Rev 1565 | Rev 1573 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1565 | Rev 1568 | ||
---|---|---|---|
1 | package dongfang.mkt.comm; |
1 | package dongfang.mkt.comm; |
2 | 2 | ||
3 | import java.io.IOException; |
3 | import java.io.IOException; |
4 | import java.io.InputStream; |
4 | import java.io.InputStream; |
5 | import java.io.OutputStream; |
5 | import java.io.OutputStream; |
6 | 6 | ||
7 | import dongfang.mkt.datatype.GPSBearingAndRange; |
7 | import dongfang.mkt.datatype.GPSBearingAndRange; |
8 | import dongfang.mkt.datatype.GPSPosition; |
8 | import dongfang.mkt.datatype.GPSPosition; |
9 | import dongfang.mkt.frames.AllDisplaysResponseFrame; |
9 | import dongfang.mkt.frames.AllDisplaysResponseFrame; |
10 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
10 | import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
11 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
11 | import dongfang.mkt.frames.AttitudeDataResponseFrame; |
12 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
12 | import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
13 | import dongfang.mkt.frames.CompassHeadingResponseFrame; |
13 | import dongfang.mkt.frames.CompassHeadingResponseFrame; |
14 | import dongfang.mkt.frames.ConfirmFrame; |
14 | import dongfang.mkt.frames.ConfirmFrame; |
15 | import dongfang.mkt.frames.DebugResponseFrame; |
15 | import dongfang.mkt.frames.DebugResponseFrame; |
16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
19 | import dongfang.mkt.frames.ResponseFrame; |
19 | import dongfang.mkt.frames.ResponseFrame; |
20 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
20 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
21 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
21 | import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
22 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
22 | import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
23 | import dongfang.mkt.frames.VariablesResponseFrame; |
23 | import dongfang.mkt.frames.VariablesResponseFrame; |
24 | import dongfang.mkt.frames.VersionResponseFrame; |
24 | import dongfang.mkt.frames.VersionResponseFrame; |
25 | 25 | ||
26 | public class MKInputStream extends InputStream { |
26 | public class MKInputStream extends InputStream { |
27 | int readByteCnt; |
27 | int readByteCnt; |
28 | class MKDataInputStream { |
28 | class MKDataInputStream { |
29 | int[] inbuf = new int[4]; |
29 | int[] inbuf = new int[4]; |
30 | int[] outbuf = new int[3]; |
30 | int[] outbuf = new int[3]; |
31 | int outbufptr = outbuf.length; // reset to "buffer empty" |
31 | int outbufptr = outbuf.length; // reset to "buffer empty" |
32 | 32 | ||
33 | private boolean decode() throws IOException { |
33 | private boolean decode() throws IOException { |
34 | for (int i = 0; i < 4; i++) { |
34 | for (int i = 0; i < 4; i++) { |
35 | int raw = MKInputStream.this.readByte(); |
35 | int raw = MKInputStream.this.readByte(); |
36 | int in = raw - '='; |
36 | int in = raw - '='; |
37 | if (in < 0 || in > 63) |
37 | if (in < 0 || in > 63) |
38 | return false; |
38 | return false; |
39 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
39 | // throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
40 | inbuf[i] = in; |
40 | inbuf[i] = in; |
41 | readByteCnt++; |
41 | readByteCnt++; |
42 | } |
42 | } |
43 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
43 | outbuf[0] = (inbuf[0] << 2) | (inbuf[1] >>> 4); |
44 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
44 | outbuf[1] = ((inbuf[1] & 0x0f) << 4) | (inbuf[2] >>> 2); |
45 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
45 | outbuf[2] = ((inbuf[2] & 0x03) << 6) | inbuf[3]; |
46 | outbufptr = 0; |
46 | outbufptr = 0; |
47 | return true; |
47 | return true; |
48 | } |
48 | } |
49 | 49 | ||
50 | public void reset() { |
50 | public void reset() { |
51 | outbufptr = outbuf.length; // reset to "buffer empty" |
51 | outbufptr = outbuf.length; // reset to "buffer empty" |
52 | } |
52 | } |
53 | 53 | ||
54 | public int readByte() throws IOException { |
54 | public int readByte() throws IOException { |
55 | if (outbufptr > 2 && !decode()) |
55 | if (outbufptr > 2 && !decode()) |
