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add logic link
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@Hoker1
Hoker1 committed Dec 16, 2020
1 parent 07215b9 commit 4819bc0
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Showing 9 changed files with 445 additions and 4 deletions.
5 changes: 3 additions & 2 deletions android-wsbridge/app/src/main/java/com/dji/wsbridge/BridgeActivity.java
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Expand Up @@ -30,6 +30,7 @@
import android.widget.Toast;

import com.dji.wsbridge.lib.BridgeApplication;
import com.dji.wsbridge.lib.BridgeToUSBRunner;
import com.dji.wsbridge.lib.BridgeUpdateService;
import com.dji.wsbridge.lib.DJILogger;
import com.dji.wsbridge.lib.StreamRunner;
Expand Down Expand Up @@ -77,7 +78,7 @@ public class BridgeActivity extends Activity {
private OutputStream usbOutputStream;
private InputStream wsInputStream;
private OutputStream wsOutputStream;
private StreamRunner deviceToWSRunner;
private BridgeToUSBRunner deviceToWSRunner;
private StreamRunner wsToDeviceRunner;
private ImageButton btnSettings, btnInstallUpdate;
private BridgeUpdateService bridgeUpdateService;
Expand Down Expand Up @@ -317,7 +318,7 @@ private void refreshRunners() {
if (setupStreams()) {
Log.d(TAG, "Starting Runners");
isStreamRunnerActive.set(true);
deviceToWSRunner = new StreamRunner(wsInputStream, usbOutputStream, "Bridge to USB");
deviceToWSRunner = new BridgeToUSBRunner(wsInputStream, usbOutputStream, "Bridge to USB");
wsToDeviceRunner = new StreamRunner(usbInputStream, wsOutputStream, "USB to Bridge");
try {
//import static com.dji.wsbridge.lib.Utils.recordExceptionToFirebase;Firebase("Device to WS Runner alive " + deviceToWSRunner.isAlive());
Expand Down
102 changes: 102 additions & 0 deletions android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/BridgeToUSBRunner.java
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package com.dji.wsbridge.lib;

import android.util.Log;
import com.dji.wsbridge.lib.connection.USBConnectionManager;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.concurrent.atomic.AtomicBoolean;

public class BridgeToUSBRunner extends Thread {

private static final String TAG = StreamRunner.class.getSimpleName();
public long byteCount = 0;
// 从web-socket 读
private InputStream mInputStream;
// 往usb中写
private OutputStream mOutputStream;
private AtomicBoolean mStop = new AtomicBoolean(false);
private DJIPluginRingBufferParser parser;

public BridgeToUSBRunner(InputStream in, OutputStream out, String name) {
super(name);
mInputStream = in;
mOutputStream = out;
parser = new DJIPluginRingBufferParser(100 * 1024, mOutputStream);
}

@Override
public void run() {
int ret;
USBConnectionManager.UsbModel usbModel = USBConnectionManager.getInstance().getUSBModel();
// As explained in:
// https://developer.android.com/guide/topics/connectivity/usb/accessory.html
// "The Android accessory protocol supports packet buffers up to 16384 bytes,
// so you can choose to always declare your buffer to be of this size for simplicity."
byte[] buffer = new byte[16384];

while (!mStop.get()) {
try {
if (mOutputStream != null && mInputStream != null) {
ret = mInputStream.read(buffer);
if (ret < 0) {
// Do nothing since it is empty
Log.d(TAG, getName() + ": ret is less than 0");
break;
} else {
Log.d(TAG, getName() + ": Runner is running");
if (usbModel != USBConnectionManager.UsbModel.LOGIC_LINK) {
byteCount += ret;
mOutputStream.write(buffer, 0, ret);
} else {
// parser.parse(buffer, 0, ret);


int v1RealDataLength = ret + 8;
byte[] box_head = new byte[v1RealDataLength];
int it = 0;

box_head[it] = LOGIC_LINK_HEADER_0X55;it++;
box_head[it] = LOGIC_LINK_HEADER_0XCC;it++;

box_head[it] = (byte) (CHANNEL_CMD & 0xff);it++;
box_head[it] = (byte) ((CHANNEL_CMD & 0xff00) >> 8);it++;

box_head[it] = (byte) (ret & 0xff);it++;
box_head[it] = (byte) ((ret & 0xff00) >> 8);it++;
box_head[it] = (byte) ((ret & 0xff0000) >> 16);it++;
box_head[it] = (byte) ((ret & 0xff000000) >> 24);it++;

