From 8e7fd4da8133e21afa2ecf8e944acbff589d2a40 Mon Sep 17 00:00:00 2001
From: ligi <ligi>
Date: Sat, 9 Apr 2011 04:32:26 +0000
Subject: [PATCH] adding juavtalk

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3132 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../openpilotgcs/src/libs/juavtalk/build.xml  |  39 +++++++
 .../src/org/openpilot/uavtalk/CRC8.java       |  86 +++++++++++++++
 .../src/org/openpilot/uavtalk/UAVObject.java  |  69 ++++++++++++
 .../uavtalk/UAVObjectFieldDescription.java    |  89 +++++++++++++++
 .../openpilot/uavtalk/UAVObjectMetaData.java  | 100 +++++++++++++++++
 .../uavtalk/UAVObjectsInterface.java          |  37 +++++++
 .../openpilot/uavtalk/UAVTalkDefinitions.java |  57 ++++++++++
 .../org/openpilot/uavtalk/UAVTalkHelper.java  | 102 ++++++++++++++++++
 .../org/openpilot/uavtalk/ValueParser.java    |  34 ++++++
 9 files changed, 613 insertions(+)
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/build.xml
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/CRC8.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObject.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectFieldDescription.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectMetaData.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectsInterface.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkDefinitions.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkHelper.java
 create mode 100644 ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/ValueParser.java

diff --git a/ground/openpilotgcs/src/libs/juavtalk/build.xml b/ground/openpilotgcs/src/libs/juavtalk/build.xml
new file mode 100644
index 000000000..f9ec55d5b
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/build.xml
@@ -0,0 +1,39 @@
+<project default="package">
+
+  <property name="version.num" value="0.1.1" />
+  <property name="build.dir" value="../../../../../build/juavtalk"/>
+  <property name="jar.file" value="${build.dir}/juavtalk.jar"/>
+  <property name="src.dir" value="src"/>
+  <property name="classes.dir" 	value="${build.dir}/classes"/>
+
+	
+  <target name="compile" depends="clean">
+    <mkdir dir="${build.dir}" />
+    <mkdir dir="${classes.dir}" />
+    <javac srcdir="${src.dir}" destdir="${classes.dir}" />
+  </target>
+  
+  <target name="jar" depends="compile">
+
+     <manifest file="${build.dir}/MANIFEST.MF">
+        <attribute name="Built-By" value="${user.name}" />
+        <attribute name="Implementation-Version" value="${version.num}"/> 
+    </manifest>
+
+    <jar destfile="${jar.file}"
+         basedir="${classes.dir}"
+         includes="**/*.class"
+         manifest="${build.dir}/MANIFEST.MF"
+         />
+  </target>
+
+  <target name="clean">
+       <delete dir="${build.dir}" />
+       <delete>
+         <fileset dir="." includes="${jar.file}"/>
+       </delete>  
+  </target>
+  
+  <target name="package" depends="compile,jar" />
+</project>
+
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/CRC8.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/CRC8.java
new file mode 100644
index 000000000..6a13e886f
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/CRC8.java
@@ -0,0 +1,86 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+/**
+ ******************************************************************************
+ *
+ * @file       CRC8.java   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      functions to calculate CRC8 checksums for usage in the UAVTalk-Protocol
+ *
+ ****************************************************************************
+*/
+public class CRC8 {
+
+	/**
+	* update a CRC8 value with one byte of data
+	* 
+	* @param crc - start CRC8 Value
+	* @param data - data byte to update the CRC8-Checksum with
+	* @return - the new CRC value
+	*/
+	public static byte byteUpdate(byte crc, byte data) {
+		return (byte)CRC8_TABLE[crc&0xFF ^ data&0xFF];
+	}
+	
+	/**
+	* update a CRC8 value with an byte-array
+	* 
+	* @param crc - start CRC8 Value
+	* @param data - data byte-array to update the CRC8-Checksum with
