WebSVN - Projects - Diff - Rev 1690 and 1695 - /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.DCMMatrixRequestFrame;
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(DCMMatrixRequestFrame f) throws IOException {
                writeByte('e');
        }
 
        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');
        }
}
 

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(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java @ 1690 - Rev 1690 → 1695

Rev 1690		Rev 1695
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.DCMMatrixRequestFrame;
12	import dongfang.mkt.frames.DebugRequestFrame;	13	import dongfang.mkt.frames.DebugRequestFrame;
13	import dongfang.mkt.frames.ExternalControlRequestFrame;	14	import dongfang.mkt.frames.ExternalControlRequestFrame;
14	import dongfang.mkt.frames.LoopbackTestRequestFrame;	15	import dongfang.mkt.frames.LoopbackTestRequestFrame;
15	import dongfang.mkt.frames.MotorTestRequestFrame;	16	import dongfang.mkt.frames.MotorTestRequestFrame;
16	import dongfang.mkt.frames.OSDDataRequestFrame;	17	import dongfang.mkt.frames.OSDDataRequestFrame;
17	import dongfang.mkt.frames.ReadExternalControlRequestFrame;	18	import dongfang.mkt.frames.ReadExternalControlRequestFrame;
18	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;	19	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
19	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;	20	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;
20	import dongfang.mkt.frames.ReadParamSetRequestFrame;	21	import dongfang.mkt.frames.ReadParamSetRequestFrame;
21	import dongfang.mkt.frames.ReadRCChannelsRequestFrame;	22	import dongfang.mkt.frames.ReadRCChannelsRequestFrame;
22	import dongfang.mkt.frames.ReadVariablesRequestFrame;	23	import dongfang.mkt.frames.ReadVariablesRequestFrame;
23	import dongfang.mkt.frames.RequestFrame;	24	import dongfang.mkt.frames.RequestFrame;
24	import dongfang.mkt.frames.ResetRequestFrame;	25	import dongfang.mkt.frames.ResetRequestFrame;
25	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;	26	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
26	import dongfang.mkt.frames.SingleDisplayRequestFrame;	27	import dongfang.mkt.frames.SingleDisplayRequestFrame;
27	import dongfang.mkt.frames.VersionRequestFrame;	28	import dongfang.mkt.frames.VersionRequestFrame;
28	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;	29	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
29	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;	30	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;
30	import dongfang.mkt.frames.WriteParamSetRequestFrame;	31	import dongfang.mkt.frames.WriteParamSetRequestFrame;
31		32
32	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {	33	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
33	public class MKDataOutputStream {	34	public class MKDataOutputStream {
34	int[] inbuf = new int[3];	35	int[] inbuf = new int[3];
35	int[] outbuf = new int[4];	36	int[] outbuf = new int[4];
36	int inbufptr = 0;	37	int inbufptr = 0;
37		38
38	void writeByte(int b) throws IOException {	39	void writeByte(int b) throws IOException {
39	if(inbufptr == inbuf.length) flush();	40	if(inbufptr == inbuf.length) flush();
40	inbuf[inbufptr++] = b;	41	inbuf[inbufptr++] = b;
41	}	42	}
42		43
43	void writeSignedByte(int b) throws IOException {	44	void writeSignedByte(int b) throws IOException {
44	if (b<0) b+= 256;	45	if (b<0) b+= 256;
45	writeByte(b);	46	writeByte(b);
46	}	47	}
47		48
48	public void writeBytes(int[] bs) throws IOException {	49	public void writeBytes(int[] bs) throws IOException {
49	for (int i=0; i<bs.length; i++)	50	for (int i=0; i<bs.length; i++)
50	writeByte(bs[i]);	51	writeByte(bs[i]);
51	}	52	}
52		53
53	void writeWord(int w) throws IOException {	54	void writeWord(int w) throws IOException {
54	writeByte(w & 0xff);	55	writeByte(w & 0xff);
55	writeByte(w >>> 8);	56	writeByte(w >>> 8);
56	}	57	}
57		58
58	void writeChars(char[] s) throws IOException {	59	void writeChars(char[] s) throws IOException {
59	for (int i=0; i<s.length; i++) {	60	for (int i=0; i<s.length; i++) {
60	// Here, a 1:1 mapping between byte values and char codes is assumed.	61	// Here, a 1:1 mapping between byte values and char codes is assumed.
61	// That means we're assuming ISO-8859-1 (= the first 256 code points	62	// That means we're assuming ISO-8859-1 (= the first 256 code points
62	// of Unicode, which Java uses for chars)	63	// of Unicode, which Java uses for chars)
63	writeByte(s[i]);	64	writeByte(s[i]);
64	}	65	}
65	}	66	}
66		67
67	void flush() throws IOException {	68	void flush() throws IOException {
68	if (inbufptr == 0)	69	if (inbufptr == 0)
69	return;	70	return;
70		71
71	while(inbufptr < inbuf.length) {	72	while(inbufptr < inbuf.length) {
72	// add padding .. well just clear it, for tidyness.	73	// add padding .. well just clear it, for tidyness.
73	inbuf[inbufptr++] = 0;	74	inbuf[inbufptr++] = 0;
74	}	75	}
75		76
76	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');	77	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
