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Cleanup MSP.read()

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Use symbols and constants rather than magic numbers. Makes the
code easier to read.
This commit is contained in:
Alberto García Hierro 2017-08-26 23:41:45 +02:00
parent ed60768102
commit 1948e3687a
2 changed files with 116 additions and 56 deletions
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86
build/script.js
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@ -11778,7 +11778,31 @@ var MspMessageClass = function () {
* @typedef {{state: number, message_direction: number, code: number, message_length_expected: number, message_length_received: number, message_buffer: null, message_buffer_uint8_view: null, message_checksum: number, callbacks: Array, packet_error: number, unsupported: number, ledDirectionLetters: [*], ledFunctionLetters: [*], ledBaseFunctionLetters: [*], ledOverlayLetters: [*], last_received_timestamp: null, analog_last_received_timestamp: number, read: MSP.read, send_message: MSP.send_message, promise: MSP.promise, callbacks_cleanup: MSP.callbacks_cleanup, disconnect_cleanup: MSP.disconnect_cleanup}} MSP
*/
var MSP = {
state: 0,
symbols: {
BEGIN: '$'.charCodeAt(0),
PROTO_V1: 'M'.charCodeAt(0),
PROTO_V2: 'X'.charCodeAt(0),
FROM_MWC: '>'.charCodeAt(0),
TO_MWC: '<'.charCodeAt(0),
UNSUPPORTED: '!'.charCodeAt(0),
},
decoder_states: {
IDLE: 0,
PROTO_IDENTIFIER: 1,
DIRECTION_V1: 2,
DIRECTION_V2: 3,
PAYLOAD_LENGTH_V1: 4,
PAYLOAD_LENGTH_V2_LOW: 5,
PAYLOAD_LENGTH_V2_HIGH: 6,
CODE_V1: 7,
CODE_V2_LOW: 8,
CODE_V2_HIGH: 9,
PAYLOAD_V1: 10,
PAYLOAD_V2: 11,
CHECKSUM_V1: 12,
CHECKSUM_V2: 13,
},
state: 0, // this.decoder_states.IDLE
message_direction: 1,
code: 0,
message_length_expected: 0,
@ -11803,32 +11827,38 @@ var MSP = {
for (var i = 0; i < data.length; i++) {
switch (this.state) {
case 0: // sync char 1
if (data[i] == 36) { // $
this.state++;
case this.decoder_states.IDLE: // sync char 1
if (data[i] == this.symbols.BEGIN) {
this.state = this.decoder_states.PROTO_IDENTIFIER;
}
break;
case 1: // sync char 2
if (data[i] == 77) { // M
this.state++;
} else { // restart and try again
this.state = 0;
case this.decoder_states.PROTO_IDENTIFIER: // sync char 2
switch (data[i]) {
case this.symbols.PROTO_V1:
this.state = this.decoder_states.DIRECTION_V1;
break;
case this.symbols.PROTO_V2:
// eventually, MSPv2
default:
this.state = this.decoder_states.IDLE;
}
break;
case 2: // direction (should be >)
case this.decoder_states.DIRECTION_V1: // 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;
switch (data[i]) {
case this.symbols.FROM_MWC:
this.message_direction = 1;
break;
case this.symbols.TO_MWC:
this.message_direction = 0;
break;
case this.symbols.UNSUPPORTED:
this.unsupported = 1;
break;
}
this.state++;
this.state = this.decoder_states.PAYLOAD_LENGTH_V1;
break;
case 3:
case this.decoder_states.PAYLOAD_LENGTH_V1:
this.message_length_expected = data[i];
this.message_checksum = data[i];
@ -11837,30 +11867,30 @@ var MSP = {
this.message_buffer = new ArrayBuffer(this.message_length_expected);
this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
this.state++;
this.state = this.decoder_states.CODE_V1;
break;
case 4:
case this.decoder_states.CODE_V1:
this.code = data[i];
this.message_checksum ^= data[i];
if (this.message_length_expected > 0) {
// process payload
this.state++;
this.state = this.decoder_states.PAYLOAD_V1;
} else {
// no payload
this.state += 2;
this.state = this.decoder_states.CHECKSUM_V1;
}
break;
case 5: // payload
case this.decoder_states.PAYLOAD_V1:
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++;
this.state = this.decoder_states.CHECKSUM_V1;
}
break;
case 6:
case this.decoder_states.CHECKSUM_V1:
if (this.message_checksum == data[i]) {
// message received, process
mspHelper.processData(this);
@ -11878,7 +11908,7 @@ var MSP = {
// Reset variables
this.message_length_received = 0;
this.state = 0;
this.state = this.decoder_states.IDLE;
break;
default: