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Merge pull request #16 from dji-sdk/add_logic_link
add logic link
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102 changes: 102 additions & 0 deletions
102
android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/BridgeToUSBRunner.java
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package com.dji.wsbridge.lib; | ||
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import android.util.Log; | ||
import com.dji.wsbridge.lib.connection.USBConnectionManager; | ||
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import java.io.IOException; | ||
import java.io.InputStream; | ||
import java.io.OutputStream; | ||
import java.util.concurrent.atomic.AtomicBoolean; | ||
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public class BridgeToUSBRunner extends Thread { | ||
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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; | ||
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public BridgeToUSBRunner(InputStream in, OutputStream out, String name) { | ||
super(name); | ||
mInputStream = in; | ||
mOutputStream = out; | ||
parser = new DJIPluginRingBufferParser(100 * 1024, mOutputStream); | ||
} | ||
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@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]; | ||
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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); | ||
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int v1RealDataLength = ret + 8; | ||
byte[] box_head = new byte[v1RealDataLength]; | ||
int it = 0; | ||
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box_head[it] = LOGIC_LINK_HEADER_0X55;it++; | ||
box_head[it] = LOGIC_LINK_HEADER_0XCC;it++; | ||
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box_head[it] = (byte) (CHANNEL_CMD & 0xff);it++; | ||
box_head[it] = (byte) ((CHANNEL_CMD & 0xff00) >> 8);it++; | ||
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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++; | ||
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System.arraycopy(buffer, 0, box_head, 8, ret); | ||
byteCount += ret; | ||
try { | ||
mOutputStream.write(box_head, 0, v1RealDataLength); | ||
// mOutputStream.flush(); | ||
} catch (IOException e) { | ||
e.printStackTrace(); | ||
} | ||
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} | ||
mOutputStream.flush(); | ||
} | ||
} | ||
} catch (Exception e) { | ||
//Crashlytics.logException(e); | ||
//e.printStackTrace(); | ||
//Log.e(TAG, e.getMessage()); | ||
} | ||
} | ||
Log.d(TAG, getName() + ": Runner is stopped"); | ||
} | ||
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public void cleanup() { | ||
mStop.set(true); | ||
} | ||
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public static final int CHANNEL_CMD = 22345; | ||
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static final byte LOGIC_LINK_HEADER_0X55 = Utils.getByte(0x55); | ||
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static final byte LOGIC_LINK_HEADER_0XCC = Utils.getByte(0xCC); | ||
} |
195 changes: 195 additions & 0 deletions
195
android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/DJIPluginRingBufferParser.java
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package com.dji.wsbridge.lib; | ||
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import android.util.Log; | ||
import java.io.IOException; | ||
import java.io.OutputStream; | ||
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public class DJIPluginRingBufferParser { | ||
private String TAG = getClass().getSimpleName(); | ||
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/** 命令通道 */ | ||
public static final int CHANNEL_CMD = 22345; | ||
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static final byte LOGIC_LINK_HEADER_0X55 = Utils.getByte(0x55); | ||
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static final byte LOGIC_LINK_HEADER_0XCC = Utils.getByte(0xCC); | ||
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/** | ||
* mavice air 2新增的逻辑链路的帧头长度 | ||
*/ | ||
private static final int LOGIC_LINK_HEAD_LENGTH = 8; | ||
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private final float factor = 1f / 8f; // 扩容因子 | ||
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private boolean isGettedHeader = false; | ||
private final boolean isDebug = true; | ||
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protected byte[] buffer; | ||
private int byteOffset = 0; | ||
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private String name = "default"; | ||
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private OutputStream mOutputStream; | ||
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public DJIPluginRingBufferParser(int bufferSize, OutputStream out) { | ||
this.buffer = new byte[bufferSize]; | ||
mOutputStream = out; | ||
} | ||
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public void setName(String name) { | ||
this.name = name; | ||
} | ||
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public String getName() { | ||
return this.name; | ||
} | ||
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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(); | ||
} | ||
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/** | ||
* @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; | ||
} | ||
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/** | ||
* @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); | ||
} | ||
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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; | ||
} | ||
} | ||
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private int myHeaderIndex = 0; | ||
private int expendSize = 0; | ||
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private void findPack() { | ||
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while (true) { | ||
resetBuffer(); | ||
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if (!isGettedHeader) { | ||
for (int i = 0; i < byteOffset; i++) { | ||
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if (buffer[i]==LOGIC_LINK_HEADER_0X55) { | ||
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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; | ||
} | ||
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isGettedHeader = true; | ||
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if (isGettedHeader) { | ||
expendSize = myHeaderIndex+1; | ||
break; | ||
} | ||
} | ||
expendSize++; | ||
}//for | ||
} | ||
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//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; | ||
} | ||
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if (byteOffset < expendSize + 2) { | ||
break; | ||
} | ||
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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)); | ||
} | ||
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if (v1Length < 0) { | ||
isGettedHeader = false; | ||
continue; | ||
} | ||
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if (byteOffset < myHeaderIndex + v1Length) { | ||
break; | ||
} | ||
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int v1RealDataLength = v1Length + LOGIC_LINK_HEAD_LENGTH; | ||
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PackBufferObject bufferObject = PackBufferObject.getPackBufferObject(v1RealDataLength); | ||
byte[] box_head = bufferObject.getBuffer(); | ||
int it = 0; | ||
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//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++; | ||
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//通道号 | ||
box_head[it] = (byte) (CHANNEL_CMD & 0xff);it++; | ||
box_head[it] = (byte) ((CHANNEL_CMD & 0xff00) >> 8);it++; | ||
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//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++; | ||
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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; | ||
} | ||
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resetBuffer(); | ||
} | ||
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} |
40 changes: 40 additions & 0 deletions
40
android-wsbridge/app/src/main/java/com/dji/wsbridge/lib/PackBufferObject.java
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package com.dji.wsbridge.lib; | ||
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import java.util.ArrayList; | ||
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public class PackBufferObject { | ||
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private byte[] buffer; | ||
private volatile boolean isUsing = true; | ||
private boolean isRepeat; | ||
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private PackBufferObject(int length) { | ||
int minLength = 100; | ||
int mLength = length< minLength ? minLength : length; | ||
buffer = new byte[mLength];//最长上行长度 | ||
} | ||
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public byte[] getBuffer() { | ||
return buffer; | ||
} | ||
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public void willRepeat(boolean isRepeat) { | ||
this.isRepeat = isRepeat; | ||
} | ||
public void noUsed() { | ||
if (!isRepeat)isUsing = false; | ||
} | ||
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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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