WebSVN - Projects - Diff - Rev 1689 and 1690 - /dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java


package dongfang.mkt.comm;
 
import java.io.IOException;
import java.io.OutputStream;
 
import dongfang.mkt.RequestFrameVisitor;
import dongfang.mkt.frames.AllDisplaysRequestFrame;
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;
import dongfang.mkt.frames.MotorTestRequestFrame;
import dongfang.mkt.frames.OSDDataRequestFrame;
import dongfang.mkt.frames.ReadExternalControlRequestFrame;
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
import dongfang.mkt.frames.ReadMotorMixerRequestFrame;
import dongfang.mkt.frames.ReadParamSetRequestFrame;
import dongfang.mkt.frames.ReadRCChannelsRequestFrame;
import dongfang.mkt.frames.ReadVariablesRequestFrame;
import dongfang.mkt.frames.RequestFrame;
import dongfang.mkt.frames.ResetRequestFrame;
import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
import dongfang.mkt.frames.SingleDisplayRequestFrame;
import dongfang.mkt.frames.VersionRequestFrame;
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
import dongfang.mkt.frames.WriteMotorMixerRequestFrame;
import dongfang.mkt.frames.WriteParamSetRequestFrame;
 
public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
        public class MKDataOutputStream {
                int[] inbuf = new int[3];
                int[] outbuf = new int[4];
                int inbufptr = 0;
               
                void writeByte(int b) throws IOException {
                        if(inbufptr == inbuf.length) flush();
                        inbuf[inbufptr++] = b;
                }
 
                void writeSignedByte(int b) throws IOException {
                        if (b<0) b+= 256;
                        writeByte(b);
                }
 
                public void writeBytes(int[] bs) throws IOException {
                        for (int i=0; i<bs.length; i++)
                                writeByte(bs[i]);
                }
 
                void writeWord(int w) throws IOException {
                        writeByte(w & 0xff);
                        writeByte(w >>> 8);
                }
 
                void writeChars(char[] s) throws IOException {
                        for (int i=0; i<s.length; i++) {
                                // Here, a 1:1 mapping between byte values and char codes is assumed.
                                // That means we're assuming ISO-8859-1 (= the first 256 code points
                                // of Unicode, which Java uses for chars)
                                writeByte(s[i]);
                        }
                }
 
                void flush() throws IOException {
                        if (inbufptr == 0)
                                return;
                       
                        while(inbufptr < inbuf.length) {
                                // add padding .. well just clear it, for tidyness.
                                inbuf[inbufptr++] = 0;
                        }
 
                        MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
                        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) + '='));
 
                        inbufptr = 0;
                }
        }
 
        final OutputStream os;
        MKDataOutputStream base64OutputStream = new MKDataOutputStream();
        int crc;
 
        public MKOutputStream(OutputStream os) {
                this.os = os;
        }
       
        @Override
        public void write(int b) throws IOException {
                os.write(b);
                // System.out.println("Writing: " + b);
        }
 
        public void writeByte(int b) throws IOException {
                crc += b;
                write(b);
        }
 
        public void write(RequestFrame f) throws IOException {
                write(crc = '#');
 
                int address = f.getAddress() + 'a';
                writeByte(address);
 
                // Will cause one of the "visit" methods below 
                // to be called, depending on the type of f.
                f.accept(this);
                base64OutputStream.flush();
 
                crc %= 4096;
                write((crc >>> 6) + '=');
                write((crc & 0x3f) + '=');
               
                write('\r');
        }
 
        /*
        public void visit(RequestFrame f) {
                throw new RuntimeException("Unbound RequestFrame type: "
                                + f.getClass().getSimpleName()
                                + ". Don't know how to output.");
        }
        */
 
        public void visit(AnalogDebugLabelRequestFrame f) throws IOException {
                writeByte('a');
                base64OutputStream.writeByte(f.getChannel());
        }
 
        public void visit(AttitudeDataRequestFrame f) throws IOException {
                writeByte('c');
                base64OutputStream.writeByte(f.getAutoSendInterval());
        }
 
        public void visit(DebugRequestFrame f) throws IOException {
                writeByte('d');
                base64OutputStream.writeByte(f.getAutoSendInterval());
        }
 
        public void visit(ChangeParameterSetRequestFrame f) throws IOException {
                writeByte('f');
                base64OutputStream.writeByte(f.getParameterSetNumber());
        }
 
        public void visit(VersionRequestFrame f) throws IOException {
                writeByte('v');
        }
 
