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