Rev 1564 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1539 | - | 1 | package dongfang.mkt.serial; |
| 2 | |||
| 3 | |||
| 1564 | - | 4 | /* |
| 1539 | - | 5 | public class MKOutputStream extends OutputStream implements RequestFrameVisitor { |
| 6 | public class MKDataOutputStream { |
||
| 7 | int[] inbuf = new int[3]; |
||
| 8 | int[] outbuf = new int[4]; |
||
| 9 | int inbufptr = 0; |
||
| 10 | |||
| 11 | void writeByte(int b) throws IOException { |
||
| 12 | if(inbufptr == inbuf.length) flush(); |
||
| 13 | inbuf[inbufptr++] = b; |
||
| 14 | } |
||
| 15 | |||
| 16 | public void writeBytes(int[] bs) throws IOException { |
||
| 17 | for (int i=0; i<bs.length; i++) |
||
| 18 | writeByte(bs[i]); |
||
| 19 | } |
||
| 20 | |||
| 21 | void writeWord(int w) throws IOException { |
||
| 22 | writeByte(w & 0xff); |
||
| 23 | writeByte(w >>> 8); |
||
| 24 | } |
||
| 25 | |||
| 26 | void writeChars(char[] s) throws IOException { |
||
| 27 | for (int i=0; i<s.length; i++) { |
||
| 28 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
||
| 29 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
||
| 30 | // of Unicode, which Java uses for chars) |
||
| 31 | writeByte(s[i]); |
||
| 32 | } |
||
| 33 | } |
||
| 34 | |||
| 35 | void flush() throws IOException { |
||
| 36 | if (inbufptr == 0) |
||
| 37 | return; |
||
| 38 | |||
| 39 | while(inbufptr < inbuf.length) { |
||
| 40 | // add padding .. well just clear it, for tidyness. |
||
| 41 | inbuf[inbufptr++] = 0; |
||
| 42 | } |
||
| 43 | |||
| 44 | MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '='); |
||
| 1562 | - | 45 | MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) | (inbuf[1] >>> 4) ) + '='); |
| 1539 | - | 46 | MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) | (inbuf[2] >>> 6)) + '='); |
| 47 | MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '=')); |
||
| 48 | |||
| 49 | inbufptr = 0; |
||
| 50 | } |
||
| 51 | } |
||
| 52 | |||
| 53 | final OutputStream os; |
||
| 54 | MKDataOutputStream base64OutputStream = new MKDataOutputStream(); |
||
| 55 | int crc; |
||
| 56 | |||
| 57 | public MKOutputStream(OutputStream os) { |
||
| 58 | this.os = os; |
||
| 59 | } |
||
| 60 | |||
| 61 | @Override |
||
| 62 | public void write(int b) throws IOException { |
||
| 63 | os.write(b); |
||
| 64 | // System.out.println("Writing: " + b); |
||
| 65 | } |
||
| 66 | |||
| 67 | public void writeByte(int b) throws IOException { |
||
| 68 | crc += b; |
||
| 69 | write(b); |
||
| 70 | } |
||
| 71 | |||
| 72 | public void write(RequestFrame f) throws IOException { |
||
| 73 | write(crc = '#'); |
||
| 74 | |||
| 75 | int address = f.getAddress() + 'a'; |
||
| 76 | writeByte(address); |
||
| 77 | |||
| 78 | // Will cause one of the "visit" methods below |
||
| 79 | // to be called, depending on the type of f. |
||
| 80 | f.accept(this); |
||
| 81 | base64OutputStream.flush(); |
||
| 82 | |||
| 83 | crc %= 4096; |
||
| 84 | write((crc >>> 6) + '='); |
||
| 85 | write((crc & 0x3f) + '='); |
||
| 86 | |||
| 87 | write('\r'); |
||
| 88 | } |
||
| 89 | |||
| 1564 | - | 90 | / * |
| 1539 | - | 91 | public void visit(RequestFrame f) { |
| 92 | throw new RuntimeException("Unbound RequestFrame type: " |
||
| 93 | + f.getClass().getSimpleName() |
||
| 94 | + ". Don't know how to output."); |
||
| 95 | } |
||
| 1564 | - | 96 | * / |
| 1539 | - | 97 | |
| 98 | public void visit(AnalogDebugLabelRequestFrame f) throws IOException { |
||
| 99 | writeByte('a'); |
||
| 100 | base64OutputStream.writeByte(f.getChannel()); |
||
| 101 | } |
||
| 102 | |||
| 103 | public void visit(AttitudeDataRequestFrame f) throws IOException { |
||
| 104 | writeByte('c'); |
||
| 105 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
||
| 106 | } |
||
| 107 | |||
| 108 | public void visit(DebugRequestFrame f) throws IOException { |