        public void visit(ResetRequestFrame f) throws IOException {
                writeByte('R');
        }
 
        public void visit(MotorTestRequestFrame f) throws IOException {
                writeByte('t');
                base64OutputStream.writeBytes(f.getMotorValues());
        }
 
        public void visit(SingleDisplayRequestFrame f) throws IOException {
                writeByte('l');
                base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.
        }
 
        public void visit(AllDisplaysRequestFrame f) throws IOException {
                writeByte('h');
                base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());
                // mdo.writeByte(f.getAutoSendInterval());
        }
       
        public void visit(ReadMotorMixerRequestFrame f) throws IOException {
                writeByte('n');
        }
 
        public void visit(WriteMotorMixerRequestFrame f) throws IOException {
                writeByte('m');
                base64OutputStream.writeByte(f.getMotorMixerVersionNumber());
                base64OutputStream.writeByte(f.getDataLength());
                base64OutputStream.writeChars(f.getName());
                for(int i=0; i<f.getMatrix().length; i++) {
                        int[] row = f.getMatrix()[i];
                        for(int j=0; j<row.length; j++) {
                                base64OutputStream.writeSignedByte(row[j]);
                                //System.out.print(row[j] + " ");
                        }
                        //System.out.println();
                }
                /*
                for(int i=0; i<f.getOppositeMotors().length; i++) {
                        base64OutputStream.writeByte(f.getOppositeMotors()[i]);
                }
                */
        }
 
        public void visit(ReadVariablesRequestFrame f) throws IOException {
                writeByte('x');
        }
 
        public void visit(ExternalControlRequestFrame f) throws IOException {
                writeByte('b');
                base64OutputStream.writeByte(f.getDigital()[0]);
                base64OutputStream.writeByte(f.getDigital()[1]);
                base64OutputStream.writeByte(f.getRemoteButtons());
                base64OutputStream.writeByte(f.getPitch());
                base64OutputStream.writeByte(f.getRoll());
                base64OutputStream.writeByte(f.getYaw());
                base64OutputStream.writeByte(f.getThrottle());
                base64OutputStream.writeByte(f.getHeight());
                base64OutputStream.writeByte(f.getCommand());
                base64OutputStream.writeByte(f.getFrameNum());
                base64OutputStream.writeByte(f.getArgument());
        }
       
        public void visit(ReadExternalControlRequestFrame f) throws IOException {
                writeByte('g');
        }
 
        public void visit(LoopbackTestRequestFrame f) throws IOException {
                writeByte('0');
                base64OutputStream.writeByte(f.getByte());
                base64OutputStream.writeWord(f.getWord());
                base64OutputStream.writeChars(f.getChararray());
        }
       
        public void visit(ReadParamSetRequestFrame f) throws IOException {
                writeByte('q');
                base64OutputStream.writeByte(f.getConfigurationSetNumber());
        }
 
        public void visit(WriteParamSetRequestFrame f) throws IOException {
                writeByte('s');
                base64OutputStream.writeByte(f.getConfigurationSetNumber());
                base64OutputStream.writeByte(f.getConfigurationVersionNumber());
                base64OutputStream.writeByte(f.getDataLength() + 12);
                base64OutputStream.writeBytes(f.getData());
                base64OutputStream.writeChars(f.getName());
        }
       
        public void visit(SetCompassHeadingRequestFrame f) throws IOException {
                writeByte('K');
        }
 
        public void visit(CompassHeadingRequestFrame f) throws IOException {
                writeByte('w');
        }
 
        public void visit(OSDDataRequestFrame f) throws IOException {
                writeByte('o');
                base64OutputStream.writeByte(f.getAutoSendInterval());
        }
 
        public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {
                writeByte('i');
        }
 
        public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {
                writeByte('j');
                base64OutputStream.writeByte(f.getConfigurationVersionNumber());
                base64OutputStream.writeByte(f.getDataLength());
                base64OutputStream.writeBytes(f.getData());
        }
       
        public void visit(ReadRCChannelsRequestFrame f) throws IOException {
                writeByte('p');
        }
}
 

