inav-configurator/js/msp.js

'use strict';

/**
 * @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,
    message_direction:          1,
    code:                       0,
    message_length_expected:    0,
    message_length_received:    0,
    message_buffer:             null,
    message_buffer_uint8_view:  null,
    message_checksum:           0,
    callbacks:                  [],
    packet_error:               0,
    unsupported:                0,

    ledDirectionLetters:        ['n', 'e', 's', 'w', 'u', 'd'],        // in LSB bit order
    ledFunctionLetters:         ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
    ledBaseFunctionLetters:     ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
    ledOverlayLetters:          ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit

    last_received_timestamp:   null,
    analog_last_received_timestamp: null,

    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];

                    this.message_checksum = data[i];

                    // setup arraybuffer
                    this.message_buffer = new ArrayBuffer(this.message_length_expected);
                    this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);

                    this.state++;
                    break;
                case 4:
                    this.code = data[i];
                    this.message_checksum ^= data[i];

                    if (this.message_length_expected > 0) {
                        // process payload
                        this.state++;
                    } else {
                        // no payload
                        this.state += 2;
                    }
                    break;
                case 5: // 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 6:
                    if (this.message_checksum == data[i]) {
                        // message received, process
                        mspHelper.processData(this);
                    } else {
                        console.log('code: ' + this.code + ' - crc failed');

                        this.packet_error++;
                        $('span.packet-error').html(this.packet_error);
                    }

                    // Reset variables
                    this.message_length_received = 0;
                    this.state = 0;
                    break;

                default:
                    console.log('Unknown state detected: ' + this.state);
            }
        }
        this.last_received_timestamp = Date.now();
    },

    send_message: function (code, data, callback_sent, callback_msp) {
        var bufferOut,
            bufView,
            i;

        // always reserve 6 bytes for protocol overhead !
        if (data) {
            var size = data.length + 6,
                checksum;

            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 (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
        }

        // dev version 0.57 code below got recently changed due to the fact that queueing same MSP codes was unsupported
        // and was causing trouble while backup/restoring configurations
        // watch out if the recent change create any inconsistencies and then adjust accordingly
        var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': (callback_msp) ? callback_msp : false, 'timer': false};

        var requestExists = false;
        for (i = 0; i < MSP.callbacks.length; i++) {
            if (i < MSP.callbacks.length) {
                if (MSP.callbacks[i].code == code) {
                    // request already exist, we will just attach
                    requestExists = true;
                    break;
                }
            } else {
                console.log("Callback index error: "+ i);
            }
        }

        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;
    },
    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();
    }
};

MSP.SDCARD_STATE_NOT_PRESENT = 0;
MSP.SDCARD_STATE_FATAL       = 1;
MSP.SDCARD_STATE_CARD_INIT   = 2;
MSP.SDCARD_STATE_FS_INIT     = 3;
MSP.SDCARD_STATE_READY       = 4;