From 1ea90c415879a2ea123af97d0d14b7137aa5a243 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 14:36:37 -0600
Subject: [PATCH] Fix the CRC calculation for java sending

---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 13 ++++---
 .../tests/org/openpilot/uavtalk/TalkTest.java | 34 ++++++++++++-------
 2 files changed, 31 insertions(+), 16 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 92b5585de..d656aa707 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -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;		
 	}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 044ddfd06..91f3aa198 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -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"));
 	}