Subversion Repositories Projects

(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java - Rev 1689 → 1690

Rev 1689		Rev 1690
1	package dongfang.mkt.comm;	1	package dongfang.mkt.comm;
2		2
3	import java.io.IOException;	3	import java.io.IOException;
4	import java.io.OutputStream;	4	import java.io.OutputStream;
5		5
6	import dongfang.mkt.RequestFrameVisitor;	6	import dongfang.mkt.RequestFrameVisitor;
7	import dongfang.mkt.frames.AllDisplaysRequestFrame;	7	import dongfang.mkt.frames.AllDisplaysRequestFrame;
8	import dongfang.mkt.frames.AnalogDebugLabelRequestFrame;	8	import dongfang.mkt.frames.AnalogDebugLabelRequestFrame;
9	import dongfang.mkt.frames.AttitudeDataRequestFrame;	9	import dongfang.mkt.frames.AttitudeDataRequestFrame;
10	import dongfang.mkt.frames.ChangeParameterSetRequestFrame;	10	import dongfang.mkt.frames.ChangeParameterSetRequestFrame;
11	import dongfang.mkt.frames.CompassHeadingRequestFrame;	11	import dongfang.mkt.frames.CompassHeadingRequestFrame;
12	import dongfang.mkt.frames.DebugRequestFrame;	12	import dongfang.mkt.frames.DebugRequestFrame;
13	import dongfang.mkt.frames.ExternalControlRequestFrame;	13	import dongfang.mkt.frames.ExternalControlRequestFrame;
14	import dongfang.mkt.frames.LoopbackTestRequestFrame;	14	import dongfang.mkt.frames.LoopbackTestRequestFrame;
15	import dongfang.mkt.frames.MotorTestRequestFrame;	15	import dongfang.mkt.frames.MotorTestRequestFrame;
16	import dongfang.mkt.frames.OSDDataRequestFrame;	16	import dongfang.mkt.frames.OSDDataRequestFrame;
17	import dongfang.mkt.frames.ReadExternalControlRequestFrame;	17	import dongfang.mkt.frames.ReadExternalControlRequestFrame;
18	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;	18	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
19	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;	19	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;
20	import dongfang.mkt.frames.ReadParamSetRequestFrame;	20	import dongfang.mkt.frames.ReadParamSetRequestFrame;
-		21	import dongfang.mkt.frames.ReadRCChannelsRequestFrame;
21	import dongfang.mkt.frames.ReadVariablesRequestFrame;	22	import dongfang.mkt.frames.ReadVariablesRequestFrame;
22	import dongfang.mkt.frames.RequestFrame;	23	import dongfang.mkt.frames.RequestFrame;
23	import dongfang.mkt.frames.ResetRequestFrame;	24	import dongfang.mkt.frames.ResetRequestFrame;
24	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;	25	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
25	import dongfang.mkt.frames.SingleDisplayRequestFrame;	26	import dongfang.mkt.frames.SingleDisplayRequestFrame;
26	import dongfang.mkt.frames.VersionRequestFrame;	27	import dongfang.mkt.frames.VersionRequestFrame;
27	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;	28	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
28	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;	29	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;
29	import dongfang.mkt.frames.WriteParamSetRequestFrame;	30	import dongfang.mkt.frames.WriteParamSetRequestFrame;
30		31
31	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {	32	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
32	public class MKDataOutputStream {	33	public class MKDataOutputStream {
33	int[] inbuf = new int[3];	34	int[] inbuf = new int[3];
34	int[] outbuf = new int[4];	35	int[] outbuf = new int[4];
35	int inbufptr = 0;	36	int inbufptr = 0;
36		37
37	void writeByte(int b) throws IOException {	38	void writeByte(int b) throws IOException {
38	if(inbufptr == inbuf.length) flush();	39	if(inbufptr == inbuf.length) flush();
39	inbuf[inbufptr++] = b;	40	inbuf[inbufptr++] = b;
40	}	41	}
41		42
42	void writeSignedByte(int b) throws IOException {	43	void writeSignedByte(int b) throws IOException {
43	if (b<0) b+= 256;	44	if (b<0) b+= 256;
44	writeByte(b);	45	writeByte(b);
45	}	46	}
46		47
47	public void writeBytes(int[] bs) throws IOException {	48	public void writeBytes(int[] bs) throws IOException {
48	for (int i=0; i<bs.length; i++)	49	for (int i=0; i<bs.length; i++)
49	writeByte(bs[i]);	50	writeByte(bs[i]);
50	}	51	}
51		52
52	void writeWord(int w) throws IOException {	53	void writeWord(int w) throws IOException {
53	writeByte(w & 0xff);	54	writeByte(w & 0xff);