56 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
56 | throw new IOException("Out of range data received where frame data expected. Probably the frame was shorter than expected (" + readByteCnt + ")!"); |
57 | return outbuf[outbufptr++]; |
57 | return outbuf[outbufptr++]; |
58 | } |
58 | } |
59 | 59 | ||
60 | public int readSignedByte() throws IOException { |
60 | public int readSignedByte() throws IOException { |
61 | byte result = (byte)readByte(); |
61 | byte result = (byte)readByte(); |
62 | return result; |
62 | return result; |
63 | } |
63 | } |
64 | 64 | ||
65 | public int readWord() throws IOException { |
65 | public int readWord() throws IOException { |
66 | int byte0 = readByte(); |
66 | int byte0 = readByte(); |
67 | int byte1 = readByte(); |
67 | int byte1 = readByte(); |
68 | return (byte1 << 8) | byte0; |
68 | return (byte1 << 8) | byte0; |
69 | } |
69 | } |
70 | 70 | ||
71 | public int readSignedWord() throws IOException { |
71 | public int readSignedWord() throws IOException { |
72 | int word = readWord(); |
72 | int word = readWord(); |
73 | if (word > 32767) |
73 | if (word > 32767) |
74 | word = word - 65536; |
74 | word = word - 65536; |
75 | return word; |
75 | return word; |
76 | } |
76 | } |
77 | 77 | ||
78 | public int readSignedDWord() throws IOException { |
78 | public int readSignedDWord() throws IOException { |
79 | int byte0 = readByte(); |
79 | int byte0 = readByte(); |
80 | int byte1 = readByte(); |
80 | int byte1 = readByte(); |
81 | int byte2 = readByte(); |
81 | int byte2 = readByte(); |
82 | int byte3 = readByte(); |
82 | int byte3 = readByte(); |
83 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
83 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
84 | } |
84 | } |
85 | 85 | ||
86 | public int[] readBytes(int length) throws IOException { |
86 | public int[] readBytes(int length) throws IOException { |
87 | int[] result = new int[length]; |
87 | int[] result = new int[length]; |
88 | for (int i = 0; i < length; i++) { |
88 | for (int i = 0; i < length; i++) { |
89 | result[i] = readByte(); |
89 | result[i] = readByte(); |
90 | } |
90 | } |
91 | return result; |
91 | return result; |
92 | } |
92 | } |
93 | 93 | ||
94 | public int[] readWords(int length) throws IOException { |
94 | public int[] readWords(int length) throws IOException { |
95 | int[] result = new int[length]; |
95 | int[] result = new int[length]; |
96 | for (int i = 0; i < length; i++) { |
96 | for (int i = 0; i < length; i++) { |
97 | result[i] = readWord(); |
97 | result[i] = readWord(); |
98 | } |
98 | } |
99 | return result; |
99 | return result; |
100 | } |
100 | } |
101 | 101 | ||
102 | public int[] readSignedWords(int length) throws IOException { |
102 | public int[] readSignedWords(int length) throws IOException { |
103 | int[] result = new int[length]; |
103 | int[] result = new int[length]; |
104 | for (int i = 0; i < length; i++) { |
104 | for (int i = 0; i < length; i++) { |
105 | result[i] = readSignedWord(); |
105 | result[i] = readSignedWord(); |
106 | } |
106 | } |
107 | return result; |
107 | return result; |
108 | } |
108 | } |
109 | 109 | ||
110 | public char[] readChars(int length) throws IOException { |
110 | public char[] readChars(int length) throws IOException { |
111 | char[] result = new char[length]; |
111 | char[] result = new char[length]; |
112 | for (int i = 0; i < length; i++) { |
112 | for (int i = 0; i < length; i++) { |
113 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
113 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
114 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
114 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
115 | // of Unicode, which Java uses for chars) |
115 | // of Unicode, which Java uses for chars) |
116 | result[i] = (char) readByte(); |
116 | result[i] = (char) readByte(); |
117 | } |
117 | } |
118 | return result; |
118 | return result; |
119 | } |
119 | } |
120 | } |
120 | } |
121 | 121 | ||
122 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
122 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
123 | OutputStream nonPacketSpillway = null; //System.err; |
123 | OutputStream nonPacketSpillway = null; //System.err; |
124 | 124 | ||
125 | final InputStream is; |