+	* @return - the new CRC value
+	*/
+	public static byte  arrayUpdate(byte crc, byte[] data, int length) {
+		for (int i=0;i<length;i++)
+	        crc = CRC8_TABLE[(crc ^ data[i])&0xFF];
+	    return crc;
+	}
+
+	/** CRC lookup table - values from PYCRC **/ 
+	private final static byte [] CRC8_TABLE = {
+		(byte)0x00, (byte)0x07, (byte)0x0e, (byte)0x09, (byte)0x1c, (byte)0x1b, (byte)0x12, (byte)0x15, (byte)0x38,
+		(byte)0x3f, (byte)0x36, (byte)0x31, (byte)0x24, (byte)0x23, (byte)0x2a, (byte)0x2d, (byte)0x70, (byte)0x77,
+		(byte)0x7e, (byte)0x79, (byte)0x6c, (byte)0x6b, (byte)0x62, (byte)0x65, (byte)0x48, (byte)0x4f, (byte)0x46, 
+		(byte)0x41, (byte)0x54, (byte)0x53, (byte)0x5a, (byte)0x5d, (byte)0xe0, (byte)0xe7, (byte)0xee, (byte)0xe9, 
+		(byte)0xfc, (byte)0xfb, (byte)0xf2, (byte)0xf5, (byte)0xd8, (byte)0xdf, (byte)0xd6, (byte)0xd1, (byte)0xc4, 
+		(byte)0xc3, (byte)0xca, (byte)0xcd, (byte)0x90, (byte)0x97, (byte)0x9e, (byte)0x99, (byte)0x8c, (byte)0x8b, 
+		(byte)0x82, (byte)0x85, (byte)0xa8, (byte)0xaf, (byte)0xa6, (byte)0xa1, (byte)0xb4, (byte)0xb3, (byte)0xba, 
+		(byte)0xbd, (byte)0xc7, (byte)0xc0, (byte)0xc9, (byte)0xce, (byte)0xdb, (byte)0xdc, (byte)0xd5, (byte)0xd2,
+		(byte)0xff, (byte)0xf8, (byte)0xf1, (byte)0xf6, (byte)0xe3, (byte)0xe4, (byte)0xed, (byte)0xea, (byte)0xb7, 
+		(byte)0xb0, (byte)0xb9, (byte)0xbe, (byte)0xab, (byte)0xac, (byte)0xa5, (byte)0xa2, (byte)0x8f, (byte)0x88, 
+		(byte)0x81, (byte)0x86, (byte)0x93, (byte)0x94, (byte)0x9d, (byte)0x9a, (byte)0x27, (byte)0x20, (byte)0x29, 
+		(byte)0x2e, (byte)0x3b, (byte)0x3c, (byte)0x35, (byte)0x32, (byte)0x1f, (byte)0x18, (byte)0x11, (byte)0x16, 
+		(byte)0x03, (byte)0x04, (byte)0x0d, (byte)0x0a, (byte)0x57, (byte)0x50, (byte)0x59, (byte)0x5e, (byte)0x4b, 
+		(byte)0x4c, (byte)0x45, (byte)0x42, (byte)0x6f, (byte)0x68, (byte)0x61, (byte)0x66, (byte)0x73, (byte)0x74, 
+		(byte)0x7d, (byte)0x7a, (byte)0x89, (byte)0x8e, (byte)0x87, (byte)0x80, (byte)0x95, (byte)0x92, (byte)0x9b,
+		(byte)0x9c, (byte)0xb1, (byte)0xb6, (byte)0xbf, (byte)0xb8, (byte)0xad, (byte)0xaa, (byte)0xa3, (byte)0xa4,
+		(byte)0xf9, (byte)0xfe, (byte)0xf7, (byte)0xf0, (byte)0xe5, (byte)0xe2, (byte)0xeb, (byte)0xec, (byte)0xc1, 
+		(byte)0xc6, (byte)0xcf, (byte)0xc8, (byte)0xdd, (byte)0xda, (byte)0xd3, (byte)0xd4, (byte)0x69, (byte)0x6e, 
+		(byte)0x67, (byte)0x60, (byte)0x75, (byte)0x72, (byte)0x7b, (byte)0x7c, (byte)0x51, (byte)0x56, (byte)0x5f, 
+		(byte)0x58, (byte)0x4d, (byte)0x4a, (byte)0x43, (byte)0x44, (byte)0x19, (byte)0x1e, (byte)0x17, (byte)0x10, 
+		(byte)0x05, (byte)0x02, (byte)0x0b, (byte)0x0c, (byte)0x21, (byte)0x26, (byte)0x2f, (byte)0x28, (byte)0x3d, 
+		(byte)0x3a, (byte)0x33, (byte)0x34, (byte)0x4e, (byte)0x49, (byte)0x40, (byte)0x47, (byte)0x52, (byte)0x55, 
+		(byte)0x5c, (byte)0x5b, (byte)0x76, (byte)0x71, (byte)0x78, (byte)0x7f, (byte)0x6a, (byte)0x6d, (byte)0x64, 
+		(byte)0x63, (byte)0x3e, (byte)0x39, (byte)0x30, (byte)0x37, (byte)0x22, (byte)0x25, (byte)0x2c, (byte)0x2b, 
+		(byte)0x06, (byte)0x01, (byte)0x08, (byte)0x0f, (byte)0x1a, (byte)0x1d, (byte)0x14, (byte)0x13, (byte)0xae, 
+		(byte)0xa9, (byte)0xa0, (byte)0xa7, (byte)0xb2, (byte)0xb5, (byte)0xbc, (byte)0xbb, (byte)0x96, (byte)0x91,
+		(byte)0x98, (byte)0x9f, (byte)0x8a, (byte)0x8d, (byte)0x84, (byte)0x83, (byte)0xde, (byte)0xd9, (byte)0xd0, 
+		(byte)0xd7, (byte)0xc2, (byte)0xc5, (byte)0xcc, (byte)0xcb, (byte)0xe6, (byte)0xe1, (byte)0xe8, (byte)0xef,
+		(byte)0xfa, (byte)0xfd, (byte)0xf4, (byte)0xf3
+	};
+}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObject.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObject.java
new file mode 100644
index 000000000..0c2c1ab03
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObject.java
@@ -0,0 +1,69 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+import org.openpilot.uavtalk.UAVObjectFieldDescription;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      abstract class for an UAVObject
+ *
+ ****************************************************************************
+*/
+public abstract class UAVObject {
+
+    abstract public int getObjID();
+    abstract public String getObjName();
+    abstract public String getObjDescription();
+
+    abstract public Object getField(int fieldid,int arr_pos);
+    abstract public void setField(int fieldid,int arr_pos,Object val);
+    
+    public byte[] serialize() {
+    	getMetaData().last_serialize=System.currentTimeMillis();
+    	return new byte[0];
+    }
+    
+    public void deserialize(byte[] data) {
+    	deserialize(data,0);
+    }
+    
+    public void deserialize(byte[] data,int offset) {
+    	getMetaData().last_deserialize=System.currentTimeMillis();
+    }
+    
+    abstract public UAVObjectFieldDescription[] getFieldDescriptions(); 
+    
+    private UAVObjectMetaData myMetaData=null;
+    
+    public UAVObjectMetaData getMetaData() {
+    	if (myMetaData==null) {
+    		myMetaData=new UAVObjectMetaData();
+    		setGeneratedMetaData();
+    	}
+    	return myMetaData;
+    }
+    
+    abstract public void setGeneratedMetaData();
+
+    public int getDataLength() {
+    	return serialize().length;
+    }
+}
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectFieldDescription.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectFieldDescription.java
new file mode 100644
index 000000000..0f7a7d61c
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectFieldDescription.java
@@ -0,0 +1,89 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVObjectFieldDescription.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Class to deal with the description of an UAVObject Field
+ *
+ ****************************************************************************
+*/
+public class UAVObjectFieldDescription {
+	private String unit;
+	private String name;
+	private byte type;
+		
+	public final static byte FIELDTYPE_INT8 = 0;
+	public final static byte FIELDTYPE_INT16 = 1;
+	public final static byte FIELDTYPE_INT32 =2;
+	public final static byte FIELDTYPE_UINT8 =3;
+	public final static byte FIELDTYPE_UINT16 =4;
+	public final static byte FIELDTYPE_UINT32 =5;
+	public final static byte FIELDTYPE_FLOAT32 =6;
+	public final static byte FIELDTYPE_ENUM =7;
+
+	private int objid;
+	private byte fieldid;
+	
+	private String[] enumOptions=new String[] {};
+	private String[] elementNames;
+
+	/**
+	 * @param name - the fields name
+	 * @param unit - the unit in which the fields value is
+	 * @param enumOptions - if field is enumeration - here are the options - otherwise null
+	 * @param elementNames - if field is array - here are the names for the elements
+	 */
+	public UAVObjectFieldDescription(String name,int objid,byte fieldid,byte type,String unit,String[] enumOptions,String[] elementNames) {
+		this.name=name;
+		this.unit=unit;
+		this.enumOptions=enumOptions;
+		this.elementNames=elementNames;
+		this.objid=objid;
+		this.fieldid=fieldid;
+		this.type=type;
+	}
+	
+	public String getUnit() {
+		return unit;
+	}
+	public String getName() {
+		return name;
+	}
+	public String[] getEnumOptions() {
+		return enumOptions;
+	}
+	public String[] getElementNames() {
+		return elementNames;
+	}
+
+	public int getObjId() {
+		return objid;
+	}
+	
+	public byte getFieldId() {
+		return fieldid;
+	}
+
+	public byte getType() {
+		return type;
+	}
+	
+}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectMetaData.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectMetaData.java
new file mode 100644
index 000000000..289264260
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectMetaData.java
@@ -0,0 +1,100 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVObjectMetaData.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Class to handle the metadata of an UAVObject
+ *
+ ****************************************************************************
+*/
+public class UAVObjectMetaData {
+
+	public final static byte ACCESS_READWRITE=0;
+	public final static byte ACCESS_READONLY=1;
+	public final static byte ACCESS_WRITEONLY=2;
