public void initialize_channels(){
if (is_initialized == 0 )
{
CHANNEL_T chan_ptr;
channel_list[0] = new CHANNEL_T();
chan_ptr = channel_list[0];
chan_ptr.channel = 0x00; // unframed "channel" always slot 0
chan_ptr.len = 0;
chan_ptr.start = 0;
chan_ptr.buff = new byte[CHANNEL_BUF_SIZ];
channel_list[1] = new CHANNEL_T();
chan_ptr = channel_list[1];
chan_ptr.channel = 0x00; // command channel
chan_ptr.len = 0;
chan_ptr.start = 0;
chan_ptr.buff = new byte[CHANNEL_BUF_SIZ];
channel_list[2] = new CHANNEL_T();
chan_ptr = channel_list[2];
chan_ptr.channel = 0x99; // "0x99" debug channel
chan_ptr.len = 0;
chan_ptr.start = 0;
chan_ptr.buff = new byte[CHANNEL_BUF_SIZ];
channel_list[3] = new CHANNEL_T();
chan_ptr = channel_list[3];
chan_ptr.channel = 0x63; // "99" alt debug channel
chan_ptr.len = 0;
chan_ptr.start = 0;
chan_ptr.buff = new byte[CHANNEL_BUF_SIZ];
is_initialized = 1;
}
}
public Int16 get_channel(byte channel_ID, ref CHANNEL_T return_channel){
Int16 i;
for (i=1;i<NUM_CHANNELS;i++){
if (channel_ID == channel_list[i].channel){
return_channel = channel_list[i];
return channel_ID;
}
}
return -1;
}
public Int32 get_byte(out byte outbyte, CHANNEL_T channel_ptr){
//return remaining length if success, -1 if channel already empty
if (channel_ptr.len == 0) {
outbyte = 0x00;
return -1;
} else {
outbyte = (channel_ptr.buff)[(channel_ptr.start)];
(channel_ptr.start)++;
return --(channel_ptr.len);
}
}
public void add_byte(byte inbyte, CHANNEL_T channel_ptr){
UInt32 index;
UInt16 start = (channel_ptr.start);
if (channel_ptr.len != CHANNEL_BUF_SIZ){
index = (UInt32) start + channel_ptr.len;
(channel_ptr.buff)[index] = inbyte;
(channel_ptr.len)++;
} else {
channel_ptr.buff[start] = inbyte;
channel_ptr.start = (UInt16) ((start + 1) % CHANNEL_BUF_SIZ);
}
}
public void read_frame(SerialPort comport,byte channel_ID,UInt16 start_byte_ms, ref UInt32 receiveBytes, byte[] receiveBuffer)
{
Int32 byte_idx = 0;
Int32 tempval = 0;
byte c,found_complete_frame=0, in_escape=0;
UInt16 calc_crc =0x1D0F;
UInt16 timeout = start_byte_ms;
UInt32 max_timeout = (UInt32)start_byte_ms + (UInt32)FRAME_TIMEOUT_MSEC;
#if DEBUGPRINT
Console.WriteLine("Read Timeout = {0} ms", timeout);
#endif
tempval = get_channel(channel_ID, ref chan_ptr);
get_unframed(ref unframed_ptr);
if (tempval > 0 && chan_ptr.len > 0){
#if VERBOSE_PRINT
int i,j;
Console.Write("POLL buffer start = {0}, len = {1} \n",chan_ptr.start,chan_ptr.len);
Console.Write("current buffer[20] : ");
for (j=0; j<20; j++){
i = ( (chan_ptr.start + j ) % CHANNEL_BUF_SIZ);
Console.Write(" {0:X02}",chan_ptr.buff[i]);
}
Console.Write("\n");
#endif
while(chan_ptr.len > 0){
tempval = get_byte(out c,chan_ptr);
if (tempval < 0){
break;
}
if (c == START_FRAME_BYTE)
{
#if VERBOSE_PRINT || DEBUGPRINT
Console.Write(" POLL_RX_BUF StartByte \n ");
#endif
timeout = FRAME_TIMEOUT_MSEC;
byte_idx = 0;
am_in_frame = FRAME_STATUS.CORRECT_FRAME;
continue;
}
if (am_in_frame != FRAME_STATUS.UNFRAMED) {
if (c == ESCAPE_BYTE)
{
in_escape = 1;
tempval = get_byte(out c,chan_ptr);
if (tempval < 0){
break;
}
switch (c)
{
case ESCAPED_END_FRAME_BYTE:
c = END_FRAME_BYTE;
break;
case ESCAPED_START_FRAME_BYTE:
c = START_FRAME_BYTE;
break;
case ESCAPED_ESCAPE_BYTE:
c = ESCAPE_BYTE;
break;
default:
break;
}
in_frame_buf[byte_idx++] = c;
#if VERBOSE_PRINT
Console.Write(" {0:X02}",c);
#endif
continue;
}
if (c == END_FRAME_BYTE)
{
am_in_frame = FRAME_STATUS.UNFRAMED;
/*
* Check CRC: if good end loop. If bad, start looking for start byte.