125 | final InputStream is; |
126 | int crc; |
126 | int crc; |
127 | 127 | ||
128 | public MKInputStream(InputStream is) { |
128 | public MKInputStream(InputStream is) { |
129 | this.is = is; |
129 | this.is = is; |
130 | } |
130 | } |
131 | 131 | ||
132 | @Override |
132 | @Override |
133 | public int read() throws IOException { |
133 | public int read() throws IOException { |
134 | int i; |
134 | int i; |
135 | while ((i=is.read()) == -1); |
135 | while ((i=is.read()) == -1); |
136 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
136 | // System.out.print("Received: " + i + " (as char: " + (char)i + ")\n"); |
137 | return i; |
137 | return i; |
138 | } |
138 | } |
139 | 139 | ||
140 | public int readByte() throws IOException { |
140 | public int readByte() throws IOException { |
141 | int _byte = read(); |
141 | int _byte = read(); |
142 | if (_byte < 0) |
142 | if (_byte < 0) |
143 | throw new IOException("End of Stream!"); |
143 | throw new IOException("End of Stream!"); |
144 | crc += _byte; |
144 | crc += _byte; |
145 | return _byte; |
145 | return _byte; |
146 | } |
146 | } |
147 | 147 | ||
148 | public MKDataInputStream getBase64InputStream() { |
148 | public MKDataInputStream getBase64InputStream() { |
149 | return base64InputStream; |
149 | return base64InputStream; |
150 | } |
150 | } |
151 | 151 | ||
152 | public ResponseFrame getNextFrame() throws IOException { |
152 | public ResponseFrame getNextFrame() throws IOException { |
153 | int c; |
153 | int c; |
154 | while ((c = read()) != '#') { |
154 | while ((c = read()) != '#') { |
155 | // throw it on some scrap-text buffer. |
155 | // throw it on some scrap-text buffer. |
156 | if (nonPacketSpillway != null) |
156 | if (nonPacketSpillway != null) |
157 | nonPacketSpillway.write(c); |
157 | nonPacketSpillway.write(c); |
158 | } |
158 | } |
159 | crc = '#'; |
159 | crc = '#'; |
160 | base64InputStream.reset(); |
160 | base64InputStream.reset(); |
161 | int address = readByte() - 'a'; |
161 | int address = readByte() - 'a'; |
162 | int iid = readByte(); |
162 | int iid = readByte(); |
163 | readByteCnt = 0; |
163 | readByteCnt = 0; |
164 | //RESPONSE_IDS id = getResponseType(iid); |
164 | //RESPONSE_IDS id = getResponseType(iid); |
165 | ResponseFrame result; |
165 | ResponseFrame result; |
166 | // System.out.println("Received a: " + (char)iid + " from " + address); |
166 | // System.out.println("Received a: " + (char)iid + " from " + address); |
167 | switch (iid) { |
167 | switch (iid) { |
168 | case 'A': { |
168 | case 'A': { |
169 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
169 | AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
170 | f.setChannel(base64InputStream.readByte()); |
170 | f.setChannel(base64InputStream.readByte()); |
171 | f.setLabel(base64InputStream.readChars(16)); |
171 | f.setLabel(base64InputStream.readChars(16)); |
172 | result = f; |
172 | result = f; |
173 | break; |
173 | break; |
174 | } |
174 | } |
175 | case 'B': { |
175 | case 'B': { |
176 | ConfirmFrame f = new ConfirmFrame(address); |
176 | ConfirmFrame f = new ConfirmFrame(address); |
177 | f.setFrameNum(base64InputStream.readByte()); |
177 | f.setFrameNum(base64InputStream.readByte()); |
178 | result = f; |
178 | result = f; |
179 | break; |
179 | break; |
180 | } |
180 | } |
181 | case 'C': { |
181 | case 'C': { |
182 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
182 | AttitudeDataResponseFrame f = new AttitudeDataResponseFrame(address); |
183 | f.setPitch(base64InputStream.readSignedWord()); |
183 | f.setPitch(base64InputStream.readSignedWord()); |
184 | f.setRoll(base64InputStream.readSignedWord()); |
184 | f.setRoll(base64InputStream.readSignedWord()); |
185 | f.setHeading(base64InputStream.readSignedWord()); |
185 | f.setHeading(base64InputStream.readSignedWord()); |
186 | f.setExpansion(base64InputStream.readBytes(8)); |
186 | f.setExpansion(base64InputStream.readBytes(8)); |
187 | result = f; |
187 | result = f; |
188 | break; |
188 | break; |
189 | } |
189 | } |
190 | case 'D': { |
190 | case 'D': { |
191 | DebugResponseFrame f = new DebugResponseFrame(address); |
191 | DebugResponseFrame f = new DebugResponseFrame(address); |
192 | for (int i=0; i<2; i++) |
