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| Rev 1539 | Rev 1559 | ||
|---|---|---|---|
| Line 9... | Line 9... | ||
| 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; |
- | |
| Line 21... | Line 24... | ||
| 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 { |
| Line 51... | Line 54... | ||
| 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 | } |
| Line -... | Line 58... | ||
| - | 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; |
| Line 60... | Line 68... | ||
| 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; |
| Line -... | Line 74... | ||
| - | 74 | return word; |
|
| - | 75 | } |
|
| - | 76 | ||
| - | 77 | public int readSignedDWord() throws IOException { |
|
| - | 78 | int byte0 = readByte(); |
|
| - | 79 | int byte1 = readByte(); |
|
| - | 80 | int byte2 = readByte(); |
|
| - | 81 | int byte3 = readByte(); |
|
| 66 | return word; |
82 | return (byte3 << 24) | (byte2 << 16) | (byte1 << 8) | byte0; |
| 67 | } |
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]; |
| Line 92... | Line 108... | ||
| 92 | } |
108 | } |
| 93 | return result; |
109 | return result; |
| 94 | } |
110 | } |
| 95 | } |
111 | } |
| Line 96... | Line 112... | ||
| 96 | 112 | ||
| 97 | MKDataInputStream dis = new MKDataInputStream(); |
113 | MKDataInputStream base64InputStream = new MKDataInputStream(); |
| Line 98... | Line 114... | ||
| 98 | OutputStream nonPacketSpillway = null; //System.err; |
114 | OutputStream nonPacketSpillway = null; //System.err; |
| 99 | 115 | ||
| Line 119... | Line 135... | ||
| 119 | crc += _byte; |
135 | crc += _byte; |
| 120 | return _byte; |
136 | return _byte; |
| 121 | } |
137 | } |
| Line 122... | Line 138... | ||
| 122 | 138 | ||
| 123 | public MKDataInputStream getBase64InputStream() { |
139 | public MKDataInputStream getBase64InputStream() { |
| 124 | return dis; |
140 | return base64InputStream; |
| Line 125... | Line 141... | ||
| 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': { |
| - | 190 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
|
| - | 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()); |
|
| 174 | ChangeParameterSetResponseFrame f = new ChangeParameterSetResponseFrame(address); |
205 | f.setFrameNum(base64InputStream.readByte()); |
| 175 | f.setParameterSetNumber(getBase64InputStream().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()); |
| - | 221 | // f.setMaxItem(getDataInputStream().readByte()); |
|
| - | 222 | f.setText(base64InputStream.readChars(80)); |
|
| - | 223 | result = f; |
|
| - | 224 | break; |
|
| - | 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()); |
|
| 190 | // f.setMaxItem(getDataInputStream().readByte()); |
288 | f.setCurrent(base64InputStream.readWord()); |
| 191 | f.setText(getBase64InputStream().readChars(80)); |
289 | f.setCapacityUsed(base64InputStream.readWord()); |
| 192 | result = f; |
290 | result = f; |
| 193 | break; |
291 | break; |
| 194 | } |
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 | } |
| Line 214... | Line 312... | ||
| 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 | } |
| Line 228... | Line 326... | ||
| 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': { |
| Line 242... | Line 340... | ||
| 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 | } |