* Check Frame Status: If zero, end loop. If non-zero, start looking for start byte.
*/
/*
* byte_idx - 3 = total frame length - channel_ID byte - crc_bytes[2]
* &(frame_buf[1]) is first byte after channel_ID byte
*/
calc_crc = calcFlirCRC16Bytes((UInt32)(byte_idx - 2), CRC_START_IDX,in_frame_buf);
if ( (((calc_crc >> 8) &0xFF) != in_frame_buf[byte_idx - 2]) || ((calc_crc &0xFF) != in_frame_buf[byte_idx - 1]) )
{
Console.Write("\nFailed packet integrity check (calc) {0:X02}{1:X02} != (recd) {2:X02}{3:X02}\n",((calc_crc >> 8) &0xFF),(calc_crc&0xFF),in_frame_buf[byte_idx - 2],in_frame_buf[byte_idx - 1]);
Console.Write("RAW Receive Packet: ");
for (tempval=0;tempval<byte_idx;tempval++){
Console.Write(" {0:X02}",in_frame_buf[tempval]);
}
Console.Write("\n");
// Console.Write(" Failed time %f:\n",elapsed_sec);
// failedcrc = 1;
byte_idx = 0;
timeout=start_byte_ms;
continue;
}
#if VERBOSE_PRINT
else {
Console.Write("\n");
}
#endif
found_complete_frame = 1;
break;
}
in_frame_buf[byte_idx++] = c;
#if VERBOSE_PRINT
Console.Write(" {0:X02}",c);
#endif
continue;
}
}
}
if (found_complete_frame != 0) {
#if VERBOSE_PRINT || DEBUGPRINT
Console.Write("Found Complete Frame in channel_buf_{0:G02}\n",chan_ptr.channel);
Console.Write("current buffer start = {0}, len = {1} \n",chan_ptr.start,chan_ptr.len);
#endif
extract_payload(in_frame_buf,FRAME_START_IDX, (UInt32)(byte_idx - NUM_FRAMING_BYTES), receiveBuffer, ref receiveBytes);
return;
}
#if VERBOSE_PRINT
Console.Write("Entering serial loop...\n");
#endif
systimer.Restart();
while(true)
{
if (byte_idx == FRAME_BUF_SIZ)
{
// Buffer overrun
receiveBytes = 0;
return;
}
if (check_timeouts(systimer.ElapsedMilliseconds, timeout, max_timeout))
{
if (am_in_frame == FRAME_STATUS.CORRECT_FRAME) {
Console.Write("ReadFrameTimeout after: {0} ms\n",systimer.ElapsedMilliseconds);
Console.Write("partial rx frame[{0}] : ",byte_idx);
for (tempval=0; tempval<byte_idx; tempval++){
Console.Write(" {0:X02}",in_frame_buf[tempval]);
}
Console.Write("\n");
} else {
#if VERBOSE_PRINT || DEBUGPRINT
Console.Write("Timed out after {0} ms, waited {1} ms\n",systimer.ElapsedMilliseconds,timeout);
#endif
}
am_in_frame = FRAME_STATUS.UNFRAMED;
receiveBytes = 0;
return;
}
if ((in_escape!=0) && (am_in_frame==FRAME_STATUS.CORRECT_FRAME)){
//carryover escape character from buffer
tempval = ESCAPE_BYTE;
} else {
tempval = read_byte(comport);
}
if (tempval<0) {
//#if VERBOSE_PRINT
// Console.Write("ReadByteTimeout: {0}\n",systimer.ElapsedMilliseconds);
//#endif
continue; //byte read timeout.