192 | for (int i=0; i<2; i++) |
193 | f.setDigital(i, base64InputStream.readByte()); |
193 | f.setDigital(i, base64InputStream.readByte()); |
194 | for (int i=0; i<32; i++) |
194 | for (int i=0; i<32; i++) |
195 | f.setAnalog(i, base64InputStream.readSignedWord()); |
195 | f.setAnalog(i, base64InputStream.readSignedWord()); |
196 | result = f; |
196 | result = f; |
197 | break; |
197 | break; |
198 | } |
198 | } |
199 | case 'F': { |
199 | case 'F': { |
200 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
200 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
201 | f.setParameterSetNumber(base64InputStream.readByte()); |
201 | f.setParameterSetNumber(base64InputStream.readByte()); |
202 | result = f; |
202 | result = f; |
203 | break; |
203 | break; |
204 | } |
204 | } |
205 | case 'G': { |
205 | case 'G': { |
206 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
206 | ReadExternalControlResponseFrame f = new ReadExternalControlResponseFrame(address); |
207 | f.setDigital(base64InputStream.readBytes(2)); |
207 | f.setDigital(base64InputStream.readBytes(2)); |
208 | f.setRemoteButtons(base64InputStream.readByte()); |
208 | f.setRemoteButtons(base64InputStream.readByte()); |
209 | f.setPitch(base64InputStream.readByte()); |
209 | f.setPitch(base64InputStream.readByte()); |
210 | f.setRoll(base64InputStream.readByte()); |
210 | f.setRoll(base64InputStream.readByte()); |
211 | f.setYaw(base64InputStream.readByte()); |
211 | f.setYaw(base64InputStream.readByte()); |
212 | f.setThrottle(base64InputStream.readByte()); |
212 | f.setThrottle(base64InputStream.readByte()); |
213 | f.setHeight(base64InputStream.readByte()); |
213 | f.setHeight(base64InputStream.readByte()); |
214 | f.setCommand(base64InputStream.readByte()); |
214 | f.setCommand(base64InputStream.readByte()); |
215 | f.setFrameNum(base64InputStream.readByte()); |
215 | f.setFrameNum(base64InputStream.readByte()); |
216 | f.setArgument(base64InputStream.readByte()); |
216 | f.setArgument(base64InputStream.readByte()); |
217 | result = f; |
217 | result = f; |
218 | break; |
218 | break; |
219 | } |
219 | } |
220 | case 'H': { |
220 | case 'H': { |
221 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
221 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
222 | f.setLine(base64InputStream.readByte()); |
222 | f.setLine(base64InputStream.readByte()); |
223 | //f.setMaxItem(getDataInputStream().readByte()); |
223 | //f.setMaxItem(getDataInputStream().readByte()); |
224 | f.setText(base64InputStream.readChars(20)); |
224 | f.setText(base64InputStream.readChars(20)); |
225 | result = f; |
225 | result = f; |
226 | break; |
226 | break; |
227 | } |
227 | } |
228 | case 'k' : { |
228 | case 'k' : { |
229 | CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
229 | CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
230 | base64InputStream.readSignedWords(2); |
230 | base64InputStream.readSignedWords(2); |
231 | base64InputStream.readBytes(2); |
231 | base64InputStream.readBytes(2); |
232 | base64InputStream.readByte(); |
232 | base64InputStream.readByte(); |
233 | base64InputStream.readByte(); |
233 | base64InputStream.readByte(); |
234 | result = f; |
234 | result = f; |
235 | break; |
235 | break; |
236 | } |
236 | } |
237 | case 'L': { |
237 | case 'L': { |
238 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
238 | AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
239 | f.setItem(base64InputStream.readByte()); |
239 | f.setItem(base64InputStream.readByte()); |
240 | // f.setMaxItem(getDataInputStream().readByte()); |
240 | // f.setMaxItem(getDataInputStream().readByte()); |
241 | f.setText(base64InputStream.readChars(80)); |
241 | f.setText(base64InputStream.readChars(80)); |
242 | result = f; |
242 | result = f; |
243 | break; |
243 | break; |
244 | } |
244 | } |
245 | case 'O': { |
245 | case 'O': { |
246 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
246 | OSDDataResponseFrame f = new OSDDataResponseFrame(address); |
247 | f.setVersion(base64InputStream.readByte()); |
247 | f.setVersion(base64InputStream.readByte()); |
248 | 248 | ||
249 | GPSPosition pos = new GPSPosition(); |
249 | GPSPosition pos = new GPSPosition(); |