System.arraycopy(buffer, 0, box_head, 8, ret);
byteCount += ret;
try {
mOutputStream.write(box_head, 0, v1RealDataLength);
// mOutputStream.flush();
} catch (IOException e) {
e.printStackTrace();
}

}
mOutputStream.flush();
}
}
} catch (Exception e) {
//Crashlytics.logException(e);
//e.printStackTrace();
//Log.e(TAG, e.getMessage());
}
}
Log.d(TAG, getName() + ": Runner is stopped");
}

public void cleanup() {
mStop.set(true);
}

public static final int CHANNEL_CMD = 22345;

static final byte LOGIC_LINK_HEADER_0X55 = Utils.getByte(0x55);

static final byte LOGIC_LINK_HEADER_0XCC = Utils.getByte(0xCC);
}
195 changes: 195 additions & 0 deletions android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/DJIPluginRingBufferParser.java
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package com.dji.wsbridge.lib;

import android.util.Log;
import java.io.IOException;
import java.io.OutputStream;

public class DJIPluginRingBufferParser {
private String TAG = getClass().getSimpleName();

/** 命令通道 */
public static final int CHANNEL_CMD = 22345;

static final byte LOGIC_LINK_HEADER_0X55 = Utils.getByte(0x55);

static final byte LOGIC_LINK_HEADER_0XCC = Utils.getByte(0xCC);

/**
* mavice air 2新增的逻辑链路的帧头长度
*/
private static final int LOGIC_LINK_HEAD_LENGTH = 8;

private final float factor = 1f / 8f; // 扩容因子

private boolean isGettedHeader = false;
private final boolean isDebug = true;

protected byte[] buffer;
private int byteOffset = 0;

private String name = "default";

private OutputStream mOutputStream;

public DJIPluginRingBufferParser(int bufferSize, OutputStream out) {
this.buffer = new byte[bufferSize];
mOutputStream = out;
}

public void setName(String name) {
this.name = name;
}

public String getName() {
return this.name;
}

public void parse(byte[] buffer, int offset, int count) {
if (count > this.buffer.length - byteOffset) {
tryToExpandCapacity(count);
}
System.arraycopy(buffer, offset, this.buffer, byteOffset, count);
byteOffset += count;
findPack();
}

/**
* @Description : 当容量不足时，尝试扩容
* @param length 需要扩容的容量值
*/
private void tryToExpandCapacity(final int length) {
final int newCapacity = newCapacity(this.buffer.length, length);
if (isDebug) {
Log.d(TAG, "Try to expand capacity:" + (newCapacity - this.buffer.length));
}
final byte[] newArray = new byte[newCapacity];
System.arraycopy(this.buffer, 0, newArray, 0, this.buffer.length);
this.buffer = newArray;
}

/**
* @Description : 计算新的容量值
* @param originLength 当前的容量值
* @param length 需要增加的容量值
* @return
*/
private int newCapacity(final int originLength, final int length) {
int size = 0;
do {
size += (int) (factor * originLength);
} while (size <= length);
return (size + originLength);
}

private void resetBuffer() {
if (isDebug) {
Log.d(TAG, "_" + name + "byteOffset=" + byteOffset + " expendSize=" + expendSize);
}
if (expendSize > 0) {
byteOffset -= expendSize;
if (byteOffset > 0) {
System.arraycopy(buffer, expendSize, buffer, 0, byteOffset);
} else {
if (isDebug && byteOffset < 0) {
Log.d(TAG, "_" + name + "byteOffset < 0");
}
byteOffset = 0;
}
expendSize = 0;
}
}

