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This commit is contained in:
Bas Delfos 2018-01-21 17:09:36 +01:00
parent aab2a993c8
commit 24c81375a4
371 changed files with 120 additions and 120 deletions
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src/js/msp.js Executable file
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'use strict';
var MSP = {
state: 0,
message_direction: 1,
code: 0,
dataView: 0,
message_length_expected: 0,
message_length_received: 0,
message_buffer: null,
message_buffer_uint8_view: null,
message_checksum: 0,
messageIsJumboFrame: false,
crcError: false,
callbacks: [],
packet_error: 0,
unsupported: 0,
last_received_timestamp: null,
listeners: [],
JUMBO_FRAME_SIZE_LIMIT: 255,
read: function (readInfo) {
var data = new Uint8Array(readInfo.data);
for (var i = 0; i < data.length; i++) {
switch (this.state) {
case 0: // sync char 1
if (data[i] == 36) { // $
this.state++;
}
break;
case 1: // sync char 2
if (data[i] == 77) { // M
this.state++;
} else { // restart and try again
this.state = 0;
}
break;
case 2: // direction (should be >)
this.unsupported = 0;
if (data[i] == 62) { // >
this.message_direction = 1;
} else if (data[i] == 60) { // <
this.message_direction = 0;
} else if (data[i] == 33) { // !
// FC reports unsupported message error
this.unsupported = 1;
}
this.state++;
break;
case 3:
this.message_length_expected = data[i];
if (this.message_length_expected === this.JUMBO_FRAME_SIZE_LIMIT) {
this.messageIsJumboFrame = true;
}
this.message_checksum = data[i];
this.state++;
break;
case 4:
this.code = data[i];
this.message_checksum ^= data[i];
if (this.message_length_expected > 0) {
// process payload
if (this.messageIsJumboFrame) {
this.state++;
} else {
this.state = this.state + 3;
}
} else {
// no payload
this.state += 5;
}
break;
case 5:
this.message_length_expected = data[i];
this.message_checksum ^= data[i];
this.state++;
break;
case 6:
this.message_length_expected = this.message_length_expected + 256 * data[i];
this.message_checksum ^= data[i];
this.state++;
break;
case 7:
// setup arraybuffer
this.message_buffer = new ArrayBuffer(this.message_length_expected);
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
this.state++;
case 8: // payload
this.message_buffer_uint8_view[this.message_length_received] = data[i];
this.message_checksum ^= data[i];
this.message_length_received++;
if (this.message_length_received >= this.message_length_expected) {
this.state++;
}
break;
case 9:
if (this.message_checksum == data[i]) {
// message received, store dataview
this.dataView = new DataView(this.message_buffer, 0, this.message_length_expected);
} else {
console.log('code: ' + this.code + ' - crc failed');
this.packet_error++;
this.crcError = true;
this.dataView = new DataView(new ArrayBuffer(0));
}
// Reset variables
this.message_length_received = 0;
this.state = 0;
this.messageIsJumboFrame = false;
this.notify();
this.crcError = false;
break;
default:
console.log('Unknown state detected: ' + this.state);
}
}
this.last_received_timestamp = Date.now();
},
notify: function() {
var self = this;
this.listeners.forEach(function(listener) {
listener(self);
});
},
listen: function(listener) {
if (this.listeners.indexOf(listener) == -1) {
this.listeners.push(listener);
}
},
clearListeners: function() {
this.listeners = [];
},
send_message: function (code, data, callback_sent, callback_msp, callback_onerror) {
if (code === undefined) {
debugger;
}
var bufferOut,
bufView;
if (!callback_onerror) {
var callbackOnError = false;
} else {
var callbackOnError = true;
}
// always reserve 6 bytes for protocol overhead !
if (data) {
var size = data.length + 6,
checksum = 0;
bufferOut = new ArrayBuffer(size);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = data.length;
bufView[4] = code;
checksum = bufView[3] ^ bufView[4];
for (var i = 0; i < data.length; i++) {
bufView[i + 5] = data[i];
checksum ^= bufView[i + 5];
}
bufView[5 + data.length] = checksum;
} else {
bufferOut = new ArrayBuffer(6);
bufView = new Uint8Array(bufferOut);
bufView[0] = 36; // $
bufView[1] = 77; // M
bufView[2] = 60; // <
bufView[3] = 0; // data length
bufView[4] = code; // code
bufView[5] = bufView[3] ^ bufView[4]; // checksum
}
var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': (callback_msp) ? callback_msp : false, 'timer': false, 'callbackOnError': callbackOnError};
var requestExists = false;
for (var i = 0; i < MSP.callbacks.length; i++) {
if (MSP.callbacks[i].code == code) {
// request already exist, we will just attach
requestExists = true;
break;
}
}
if (!requestExists) {
obj.timer = setInterval(function () {
console.log('MSP data request timed-out: ' + code);
serial.send(bufferOut, false);
}, 1000); // we should be able to define timeout in the future
}
MSP.callbacks.push(obj);
// always send messages with data payload (even when there is a message already in the queue)
if (data || !requestExists) {
serial.send(bufferOut, function (sendInfo) {
if (sendInfo.bytesSent == bufferOut.byteLength) {
if (callback_sent) callback_sent();
}
});
}
return true;
},
/**
* resolves: {command: code, data: data, length: message_length}
*/
promise: function(code, data) {
var self = this;
return new Promise(function(resolve) {
self.send_message(code, data, false, function(data) {
resolve(data);
});
});
},
callbacks_cleanup: function () {
for (var i = 0; i < this.callbacks.length; i++) {
clearInterval(this.callbacks[i].timer);
}
this.callbacks = [];
},
disconnect_cleanup: function () {
this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
this.packet_error = 0; // reset CRC packet error counter for next session
this.callbacks_cleanup();
}
};