54	writeByte(w >>> 8);	55	writeByte(w >>> 8);
55	}	56	}
56		57
57	void writeChars(char[] s) throws IOException {	58	void writeChars(char[] s) throws IOException {
58	for (int i=0; i<s.length; i++) {	59	for (int i=0; i<s.length; i++) {
59	// Here, a 1:1 mapping between byte values and char codes is assumed.	60	// Here, a 1:1 mapping between byte values and char codes is assumed.
60	// That means we're assuming ISO-8859-1 (= the first 256 code points	61	// That means we're assuming ISO-8859-1 (= the first 256 code points
61	// of Unicode, which Java uses for chars)	62	// of Unicode, which Java uses for chars)
62	writeByte(s[i]);	63	writeByte(s[i]);
63	}	64	}
64	}	65	}
65		66
66	void flush() throws IOException {	67	void flush() throws IOException {
67	if (inbufptr == 0)	68	if (inbufptr == 0)
68	return;	69	return;
69		70
70	while(inbufptr < inbuf.length) {	71	while(inbufptr < inbuf.length) {
71	// add padding .. well just clear it, for tidyness.	72	// add padding .. well just clear it, for tidyness.
72	inbuf[inbufptr++] = 0;	73	inbuf[inbufptr++] = 0;
73	}	74	}
74		75
75	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');	76	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
76	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');	77	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');
77	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');	78	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');
78	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));	79	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));
79		80
80	inbufptr = 0;	81	inbufptr = 0;
81	}	82	}
82	}	83	}
83		84
84	final OutputStream os;	85	final OutputStream os;
85	MKDataOutputStream base64OutputStream = new MKDataOutputStream();	86	MKDataOutputStream base64OutputStream = new MKDataOutputStream();
86	int crc;	87	int crc;
87		88
88	public MKOutputStream(OutputStream os) {	89	public MKOutputStream(OutputStream os) {
89	this.os = os;	90	this.os = os;
90	}	91	}
91		92
92	@Override	93	@Override
93	public void write(int b) throws IOException {	94	public void write(int b) throws IOException {
94	os.write(b);	95	os.write(b);
95	// System.out.println("Writing: " + b);	96	// System.out.println("Writing: " + b);
96	}	97	}
97		98
98	public void writeByte(int b) throws IOException {	99	public void writeByte(int b) throws IOException {
99	crc += b;	100	crc += b;
100	write(b);	101	write(b);
101	}	102	}
102		103
103	public void write(RequestFrame f) throws IOException {	104	public void write(RequestFrame f) throws IOException {
104	write(crc = '#');	105	write(crc = '#');
105		106
106	int address = f.getAddress() + 'a';	107	int address = f.getAddress() + 'a';
107	writeByte(address);	108	writeByte(address);
108		109
109	// Will cause one of the "visit" methods below	110	// Will cause one of the "visit" methods below
110	// to be called, depending on the type of f.	111	// to be called, depending on the type of f.
111	f.accept(this);	112	f.accept(this);
112	base64OutputStream.flush();	113	base64OutputStream.flush();
113		114
114	crc %= 4096;	115	crc %= 4096;
115	write((crc >>> 6) + '=');	116	write((crc >>> 6) + '=');
116	write((crc & 0x3f) + '=');	117	write((crc & 0x3f) + '=');
117		118
118	write('\r');	119	write('\r');
119	}	120	}
120		121
121	/*	122	/*
122	public void visit(RequestFrame f) {	123	public void visit(RequestFrame f) {
123	throw new RuntimeException("Unbound RequestFrame type: "	124	throw new RuntimeException("Unbound RequestFrame type: "
124	+ f.getClass().getSimpleName()	125	+ f.getClass().getSimpleName()
125	+ ". Don't know how to output.");	126	+ ". Don't know how to output.");
126	}	127	}
127	*/	128	*/
128		129
129	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {	130	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {
130	writeByte('a');	131	writeByte('a');
131	base64OutputStream.writeByte(f.getChannel());	132	base64OutputStream.writeByte(f.getChannel());
132	}	133	}
133		134
134	public void visit(AttitudeDataRequestFrame f) throws IOException {	135	public void visit(AttitudeDataRequestFrame f) throws IOException {
135	writeByte('c');	136	writeByte('c');
136	base64OutputStream.writeByte(f.getAutoSendInterval());	137	base64OutputStream.writeByte(f.getAutoSendInterval());
