rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

Fix the CRC calculation for java sending

Browse Source
This commit is contained in:
James Cotton 2011-03-10 14:36:37 -06:00
parent e12cef6b4b
commit 03b9bbbb8a
2 changed files with 31 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
View File

@ -175,7 +175,12 @@ public class UAVTalk extends Observable{
e.printStackTrace();
break;
}
//System.out.println("Received byte " + val + " in state + " + rxState);
if(val == -1) {
System.out.println("End of stream, terminating processInputStream thread");
break;
}
System.out.println("Received byte " + val + " in state + " + rxState);
processInputByte(val);
}
}
@ -760,7 +765,7 @@ public class UAVTalk extends Observable{
}
// Calculate checksum
bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
bbuf.put((byte) (updateCRC(0, bbuf.array(), bbuf.position()) & 0xff));
try {
int packlen = bbuf.position();
@ -818,9 +823,9 @@ public class UAVTalk extends Observable{
{
return crc_table[crc ^ (data & 0xff)];
}
int updateCRC(int crc, byte [] data)
int updateCRC(int crc, byte [] data, int length)
{
for (int i = 0; i < data.length; i++)
for (int i = 0; i < length; i++)
crc = updateCRC(crc, (int) data[i]);
return crc;
}

34
androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
View File

@ -28,6 +28,16 @@ public class TalkTest {
static final int PORT_NUM = 7777;
boolean succeed = false;
byte[] flightStatsConnected =
{0x3c,0x20,0x1d,0x00,
(byte) 0x5e,(byte) 0x26,(byte) 0x0c,(byte) 0x66,
0x03,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,(byte) 0xAE};
@BeforeClass
public static void setUpBeforeClass() throws Exception {
objMngr = new UAVObjectManager();
@ -89,40 +99,40 @@ public class TalkTest {
obj.getField("Status").setValue("Connected");
talk.sendObject(obj, false, false);
System.out.println("Size: " + os.size());
byte [] array = os.toByteArray();
for(int i = 0; i < array.length; i++) {
System.out.print("0x" + Integer.toHexString((int) array[i] & 0xff));
System.out.print("/0x" + Integer.toHexString((int) flightStatsConnected[i] & 0xff));
if(i != array.length-1)
System.out.print(", ");
System.out.print("\n");
}
System.out.print("\n");
for(int i = 0; i < array.length; i++)
assertEquals(os.toByteArray()[i], flightStatsConnected[i]);
}
@Test
public void testReceiveObject() {
ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
public void testReceiveObject() throws InterruptedException {
ByteArrayInputStream is = new ByteArrayInputStream(flightStatsConnected, 0, flightStatsConnected.length);
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
// Send object to create the test packet (should hard code in test string)
UAVTalk talk = new UAVTalk(is,os,objMngr);
// Make the Status wrong initially
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.getField("Status").setValue("Connected");
talk.sendObject(obj, false, false);
obj.getField("Status").setValue("Disconnected");
// Test receiving from that stream
is = new ByteArrayInputStream(os.toByteArray(), 0, os.size());
talk = new UAVTalk(is,os,objMngr);
UAVTalk talk = new UAVTalk(is,os,objMngr);
Thread inputStream = talk.getInputProcessThread();
inputStream.start();
Thread.sleep(1000);
System.out.println("Should be FlightTelemetry Stats:");
System.out.println(objMngr.getObject("FlightTelemetryStats").toString());
fail("Not working yet");
assertEquals(obj.getField("Status").getValue(), new String("Connected"));
}