250 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
250 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
251 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
251 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
252 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
252 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
253 | pos.setStatus(base64InputStream.readByte()); |
253 | pos.setStatus(base64InputStream.readByte()); |
254 | f.setCurrentPosition(pos); |
254 | f.setCurrentPosition(pos); |
255 | 255 | ||
256 | pos = new GPSPosition(); |
256 | pos = new GPSPosition(); |
257 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
257 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
258 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
258 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
259 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
259 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
260 | pos.setStatus(base64InputStream.readByte()); |
260 | pos.setStatus(base64InputStream.readByte()); |
261 | f.setTargetPosition(pos); |
261 | f.setTargetPosition(pos); |
262 | 262 | ||
263 | GPSBearingAndRange rnb = new GPSBearingAndRange(); |
263 | GPSBearingAndRange rnb = new GPSBearingAndRange(); |
264 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
264 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
265 | rnb.setBearing(base64InputStream.readSignedWord()); |
265 | rnb.setBearing(base64InputStream.readSignedWord()); |
266 | f.setCurrentToTarget(rnb); |
266 | f.setCurrentToTarget(rnb); |
267 | 267 | ||
268 | pos = new GPSPosition(); |
268 | pos = new GPSPosition(); |
269 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
269 | pos.setLongitude(((double)base64InputStream.readSignedDWord())/1E7); |
270 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
270 | pos.setLatitude(((double)base64InputStream.readSignedDWord())/1E7); |
271 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
271 | pos.setAltitude(((double)base64InputStream.readSignedDWord())/1E3); |
272 | pos.setStatus(base64InputStream.readByte()); |
272 | pos.setStatus(base64InputStream.readByte()); |
273 | f.setHomePosition(pos); |
273 | f.setHomePosition(pos); |
274 | 274 | ||
275 | rnb = new GPSBearingAndRange(); |
275 | rnb = new GPSBearingAndRange(); |
276 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
276 | rnb.setDistance(((double)base64InputStream.readWord())/10.0); |
277 | rnb.setBearing(base64InputStream.readSignedWord()); |
277 | rnb.setBearing(base64InputStream.readSignedWord()); |
278 | f.setCurrentToHome(rnb); |
278 | f.setCurrentToHome(rnb); |
279 | 279 | ||
280 | f.setWaypointIndex(base64InputStream.readByte()); |
280 | f.setWaypointIndex(base64InputStream.readByte()); |
281 | f.setWaypointCount(base64InputStream.readByte()); |
281 | f.setWaypointCount(base64InputStream.readByte()); |
282 | f.setNumberOfSatellites(base64InputStream.readByte()); |
282 | f.setNumberOfSatellites(base64InputStream.readByte()); |
283 | 283 | ||
284 | // This stunt is a metric unit conversion: The height was supposed (H&I) to be in integral 5cm steps. |
284 | // This stunt is a metric unit conversion: The height was supposed (H&I) to be in integral 5cm steps. |
285 | // However there is error factor in the measurement of 24% too much. |
285 | // However there is error factor in the measurement of 24% too much. |
286 | // h[m] = h[int] * 0.05 / 1.24 = h[int] |
286 | // h[m] = h[int] * 0.05 / 1.24 = h[int] |
287 | f._setHeightByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
287 | f._setHeightByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
288 | 288 | ||
289 | f.setVerticalVelocityByPressure(base64InputStream.readSignedWord()); |
289 | f.setVerticalVelocityByPressure(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); // clueless! |
290 | f.setFlightTime(base64InputStream.readWord()); |
290 | f.setFlightTime(base64InputStream.readWord()); |
291 | f.setBatteryVoltage(base64InputStream.readByte()); |
291 | f.setBatteryVoltage(base64InputStream.readByte()); |
292 | f.setGroundSpeed(base64InputStream.readWord()); |
292 | f.setGroundSpeed(((double)base64InputStream.readWord()) / 1E2); |
293 | 293 | ||