+
+	public final static String getAccessString(byte access_mode) {
+		switch (access_mode) {
+		case ACCESS_READWRITE:
+			return "Read/Write";
+		case ACCESS_WRITEONLY:
+			return "Write only";
+		case ACCESS_READONLY:
+			return "Read only";
+		default:
+			return "unknowm Access Mode";
+		}
+	}
+	
+	public final static byte UPDATEMODE_NEVER=0;
+	public final static byte UPDATEMODE_MANUAL=1;
+	public final static byte UPDATEMODE_ONCHANGE=2;
+	public final static byte UPDATEMODE_PERIODIC=3;
+	
+	public final static String getUpdateModeString(byte update_mode) {
+		switch(update_mode) {
+		case UPDATEMODE_NEVER:
+			return "never";
+		case UPDATEMODE_MANUAL:
+			return "manual";
+		case UPDATEMODE_ONCHANGE:
+			return "on change";
+		case UPDATEMODE_PERIODIC:
+			return "periodic";
+		default:
+			return "unknown";
+			
+		}
+	}
+	
+	public final static boolean TRUE=true;
+	public final static boolean FALSE=false;
+	
+	/* constant */
+	public byte gcsAccess;
+    public boolean gcsTelemetryAcked;
+    public byte gcsTelemetryUpdateMode;
+    public int gcsTelemetryUpdatePeriod;
+      
+    public byte flightAccess; 
+    public boolean  flightTelemetryAcked;
+    public byte  flightTelemetryUpdateMode;
+    public int flightTelemetryUpdatePeriod;
+      
+    public byte loggingUpdateMode;
+    public int loggingUpdatePeriod;
+
+    /* changing */
+    public long last_serialize;
+    public long last_deserialize;
+    
+    public long last_log;
+    public long last_gcs_update;
+    public long last_fligt_update;
+
+    public long last_send_time;
+    
+    public boolean gcs_flight_was_acked=false;
+    public boolean gcs_ground_was_acked=false;
+    
+    public boolean req_pending=false;
+    public boolean ack_pending=false;
+}
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectsInterface.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectsInterface.java
new file mode 100644
index 000000000..29bfa12c1
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVObjectsInterface.java
@@ -0,0 +1,37 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVObjectsInterface.java 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      a Interface to a UAVObjects collection
+ *
+ ****************************************************************************
+*/
+public interface UAVObjectsInterface {
+
+    public void init();
+    public UAVObject[] getUAVObjectArray();
+    public UAVObject getObjectByID(int id) ;
+     
+    public UAVObject getObjectByName(String name);
+    public void printAll();
+    
+}
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkDefinitions.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkDefinitions.java
new file mode 100644
index 000000000..a7418ee9c
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkDefinitions.java
@@ -0,0 +1,57 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVTalkDefinitions.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Provide values which are used in the UAVTalk Protocol
+ *
+ ****************************************************************************
+*/
+public class UAVTalkDefinitions {
+	
+	public final static byte SYNC_VAL     = 0x3C;
+	
+	public final static byte TYPE_MASK_VER = (byte)0xFC;
+	public final static byte TYPE_MASK_TYPE = (byte)0x03;
+	
+	public final static byte TYPE_VER     = 0x20;
+	public final static byte TYPE_OBJ     = (TYPE_VER | 0x00);
+	public final static byte TYPE_OBJ_REQ = (TYPE_VER | 0x01);
+	public final static byte TYPE_OBJ_ACK = (TYPE_VER | 0x02);
+	public final static byte TYPE_ACK     = (TYPE_VER | 0x03);
+
+
+	public final static String getTypeString(byte type) {
+		switch(type) {
+			case TYPE_ACK:
+				return "ack";
+			case TYPE_OBJ:
+				return "obj";
+			case TYPE_OBJ_ACK:
+				return "obj_ack";
+			case TYPE_OBJ_REQ:
+				return "obj_req";
+		}			
+		return "unknown type";
+	}
+
+
+}
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkHelper.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkHelper.java
