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Ignore whitespace Rev 1559 → Rev 1562

/dongfang_FC_rewrite_tool/src/dongfang/mkt/serial/MKInputStream.java
8,6 → 8,7
import dongfang.mkt.frames.AnalogDebugLabelResponseFrame;
import dongfang.mkt.frames.AttitudeDataResponseFrame;
import dongfang.mkt.frames.ChangeParameterSetResponseFrame;
import dongfang.mkt.frames.CompassHeadingResponseFrame;
import dongfang.mkt.frames.ConfirmFrame;
import dongfang.mkt.frames.DebugResponseFrame;
import dongfang.mkt.frames.MotorTestResponseFrame;
98,6 → 99,14
return result;
}
 
public int[] readSignedWords(int length) throws IOException {
int[] result = new int[length];
for (int i = 0; i < length; i++) {
result[i] = readSignedWord();
}
return result;
}
 
public char[] readChars(int length) throws IOException {
char[] result = new char[length];
for (int i = 0; i < length; i++) {
154,6 → 163,7
readByteCnt = 0;
//RESPONSE_IDS id = getResponseType(iid);
ResponseFrame result;
// System.out.println("Received a: " + (char)iid + " from " + address);
switch (iid) {
case 'A': {
AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address);
215,6 → 225,15
result = f;
break;
}
case 'k' : {
CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address);
base64InputStream.readSignedWords(2);
base64InputStream.readBytes(2);
base64InputStream.readByte();
base64InputStream.readByte();
result = f;
break;
}
case 'L': {
AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address);
f.setItem(base64InputStream.readByte());
268,7 → 287,7
f.setBatteryVoltage(base64InputStream.readByte());
f.setGroundSpeed(base64InputStream.readWord());
f.setHeading(base64InputStream.readSignedWord());
f.setDirectionOfFlight(base64InputStream.readSignedWord());
f.setCompassHeading(base64InputStream.readSignedWord());
f.setPitchAngle(base64InputStream.readSignedByte());
355,6 → 374,14
result = f;
break;
default:
int b;
int count = 0;
while((b=read()) != '\r') {
count++;
}
System.err.println("Unknown frame " + (char)iid + " received from " + address);
System.err.println("It appears to have " + (count-2) + " data bytes (encoded)");
System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)");
result = null;
}
/dongfang_FC_rewrite_tool/src/dongfang/mkt/serial/MKOutputStream.java
8,6 → 8,7
import dongfang.mkt.frames.AnalogDebugLabelRequestFrame;
import dongfang.mkt.frames.AttitudeDataRequestFrame;
import dongfang.mkt.frames.ChangeParameterSetRequestFrame;
import dongfang.mkt.frames.CompassHeadingRequestFrame;
import dongfang.mkt.frames.DebugRequestFrame;
import dongfang.mkt.frames.ExternalControlRequestFrame;
import dongfang.mkt.frames.LoopbackTestRequestFrame;
63,7 → 64,7
}
 
MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) | (inbuf[1] >>> 4) ) + '=');;
MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) | (inbuf[1] >>> 4) ) + '=');
MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) | (inbuf[2] >>> 6)) + '=');
MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));
 
206,6 → 207,10
writeByte('K');
}
 
public void visit(CompassHeadingRequestFrame f) throws IOException {
writeByte('w');
}
 
public void visit(OSDDataRequestFrame f) throws IOException {
writeByte('o');
base64OutputStream.writeByte(f.getAutoSendInterval());