294 | f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
294 | f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
295 | f.setCompassHeading(base64InputStream.readSignedWord()); |
295 | f.setCompassHeading(base64InputStream.readSignedWord()); |
296 | 296 | ||
297 | f.setPitchAngle(base64InputStream.readSignedByte()); |
297 | f.setPitchAngle(base64InputStream.readSignedByte()); |
298 | f.setRollAngle(base64InputStream.readSignedByte()); |
298 | f.setRollAngle(base64InputStream.readSignedByte()); |
299 | 299 | ||
300 | f.setRcQuality(base64InputStream.readByte()); |
300 | f.setRcQuality(base64InputStream.readByte()); |
301 | f.setFcFlags(base64InputStream.readByte()); |
301 | f.setFcFlags(base64InputStream.readByte()); |
302 | f.setNcFlags(base64InputStream.readByte()); |
302 | f.setNcFlags(base64InputStream.readByte()); |
303 | f.setErrorCode(base64InputStream.readByte()); |
303 | f.setErrorCode(base64InputStream.readByte()); |
304 | f.setOperatingRadius(base64InputStream.readByte()); |
304 | f.setOperatingRadius(base64InputStream.readByte()); |
305 | 305 | ||
306 | f.setVerticalVelocityByGPS(base64InputStream.readSignedWord()); |
306 | f.setVerticalVelocityByGPS(((double)base64InputStream.readSignedWord()) / 1E2); |
307 | f.setTargetLoiterTime(base64InputStream.readByte()); |
307 | f.setTargetLoiterTime(base64InputStream.readByte()); |
308 | f.setFcFlags2(base64InputStream.readByte()); |
308 | f.setFcFlags2(base64InputStream.readByte()); |
309 | f.setSetpointForAltitude(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
309 | f.setSetpointForAltitude(((double)base64InputStream.readSignedWord()) * 0.05 / 1.24); |
310 | f.setThrottle(base64InputStream.readByte()); |
310 | f.setThrottle(base64InputStream.readByte()); |
311 | f.setCurrent(base64InputStream.readWord()); |
311 | f.setCurrent(base64InputStream.readWord()); |
312 | f.setCapacityUsed(base64InputStream.readWord()); |
312 | f.setCapacityUsed(base64InputStream.readWord()); |
313 | result = f; |
313 | result = f; |
314 | break; |
314 | break; |
315 | } |
315 | } |
316 | case 'S': { |
316 | case 'S': { |
317 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
317 | UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
318 | f.setParameterSetNumber(base64InputStream.readByte()); |
318 | f.setParameterSetNumber(base64InputStream.readByte()); |
319 | result = f; |
319 | result = f; |
320 | break; |
320 | break; |
321 | } |
321 | } |
322 | case 'T': { |
322 | case 'T': { |
323 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
323 | MotorTestResponseFrame f = new MotorTestResponseFrame(address); |
324 | result = f; |
324 | result = f; |
325 | break; |
325 | break; |
326 | } |
326 | } |
327 | /* |
327 | /* |
328 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
328 | * We have a collision with the 'x' token: Also used for VariablesRequest. |
329 | case 'x': { |
329 | case 'x': { |
330 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
330 | LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address); |
331 | f.setByte(getDataInputStream().readByte()); |
331 | f.setByte(getDataInputStream().readByte()); |
332 | f.setWord(getDataInputStream().readWord()); |
332 | f.setWord(getDataInputStream().readWord()); |
333 | f.setChararray(getDataInputStream().readChars(8)); |
333 | f.setChararray(getDataInputStream().readChars(8)); |
334 | result = f; |
334 | result = f; |
335 | break; |
335 | break; |
336 | } |
336 | } |
337 | */ |
337 | */ |
338 | case 'V': { |
338 | case 'V': { |
339 | VersionResponseFrame f = new VersionResponseFrame(address); |
339 | VersionResponseFrame f = new VersionResponseFrame(address); |
340 | f.setSWMajor(base64InputStream.readByte()); |
340 | f.setSWMajor(base64InputStream.readByte()); |
341 | f.setSWMinor(base64InputStream.readByte()); |
341 | f.setSWMinor(base64InputStream.readByte()); |
342 | f.setProtoMajor(base64InputStream.readByte()); |
342 | f.setProtoMajor(base64InputStream.readByte()); |
343 | f.setProtoMinor(base64InputStream.readByte()); |
343 | f.setProtoMinor(base64InputStream.readByte()); |
344 | f.setSWPatch(base64InputStream.readByte()); |
344 | f.setSWPatch(base64InputStream.readByte()); |
345 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