private int myHeaderIndex = 0;
private int expendSize = 0;

private void findPack() {

while (true) {
resetBuffer();

if (!isGettedHeader) {
for (int i = 0; i < byteOffset; i++) {

if (buffer[i]==LOGIC_LINK_HEADER_0X55) {

myHeaderIndex = i;
if (myHeaderIndex >= byteOffset) {//不足以找到完整包头 跳出循环继续接收
expendSize = myHeaderIndex;
break;
}

isGettedHeader = true;

if (isGettedHeader) {
expendSize = myHeaderIndex+1;
break;
}
}
expendSize++;
}//for
}

//没有包头 清空当前数据
if (!isGettedHeader) {
if (isDebug) {
Log.d(TAG, "_" + name + "parseRcvBuffer 当前buffer没有包头");
}
break;
}

if (byteOffset < expendSize + 2) {
break;
}

int v1Length = Utils.getInt(buffer, expendSize, 2) & 0x03FF;
int v1Version = Utils.getInt(buffer, expendSize, 2) >> 10;
if (isDebug) {
byte[] data11 = new byte[2];
System.arraycopy(buffer, expendSize, data11, 0, 2);
Log.d(TAG, "_" + name + "parseRcvBuffer V1 data length:"+v1Length + " v1 version:" + v1Version + " "+ Utils.bytesToHex(data11));
}

if (v1Length < 0) {
isGettedHeader = false;
continue;
}

if (byteOffset < myHeaderIndex + v1Length) {
break;
}

int v1RealDataLength = v1Length + LOGIC_LINK_HEAD_LENGTH;

PackBufferObject bufferObject = PackBufferObject.getPackBufferObject(v1RealDataLength);
byte[] box_head = bufferObject.getBuffer();
int it = 0;

//逻辑链路固定的header 0x55， 0xcc
box_head[it] = LOGIC_LINK_HEADER_0X55;it++;
box_head[it] = LOGIC_LINK_HEADER_0XCC;it++;

//通道号
box_head[it] = (byte) (CHANNEL_CMD & 0xff);it++;
box_head[it] = (byte) ((CHANNEL_CMD & 0xff00) >> 8);it++;

//v1数据长度
box_head[it] = (byte) (v1Length & 0xff);it++;
box_head[it] = (byte) ((v1Length & 0xff00) >> 8);it++;
box_head[it] = (byte) ((v1Length & 0xff0000) >> 16);it++;
box_head[it] = (byte) ((v1Length & 0xff000000) >> 24);it++;

System.arraycopy(buffer, myHeaderIndex, box_head, it, v1Length);
try {
mOutputStream.write(box_head, 0, v1RealDataLength);
mOutputStream.flush();
} catch (IOException e) {
e.printStackTrace();
}
expendSize += v1Length;
isGettedHeader = false;
}

resetBuffer();
}

}
40 changes: 40 additions & 0 deletions android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/PackBufferObject.java
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package com.dji.wsbridge.lib;

import java.util.ArrayList;

public class PackBufferObject {

private byte[] buffer;
private volatile boolean isUsing = true;
private boolean isRepeat;

private PackBufferObject(int length) {
int minLength = 100;
int mLength = length< minLength ? minLength : length;
buffer = new byte[mLength];//最长上行长度
}

public byte[] getBuffer() {
return buffer;
}

public void willRepeat(boolean isRepeat) {
this.isRepeat = isRepeat;
}
public void noUsed() {
if (!isRepeat)isUsing = false;
}

private static ArrayList<PackBufferObject> list = new ArrayList<>();
static synchronized PackBufferObject getPackBufferObject(int length) {
for (PackBufferObject object : list) {
if (!object.isUsing && object.getBuffer().length>=length) {
object.isUsing = true;
return object;
}
}
PackBufferObject object = new PackBufferObject(length);
list.add(object);
return object;
}
}
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