | decData[decLen] = b3; |
97 | decLen++; |
96 | decLen++; |
98 | } |
97 | } |
99 | } |
98 | } |
100 | ptrOut = decData; |
99 | ptrOut = decData; |
101 | return decLen; |
100 | return decLen; |
102 | } |
101 | } |
103 | 102 | ||
104 | /** |
103 | /** |
105 | * base64 encoder |
104 | * base64 encoder |
106 | */ |
105 | */ |
107 | void Parser::encode64(char data[150],unsigned int length) |
106 | void Parser::encode64(char data[150],unsigned int length) |
108 | { |
107 | { |
109 | unsigned int pt = 0; |
108 | unsigned int pt = 0; |
110 | unsigned char a,b,c; |
109 | unsigned char a,b,c; |
111 | unsigned char ptr = 0; |
110 | unsigned char ptr = 0; |
112 | 111 | ||
113 | char tx_buff[150]; |
112 | char tx_buff[150]; |
114 | 113 | ||
115 | while(length > 0) |
114 | while(length > 0) |
116 | { |
115 | { |
117 | if(length) { a = data[ptr++]; length--;} else a = 0; |
116 | if(length) { a = data[ptr++]; length--;} else a = 0; |
118 | if(length) { b = data[ptr++]; length--;} else b = 0; |
117 | if(length) { b = data[ptr++]; length--;} else b = 0; |
119 | if(length) { c = data[ptr++]; length--;} else c = 0; |
118 | if(length) { c = data[ptr++]; length--;} else c = 0; |
120 | 119 | ||
121 | tx_buff[pt++] = '=' + (a >> 2); |
120 | tx_buff[pt++] = '=' + (a >> 2); |
122 | tx_buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
121 | tx_buff[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
123 | tx_buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
122 | tx_buff[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
124 | tx_buff[pt++] = '=' + ( c & 0x3f); |
123 | tx_buff[pt++] = '=' + ( c & 0x3f); |
125 | } |
124 | } |
126 | tx_buff[pt] = 0; |
125 | tx_buff[pt] = 0; |
127 | 126 | ||
128 | //move pointer of tx_buff to data |
127 | //move pointer of tx_buff to data |
129 | data = tx_buff; |
128 | data = tx_buff; |
130 | } |
129 | } |
131 | 130 | ||
132 | // Datensatz nach 8bit Integer |
131 | // Datensatz nach 8bit Integer |
133 | int Parser::dataToChar(int *data , int start, bool is_signed) { |
132 | int Parser::dataToChar(char *data , int start, bool is_signed) { |
134 | int out = (data[start]); |
133 | int out = (data[start]); |
135 | 134 | ||
136 | if ((out > 128) && (is_signed)) |
135 | if ((out > 128) && (is_signed)) |
137 | out = out - 256; |
136 | out = out - 256; |
138 | 137 | ||
139 | return out; |
138 | return out; |
140 | } |
139 | } |
141 | 140 | ||
142 | /** |
141 | /** |
143 | * received char to 8 bit integer |
142 | * received char to 8 bit integer |
144 | */ |
143 | */ |
145 | int Parser::charToData(int data) { |
144 | int Parser::charToData(int data) { |
146 | if (data < 0) |
145 | if (data < 0) |
147 | return data + 256; |
146 | return data + 256; |
148 | return data; |
147 | return data; |
149 | } |
148 | } |
150 | 149 | ||
151 | /** |
150 | /** |
152 | * convert data to 16bit Integer |
151 | * convert data to 16bit Integer |
153 | */ |
152 | */ |
154 | int Parser::dataToInt(int *Data , int Start, bool is_signed) |
153 | int Parser::dataToInt(char *Data , int Start, bool is_signed) |
155 | { |
154 | { |
156 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
155 | int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
157 | 156 | ||
158 | if ((Out > 32767) && (is_signed)) |
157 | if ((Out > 32767) && (is_signed)) |
159 | Out = Out - 65536; |
158 | Out = Out - 65536; |
160 | 159 | ||
