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