137	}	138	}
138		139
139	public void visit(DebugRequestFrame f) throws IOException {	140	public void visit(DebugRequestFrame f) throws IOException {
140	writeByte('d');	141	writeByte('d');
141	base64OutputStream.writeByte(f.getAutoSendInterval());	142	base64OutputStream.writeByte(f.getAutoSendInterval());
142	}	143	}
143		144
144	public void visit(ChangeParameterSetRequestFrame f) throws IOException {	145	public void visit(ChangeParameterSetRequestFrame f) throws IOException {
145	writeByte('f');	146	writeByte('f');
146	base64OutputStream.writeByte(f.getParameterSetNumber());	147	base64OutputStream.writeByte(f.getParameterSetNumber());
147	}	148	}
148		149
149	public void visit(VersionRequestFrame f) throws IOException {	150	public void visit(VersionRequestFrame f) throws IOException {
150	writeByte('v');	151	writeByte('v');
151	}	152	}
152		153
153	public void visit(ResetRequestFrame f) throws IOException {	154	public void visit(ResetRequestFrame f) throws IOException {
154	writeByte('R');	155	writeByte('R');
155	}	156	}
156		157
157	public void visit(MotorTestRequestFrame f) throws IOException {	158	public void visit(MotorTestRequestFrame f) throws IOException {
158	writeByte('t');	159	writeByte('t');
159	base64OutputStream.writeBytes(f.getMotorValues());	160	base64OutputStream.writeBytes(f.getMotorValues());
160	}	161	}
161		162
162	public void visit(SingleDisplayRequestFrame f) throws IOException {	163	public void visit(SingleDisplayRequestFrame f) throws IOException {
163	writeByte('l');	164	writeByte('l');
164	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.	165	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.
165	}	166	}
166		167
167	public void visit(AllDisplaysRequestFrame f) throws IOException {	168	public void visit(AllDisplaysRequestFrame f) throws IOException {
168	writeByte('h');	169	writeByte('h');
169	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());	170	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());
170	// mdo.writeByte(f.getAutoSendInterval());	171	// mdo.writeByte(f.getAutoSendInterval());
171	}	172	}
172		173
173	public void visit(ReadMotorMixerRequestFrame f) throws IOException {	174	public void visit(ReadMotorMixerRequestFrame f) throws IOException {
174	writeByte('n');	175	writeByte('n');
175	}	176	}
176		177
177	public void visit(WriteMotorMixerRequestFrame f) throws IOException {	178	public void visit(WriteMotorMixerRequestFrame f) throws IOException {
178	writeByte('m');	179	writeByte('m');
179	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());	180	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());
180	base64OutputStream.writeByte(f.getDataLength());	181	base64OutputStream.writeByte(f.getDataLength());
181	base64OutputStream.writeChars(f.getName());	182	base64OutputStream.writeChars(f.getName());
182	for(int i=0; i<f.getMatrix().length; i++) {	183	for(int i=0; i<f.getMatrix().length; i++) {
183	int[] row = f.getMatrix()[i];	184	int[] row = f.getMatrix()[i];
184	for(int j=0; j<row.length; j++) {	185	for(int j=0; j<row.length; j++) {
185	base64OutputStream.writeSignedByte(row[j]);	186	base64OutputStream.writeSignedByte(row[j]);
186	//System.out.print(row[j] + " ");	187	//System.out.print(row[j] + " ");
187	}	188	}
188	//System.out.println();	189	//System.out.println();
189	}	190	}
190	/*	191	/*
191	for(int i=0; i<f.getOppositeMotors().length; i++) {	192	for(int i=0; i<f.getOppositeMotors().length; i++) {
192	base64OutputStream.writeByte(f.getOppositeMotors()[i]);	193	base64OutputStream.writeByte(f.getOppositeMotors()[i]);
193	}	194	}
194	*/	195	*/
195	}	196	}
196		197
197	public void visit(ReadVariablesRequestFrame f) throws IOException {	198	public void visit(ReadVariablesRequestFrame f) throws IOException {
198	writeByte('x');	199	writeByte('x');
199	}	200	}
200		201
201	public void visit(ExternalControlRequestFrame f) throws IOException {	202	public void visit(ExternalControlRequestFrame f) throws IOException {
202	writeByte('b');	203	writeByte('b');
203	base64OutputStream.writeByte(f.getDigital()[0]);	204	base64OutputStream.writeByte(f.getDigital()[0]);
204	base64OutputStream.writeByte(f.getDigital()[1]);	205	base64OutputStream.writeByte(f.getDigital()[1]);