161 | return Out; |
160 | return Out; |
162 | 161 | ||
163 | } |
162 | } |
164 | 163 | ||
165 | /** |
164 | /** |
166 | * convert data to 32bit Long |
165 | * convert data to 32bit Long |
167 | */ |
166 | */ |
168 | long Parser::dataToLong(int *Data , int Start, bool is_signed) |
167 | long Parser::dataToLong(char *Data , int Start, bool is_signed) |
169 | { |
168 | { |
170 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
169 | long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
171 | 170 | ||
172 | if ((Out > 32767) && (is_signed)) |
171 | if ((Out > 32767) && (is_signed)) |
173 | Out = Out; |
172 | Out = Out; |
174 | 173 | ||
175 | return Out; |
174 | return Out; |
176 | } |
175 | } |
- | 176 | ||
- | 177 | std::string Parser::dataToString(char * data, int start, int end) |
|
- | 178 | { |
|
- | 179 | char tmp[MAX_DATA_SIZE]; |
|
- | 180 | for (int i = start; i < end; i++) |
|
- | 181 | tmp[i-start] = data[i]; |
|
- | 182 | return std::string(tmp); |
|
- | 183 | } |
|
177 | 184 | ||
178 | float Parser::getFloat(long value, int count) |
185 | float Parser::getFloat(long value, int count) |
179 | { |
186 | { |
180 | long num = pow(10, count); |
187 | long num = pow(10, count); |
181 | 188 | ||
182 | float temp = value; |
189 | float temp = value; |
183 | 190 | ||
184 | return temp / num; |
191 | return temp / num; |
185 | } |
192 | } |
186 | 193 | ||
187 | /** |
194 | /** |
188 | * check CRC |
195 | * check CRC |
189 | */ |
196 | */ |
190 | bool Parser::check_CRC(char * rx, int length) |
197 | bool Parser::check_CRC(char * rx, int length) |
191 | { |
198 | { |
192 | int CRC = 0; |
199 | int CRC = 0; |
193 | 200 | ||
194 | if (rx[1] == 127) |
201 | if (rx[1] == 127) |
195 | { |
202 | { |
196 | rx[1] = 0; |
203 | rx[1] = 0; |
197 | } |
204 | } |
198 | 205 | ||
199 | for(int i=0; i < length-2; i++) |
206 | for(int i=0; i < length-2; i++) |
200 | { |
207 | { |
201 | CRC+=rx[i]; |
208 | CRC+=rx[i]; |
202 | } |
209 | } |
203 | 210 | ||
204 | CRC = CRC % 4096; |
211 | CRC = CRC % 4096; |
205 | 212 | ||
206 | if(rx[length - 2] != ('=' + (CRC / 64))) |
213 | if(rx[length - 2] != ('=' + (CRC / 64))) |
207 | { |
214 | { |
208 | return false; |
215 | return false; |
209 | } |
216 | } |
210 | 217 | ||
211 | if(rx[length - 1] != ('=' + CRC % 64)) |
218 | if(rx[length - 1] != ('=' + CRC % 64)) |
212 | { |
219 | { |
213 | return false; |
220 | return false; |
214 | } |
221 | } |
215 | 222 | ||
216 | return true; |
223 | return true; |
217 | } |
224 | } |
218 | 225 | ||
219 | /** |
226 | /** |
220 | * create CRC and add it to tx |
227 | * create CRC and add it to tx |
221 | */ |
228 | */ |
222 | void Parser::add_CRC(char * tx, int length) |
229 | void Parser::add_CRC(char * tx, int length) |
223 | { |
230 | { |
224 | unsigned int tmpCRC = 0; |
231 | unsigned int tmpCRC = 0; |
225 | 232 | ||
226 | for(int i = 0; i < length; i++) |
233 | for(int i = 0; i < length; i++) |
227 | { |
234 | { |
228 | tmpCRC += tx[i]; |
235 | tmpCRC += tx[i]; |
229 | } |
236 | } |
230 | 237 | ||
231 | tmpCRC %= 4096; |
238 | tmpCRC %= 4096; |
232 | 239 | ||
233 | tx[length-2] = '=' + tmpCRC / 64; |
240 | tx[length] = '=' + tmpCRC / 64; |
234 | tx[length-1] = '=' + tmpCRC % 64; |
241 | tx[length+1] = '=' + tmpCRC % 64; |
235 | tx[length] = '\0'; |
242 | tx[length+2] = '\0'; |
236 | } |
243 | } |
237 | 244 | ||
238 | 245 |