new file mode 100644
index 000000000..c46a5b6a1
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/UAVTalkHelper.java
@@ -0,0 +1,102 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk;
+import org.openpilot.uavtalk.CRC8;
+import org.openpilot.uavtalk.UAVObject;
+
+/**
+ ******************************************************************************
+ *
+ * @file       UAVTalkHelper.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      misc static helper functions to deal with UAVTalk
+ *
+ ****************************************************************************
+*/
+public class UAVTalkHelper {
+	
+	public final static int PACKAGE_LENGTH_SYNC=1;
+	public final static int PACKAGE_LENGTH_CRC=1;
+	public final static int PACKAGE_LENGTH_TYPE=1;
+	public final static int PACKAGE_LENGTH_OBJID=4;
+	public final static int PACKAGE_LENGTH_SIZE=2;
+	
+	public final static int MIN_PACKAGE_SIZE=PACKAGE_LENGTH_SYNC 
+										    + PACKAGE_LENGTH_TYPE 
+										    + PACKAGE_LENGTH_SIZE 
+										    + PACKAGE_LENGTH_OBJID
+										    + PACKAGE_LENGTH_CRC ;
+
+	/**
+	 * generate a UAVTalk package 
+	 * 
+	 * @param type - the package 
+	 * @param obj_id - the object ID
+	 * @param payload - the payload byte-array
+	 * @return byte-array containing the UAVTalk Package
+	 */
+	public static byte[] generateUAVTalkPackage(byte type,int obj_id,byte[] payload) {
+		byte[] res=new byte[MIN_PACKAGE_SIZE +payload.length];
+		res[0]=UAVTalkDefinitions.SYNC_VAL;
+		res[1]=type;
+		res[2]=(byte)((MIN_PACKAGE_SIZE-1 + payload.length)&0xFF);
+		res[3]=(byte)(((MIN_PACKAGE_SIZE-1  + payload.length)>>8)&0xFF);
+		res[4]=(byte)((obj_id)&0xFF);
+		res[5]=(byte)((obj_id>>8)&0xFF);
+		res[6]=(byte)((obj_id>>16)&0xFF);
+		res[7]=(byte)((obj_id>>24)&0xFF);
+		
+		
+		for (int i=0;i<payload.length;i++) 
+			res[8+i]=payload[i];
+		
+		
+		res[8+payload.length]=CRC8.arrayUpdate((byte)0,res,8+payload.length);
+	
+		
+		return res;
+	}
+	
+	/**
+	 * generate a UAVTalk package without any payload
+	 * 
+	 * @param type - the package 
+	 * @param obj_id - the object ID
+	 * @return byte-array containing the UAVTalk Package
+	 */
+	public static byte[] generateUAVTalkPackage(byte type,int obj_id) {
+		return  generateUAVTalkPackage(type,obj_id,new byte[0]); 
+	}
+
+	/**
+	 * generate a UAVTalk package and serialize the object as payload if needed
+	 * 
+	 * @param type - the package 
+	 * @param obj - the object
+	 * @return byte-array containing the UAVTalk Package
+	 */
+	public static byte[] generateUAVTalkPackage(byte type,UAVObject obj) {
+		switch (type) {
+			case UAVTalkDefinitions.TYPE_OBJ_ACK:
+			case UAVTalkDefinitions.TYPE_OBJ:
+				return generateUAVTalkPackage(type,obj.getObjID(),obj.serialize()); 
+			default:	
+				return generateUAVTalkPackage(type,obj.getObjID()); 
+		}
+		
+	}
+}	
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/ValueParser.java b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/ValueParser.java
new file mode 100644
index 000000000..849fe41bc
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/juavtalk/src/org/openpilot/uavtalk/ValueParser.java
@@ -0,0 +1,34 @@
+package org.openpilot.uavtalk;
+/**
+ * class with static functions to parse values from the UAVTalk protocol 
+ * 
+ * @author ligi ( aka: Marcus Bueschleb | mail: ligi at ligi dot de )
+ */
+public class ValueParser {
+
+	/**
+	 * parse a int value from 4 bytes of some array
+	 * 
+	 * @param offset - where to start in the array
+	 * @param arr - the array
+	 * @return - the calculated value
+	 */
+	
+	public final static int parse_int_from_arr_4(int offset,byte[] arr) {
+		return 	(
+				 ((arr[offset+3]&0xFF)<<24) |
+				 ((arr[offset+2]&0xFF)<<16) |
+				 ((arr[offset+1]&0xFF)<<8)  |
+				   arr[offset+0]&0xFF 
+				);
+	}
+
+	public final static int parse_int_from_arr_4_2(int offset,byte[] arr) {
+		return 	(
+				 ((arr[offset+3])<<24) |
+				 ((arr[offset+2])<<16) |
+				 ((arr[offset+1])<<8)  |
+				   arr[offset+0] 
+				);
+	}
+}