} else {
c = (byte) tempval;
}
if ((c & 0xFF) == (START_FRAME_BYTE & 0xFF))
{
#if VERBOSE_PRINT || DEBUGPRINT
Console.Write(" StartByte time {0}:\n ",systimer.ElapsedMilliseconds/1000.0);
#endif
byte_idx = 0;
timeout = (UInt16)(FRAME_TIMEOUT_MSEC + systimer.ElapsedMilliseconds);
// frame_buf[byte_idx++] = c;
do {
if (check_timeouts(systimer.ElapsedMilliseconds, timeout, max_timeout)) continue;
tempval = read_byte(comport);
} while (tempval < 0);
c = (byte) (tempval & 0xFF);
byte needs_escape = 0;
if (c == ESCAPE_BYTE){
needs_escape = 1;
do {
if (check_timeouts(systimer.ElapsedMilliseconds, timeout, max_timeout)) continue;
tempval = read_byte(comport);
} while (tempval < 0);
c = (byte) (tempval & 0xFF);
}
if (c == channel_ID) {
//found correct frame
am_in_frame = FRAME_STATUS.CORRECT_FRAME;
in_frame_buf[byte_idx++] = c;
} else {
am_in_frame = FRAME_STATUS.OTHER_FRAME;
other_frame_ID = c;
tempval = get_channel(other_frame_ID, ref chan_ptr);
if (tempval < 0){
chan_ptr = unframed_ptr;
am_in_frame = FRAME_STATUS.UNFRAMED;
}
add_byte(START_FRAME_BYTE,chan_ptr);
if(needs_escape!=0) add_byte(ESCAPE_BYTE,chan_ptr);
add_byte(c,chan_ptr);
}
continue;
}
if (am_in_frame == FRAME_STATUS.CORRECT_FRAME) {
if ((c & 0xFF) == (ESCAPE_BYTE & 0xFF))
{
in_escape = 1;
do
{
if (check_timeouts(systimer.ElapsedMilliseconds, timeout, max_timeout)) continue;
tempval = (byte)read_byte(comport);
} while (tempval < 0);
c = (byte)tempval;
switch (c){
case ESCAPED_END_FRAME_BYTE:
c = END_FRAME_BYTE;
break;
case ESCAPED_START_FRAME_BYTE:
c = START_FRAME_BYTE;
break;
case ESCAPED_ESCAPE_BYTE:
c = ESCAPE_BYTE;
break;
default:
break;
}
in_frame_buf[byte_idx++] = c;
in_escape = 0;
#if VERBOSE_PRINT
Console.Write(" {0:X02}",c);
#endif
continue;
}
if ((c & 0xFF) == (END_FRAME_BYTE & 0xFF))
{
#if VERBOSE_PRINT || DEBUGPRINT
Console.Write("\n EndByte time {0}:\n", systimer.ElapsedMilliseconds / 1000.0);
#endif
// frame_buf[byte_idx++] = c;
/*
* Check CRC: if good end loop. If bad, start looking for start byte.
* Check Frame Status: If zero, end loop. If non-zero, start looking for start byte.
*/
am_in_frame = FRAME_STATUS.UNFRAMED;
calc_crc = calcFlirCRC16Bytes((UInt32) (byte_idx-2),(UInt16) CRC_START_IDX , in_frame_buf);
if ( (((calc_crc >> 8) &0xFF) != in_frame_buf[byte_idx - 2]) || ((calc_crc &0xFF) != in_frame_buf[byte_idx - 1]) )
{
Console.Write("Failed packet Integrity check (calc){0:X02}{1:X02} != (pkt){2:X02}{3:X02}\n",((calc_crc >> 8) &0xFF),(calc_crc&0xFF),in_frame_buf[byte_idx - 2],in_frame_buf[byte_idx - 1]);
Console.Write("byte count = {0}, crc len = {1}\n", byte_idx, byte_idx - NUM_FRAMING_BYTES);
Console.Write("RAW Receive Packet: ");
for (tempval=0;tempval<byte_idx;tempval++){
Console.Write(" {0:X02}",in_frame_buf[tempval]);
}
Console.Write("\n");
// Console.Write(" Failed time %f:\n",elapsed_sec);
// failedcrc = 1;
byte_idx = 0;
systimer.Restart();
timeout = start_byte_ms;
continue;
}
#if VERBOSE_PRINT
else{
Console.Write("\n");
}
#endif
found_complete_frame = 1;
break;
}
in_frame_buf[byte_idx++] = c;
#if VERBOSE_PRINT
Console.Write(" {0:X02}",c);
#endif
}else if(am_in_frame == FRAME_STATUS.OTHER_FRAME) {
if ((c & 0xFF) == (ESCAPE_BYTE & 0xFF)) {
in_escape = 1;
add_byte(c,chan_ptr);
do {
if (systimer.ElapsedMilliseconds>timeout) continue;
tempval = read_byte(comport);
} while (tempval < 0);
c = (byte) tempval;
add_byte(c,chan_ptr);
in_escape = 0;
} else if ((c & 0xFF) == (END_FRAME_BYTE & 0xFF)) {
add_byte(c,chan_ptr);
am_in_frame = FRAME_STATUS.UNFRAMED;
}
#if VERBOSE_PRINT
Console.Write("({0:G02}:{1:X02})",chan_ptr.channel,c);
#endif
continue;
} else { //Unframed data
#if VERBOSE_PRINT
Console.Write("(U:{0:X02})",chan_ptr.channel,c);
#endif
add_byte(c,unframed_ptr);
}
}
if (found_complete_frame > 0) {
extract_payload(in_frame_buf,FRAME_START_IDX, (UInt32)(byte_idx - NUM_FRAMING_BYTES), receiveBuffer, ref receiveBytes);
return;
} else {
receiveBytes = 0;
return;
}
}
public void get_unframed(ref CHANNEL_T return_channel){
return_channel = channel_list[0];
return;
}