||
| 109 | writeByte('d'); |
||
| 110 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
||
| 111 | } |
||
| 112 | |||
| 113 | public void visit(ChangeParameterSetRequestFrame f) throws IOException { |
||
| 114 | writeByte('f'); |
||
| 115 | base64OutputStream.writeByte(f.getParameterSetNumber()); |
||
| 116 | } |
||
| 117 | |||
| 118 | public void visit(VersionRequestFrame f) throws IOException { |
||
| 119 | writeByte('v'); |
||
| 120 | } |
||
| 121 | |||
| 122 | public void visit(ResetRequestFrame f) throws IOException { |
||
| 123 | writeByte('R'); |
||
| 124 | } |
||
| 125 | |||
| 126 | public void visit(MotorTestRequestFrame f) throws IOException { |
||
| 127 | writeByte('t'); |
||
| 128 | base64OutputStream.writeBytes(f.getMotorValues()); |
||
| 129 | } |
||
| 130 | |||
| 131 | public void visit(SingleDisplayRequestFrame f) throws IOException { |
||
| 132 | writeByte('l'); |
||
| 133 | base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode. |
||
| 134 | } |
||
| 135 | |||
| 136 | public void visit(AllDisplaysRequestFrame f) throws IOException { |
||
| 137 | writeByte('h'); |
||
| 138 | base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys()); |
||
| 139 | // mdo.writeByte(f.getAutoSendInterval()); |
||
| 140 | } |
||
| 141 | |||
| 142 | public void visit(VariablesRequestFrame f) throws IOException { |
||
| 143 | writeByte('x'); |
||
| 144 | } |
||
| 145 | |||
| 146 | public void visit(ExternalControlRequestFrame f) throws IOException { |
||
| 1559 | - | 147 | writeByte('b'); |
| 1539 | - | 148 | base64OutputStream.writeByte(f.getDigital()[0]); |
| 149 | base64OutputStream.writeByte(f.getDigital()[1]); |
||
| 150 | base64OutputStream.writeByte(f.getRemoteButtons()); |
||
| 151 | base64OutputStream.writeByte(f.getPitch()); |
||
| 152 | base64OutputStream.writeByte(f.getRoll()); |
||
| 153 | base64OutputStream.writeByte(f.getYaw()); |
||
| 154 | base64OutputStream.writeByte(f.getThrottle()); |
||
| 155 | base64OutputStream.writeByte(f.getHeight()); |
||
| 156 | base64OutputStream.writeByte(f.getCommand()); |
||
| 157 | base64OutputStream.writeByte(f.getFrameNum()); |
||
| 158 | base64OutputStream.writeByte(f.getArgument()); |
||
| 159 | } |
||
| 1559 | - | 160 | |
| 161 | public void visit(ReadExternalControlRequestFrame f) throws IOException { |
||
| 162 | writeByte('g'); |
||
| 163 | } |
||
| 1539 | - | 164 | |
| 165 | public void visit(LoopbackTestRequestFrame f) throws IOException { |
||
| 166 | writeByte('0'); |
||
| 167 | base64OutputStream.writeByte(f.getByte()); |
||
| 168 | base64OutputStream.writeWord(f.getWord()); |
||
| 169 | base64OutputStream.writeChars(f.getChararray()); |
||
| 170 | } |
||
| 171 | |||
| 172 | public void visit(UniversalReadParamSetRequestFrame f) throws IOException { |
||
| 173 | writeByte('q'); |
||
| 174 | base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
||
| 175 | } |
||
| 176 | |||
| 177 | public void visit(UniversalWriteParamSetRequestFrame f) throws IOException { |
||
| 178 | writeByte('s'); |
||
| 179 | base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
||
| 180 | base64OutputStream.writeByte(f.getConfigurationVersionNumber()); |
||
| 181 | base64OutputStream.writeBytes(f.getData()); |
||
| 182 | } |
||
| 183 | |||
| 184 | public void visit(SetCompassHeadingRequestFrame f) throws IOException { |
||
| 185 | writeByte('K'); |
||
| 186 | } |
||
| 1559 | - | 187 | |
| 1562 | - | 188 | public void visit(CompassHeadingRequestFrame f) throws IOException { |
| 189 | writeByte('w'); |
||
| 190 | } |
||
| 191 | |||
| 1559 | - | 192 | public void visit(OSDDataRequestFrame f) throws IOException { |
| 193 | writeByte('o'); |
||
| 194 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
||
| 195 | } |
||
| 1539 | - | 196 | } |
| 1564 | - | 197 | */ |