345 | f.setHardwareErrors(base64InputStream.readBytes(5)); |
346 | result = f; |
346 | result = f; |
347 | break; |
347 | break; |
348 | } |
348 | } |
349 | 349 | ||
350 | // This is my own creation. The ID collides with the waypoint one of FC. |
350 | // This is my own creation. The ID collides with the waypoint one of FC. |
351 | case 'X': { |
351 | case 'X': { |
352 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
352 | VariablesResponseFrame f = new VariablesResponseFrame(address); |
353 | f.setVariables(base64InputStream.readWords(8)); |
353 | f.setVariables(base64InputStream.readWords(8)); |
354 | result = f; |
354 | result = f; |
355 | break; |
355 | break; |
356 | } |
356 | } |
357 | case 'w': { |
357 | case 'w': { |
358 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
358 | SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address); |
359 | // do stuff. |
359 | // do stuff. |
360 | /* |
360 | /* |
361 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
361 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
362 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
362 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
363 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
363 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
364 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
364 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
365 | ToMk3Mag.CalState = compassCalState; |
365 | ToMk3Mag.CalState = compassCalState; |
366 | */ |
366 | */ |
367 | // Waste 8 bytes to make CRC match. |
367 | // Waste 8 bytes to make CRC match. |
368 | base64InputStream.readBytes(8); |
368 | base64InputStream.readBytes(8); |
369 | result = f; |
369 | result = f; |
370 | break; |
370 | break; |
371 | } |
371 | } |
372 | case 'Q': |
372 | case 'Q': |
373 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
373 | UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
374 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
374 | f.setConfigurationSetNumber(base64InputStream.readByte()); |
375 | f.setConfigurationVersion(base64InputStream.readByte()); |
375 | f.setConfigurationVersion(base64InputStream.readByte()); |
376 | int length = base64InputStream.readByte(); |
376 | int length = base64InputStream.readByte(); |
377 | f.setData(base64InputStream.readBytes(length)); |
377 | f.setData(base64InputStream.readBytes(length)); |
378 | result = f; |
378 | result = f; |
379 | break; |
379 | break; |
380 | default: |
380 | default: |
381 | int b; |
381 | int b; |
382 | int count = 0; |
382 | int count = 0; |
383 | while((b=read()) != '\r') { |
383 | while((b=read()) != '\r') { |
384 | count++; |
384 | count++; |
385 | } |
385 | } |
386 | System.err.println("Unknown frame " + (char)iid + " received from " + address); |
386 | System.err.println("Unknown frame " + (char)iid + " received from " + address); |
387 | System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
387 | System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
388 | System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
388 | System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
389 | result = null; |
389 | result = null; |
390 | } |
390 | } |
391 | 391 | ||
392 | int receivedCRC = (read() - '=') << 6; |
392 | int receivedCRC = (read() - '=') << 6; |
393 | receivedCRC += (read() - '='); |
393 | receivedCRC += (read() - '='); |
394 | crc %= 4096; |
394 | crc %= 4096; |
395 | if (receivedCRC != crc) { |
395 | if (receivedCRC != crc) { |
396 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
396 | /// System.err.println("Expected CRC: " + crc + ", got CRC: " + receivedCRC); |
397 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
397 | throw new IOException("CRC mismatch! Calculated crc: " + (int)crc + "; received check crc: " + receivedCRC + ", difference: " + Math.abs(crc - receivedCRC)); |
398 | } |
398 | } |
399 | if (read() != '\r') { |
399 | if (read() != '\r') { |
400 | throw new IOException("CR at end of frame missing"); |
400 | throw new IOException("CR at end of frame missing"); |
401 | } |
401 | } |
402 | 402 | ||
403 | return result; |
403 | return result; |
404 | } |
404 | } |
405 | } |
405 | } |
406 | 406 |