205	base64OutputStream.writeByte(f.getRemoteButtons());	206	base64OutputStream.writeByte(f.getRemoteButtons());
206	base64OutputStream.writeByte(f.getPitch());	207	base64OutputStream.writeByte(f.getPitch());
207	base64OutputStream.writeByte(f.getRoll());	208	base64OutputStream.writeByte(f.getRoll());
208	base64OutputStream.writeByte(f.getYaw());	209	base64OutputStream.writeByte(f.getYaw());
209	base64OutputStream.writeByte(f.getThrottle());	210	base64OutputStream.writeByte(f.getThrottle());
210	base64OutputStream.writeByte(f.getHeight());	211	base64OutputStream.writeByte(f.getHeight());
211	base64OutputStream.writeByte(f.getCommand());	212	base64OutputStream.writeByte(f.getCommand());
212	base64OutputStream.writeByte(f.getFrameNum());	213	base64OutputStream.writeByte(f.getFrameNum());
213	base64OutputStream.writeByte(f.getArgument());	214	base64OutputStream.writeByte(f.getArgument());
214	}	215	}
215		216
216	public void visit(ReadExternalControlRequestFrame f) throws IOException {	217	public void visit(ReadExternalControlRequestFrame f) throws IOException {
217	writeByte('g');	218	writeByte('g');
218	}	219	}
219		220
220	public void visit(LoopbackTestRequestFrame f) throws IOException {	221	public void visit(LoopbackTestRequestFrame f) throws IOException {
221	writeByte('0');	222	writeByte('0');
222	base64OutputStream.writeByte(f.getByte());	223	base64OutputStream.writeByte(f.getByte());
223	base64OutputStream.writeWord(f.getWord());	224	base64OutputStream.writeWord(f.getWord());
224	base64OutputStream.writeChars(f.getChararray());	225	base64OutputStream.writeChars(f.getChararray());
225	}	226	}
226		227
227	public void visit(ReadParamSetRequestFrame f) throws IOException {	228	public void visit(ReadParamSetRequestFrame f) throws IOException {
228	writeByte('q');	229	writeByte('q');
229	base64OutputStream.writeByte(f.getConfigurationSetNumber());	230	base64OutputStream.writeByte(f.getConfigurationSetNumber());
230	}	231	}
231		232
232	public void visit(WriteParamSetRequestFrame f) throws IOException {	233	public void visit(WriteParamSetRequestFrame f) throws IOException {
233	writeByte('s');	234	writeByte('s');
234	base64OutputStream.writeByte(f.getConfigurationSetNumber());	235	base64OutputStream.writeByte(f.getConfigurationSetNumber());
235	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	236	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
236	base64OutputStream.writeByte(f.getDataLength() + 12);	237	base64OutputStream.writeByte(f.getDataLength() + 12);
237	base64OutputStream.writeBytes(f.getData());	238	base64OutputStream.writeBytes(f.getData());
238	base64OutputStream.writeChars(f.getName());	239	base64OutputStream.writeChars(f.getName());
239	}	240	}
240		241
241	public void visit(SetCompassHeadingRequestFrame f) throws IOException {	242	public void visit(SetCompassHeadingRequestFrame f) throws IOException {
242	writeByte('K');	243	writeByte('K');
243	}	244	}
244		245
245	public void visit(CompassHeadingRequestFrame f) throws IOException {	246	public void visit(CompassHeadingRequestFrame f) throws IOException {
246	writeByte('w');	247	writeByte('w');
247	}	248	}
248		249
249	public void visit(OSDDataRequestFrame f) throws IOException {	250	public void visit(OSDDataRequestFrame f) throws IOException {
250	writeByte('o');	251	writeByte('o');
251	base64OutputStream.writeByte(f.getAutoSendInterval());	252	base64OutputStream.writeByte(f.getAutoSendInterval());
252	}	253	}
253		254
254	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {	255	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {
255	writeByte('i');	256	writeByte('i');
256	}	257	}
257		258
258	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {	259	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {
259	writeByte('j');	260	writeByte('j');
260	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	261	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
261	base64OutputStream.writeByte(f.getDataLength());	262	base64OutputStream.writeByte(f.getDataLength());
262	base64OutputStream.writeBytes(f.getData());	263	base64OutputStream.writeBytes(f.getData());
263	}	264	}
-		265
-		266	public void visit(ReadRCChannelsRequestFrame f) throws IOException {
-		267	writeByte('p');
-		268	}
264	}	269	}
265		270