77	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');	78	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');
78	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');	79	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');
79	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));	80	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));
80		81
81	inbufptr = 0;	82	inbufptr = 0;
82	}	83	}
83	}	84	}
84		85
85	final OutputStream os;	86	final OutputStream os;
86	MKDataOutputStream base64OutputStream = new MKDataOutputStream();	87	MKDataOutputStream base64OutputStream = new MKDataOutputStream();
87	int crc;	88	int crc;
88		89
89	public MKOutputStream(OutputStream os) {	90	public MKOutputStream(OutputStream os) {
90	this.os = os;	91	this.os = os;
91	}	92	}
92		93
93	@Override	94	@Override
94	public void write(int b) throws IOException {	95	public void write(int b) throws IOException {
95	os.write(b);	96	os.write(b);
96	// System.out.println("Writing: " + b);	97	// System.out.println("Writing: " + b);
97	}	98	}
98		99
99	public void writeByte(int b) throws IOException {	100	public void writeByte(int b) throws IOException {
100	crc += b;	101	crc += b;
101	write(b);	102	write(b);
102	}	103	}
103		104
104	public void write(RequestFrame f) throws IOException {	105	public void write(RequestFrame f) throws IOException {
105	write(crc = '#');	106	write(crc = '#');
106		107
107	int address = f.getAddress() + 'a';	108	int address = f.getAddress() + 'a';
108	writeByte(address);	109	writeByte(address);
109		110
110	// Will cause one of the "visit" methods below	111	// Will cause one of the "visit" methods below
111	// to be called, depending on the type of f.	112	// to be called, depending on the type of f.
112	f.accept(this);	113	f.accept(this);
113	base64OutputStream.flush();	114	base64OutputStream.flush();
114		115
115	crc %= 4096;	116	crc %= 4096;
116	write((crc >>> 6) + '=');	117	write((crc >>> 6) + '=');
117	write((crc & 0x3f) + '=');	118	write((crc & 0x3f) + '=');
118		119
119	write('\r');	120	write('\r');
120	}	121	}
121		122
122	/*	123	/*
123	public void visit(RequestFrame f) {	124	public void visit(RequestFrame f) {
124	throw new RuntimeException("Unbound RequestFrame type: "	125	throw new RuntimeException("Unbound RequestFrame type: "
125	+ f.getClass().getSimpleName()	126	+ f.getClass().getSimpleName()
126	+ ". Don't know how to output.");	127	+ ". Don't know how to output.");
127	}	128	}
128	*/	129	*/
129		130
130	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {	131	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {
131	writeByte('a');	132	writeByte('a');
132	base64OutputStream.writeByte(f.getChannel());	133	base64OutputStream.writeByte(f.getChannel());
133	}	134	}
134		135
135	public void visit(AttitudeDataRequestFrame f) throws IOException {	136	public void visit(AttitudeDataRequestFrame f) throws IOException {
136	writeByte('c');	137	writeByte('c');
137	base64OutputStream.writeByte(f.getAutoSendInterval());	138	base64OutputStream.writeByte(f.getAutoSendInterval());
138	}	139	}
139		140
140	public void visit(DebugRequestFrame f) throws IOException {	141	public void visit(DebugRequestFrame f) throws IOException {
141	writeByte('d');	142	writeByte('d');
142	base64OutputStream.writeByte(f.getAutoSendInterval());	143	base64OutputStream.writeByte(f.getAutoSendInterval());
143	}	144	}
-		145
-		146	public void visit(DCMMatrixRequestFrame f) throws IOException {
-		147	writeByte('e');
-		148	}
144		149
145	public void visit(ChangeParameterSetRequestFrame f) throws IOException {	150	public void visit(ChangeParameterSetRequestFrame f) throws IOException {
146	writeByte('f');	151	writeByte('f');
147	base64OutputStream.writeByte(f.getParameterSetNumber());	152	base64OutputStream.writeByte(f.getParameterSetNumber());
148	}	153	}
149		154
150	public void visit(VersionRequestFrame f) throws IOException {	155	public void visit(VersionRequestFrame f) throws IOException {
151	writeByte('v');	156	writeByte('v');
152	}	157	}
153		158
154	public void visit(ResetRequestFrame f) throws IOException {	159	public void visit(ResetRequestFrame f) throws IOException {
155	writeByte('R');	160	writeByte('R');
156	}	161	}
157		162
158	public void visit(MotorTestRequestFrame f) throws IOException {	163	public void visit(MotorTestRequestFrame f) throws IOException {
159	writeByte('t');	164	writeByte('t');
160	base64OutputStream.writeBytes(f.getMotorValues());	165	base64OutputStream.writeBytes(f.getMotorValues());
161	}	166	}
162		167
163	public void visit(SingleDisplayRequestFrame f) throws IOException {	168	public void visit(SingleDisplayRequestFrame f) throws IOException {
164	writeByte('l');	169	writeByte('l');
165	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.	170	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.
166	}	171	}
167		172
168	public void visit(AllDisplaysRequestFrame f) throws IOException {	173	public void visit(AllDisplaysRequestFrame f) throws IOException {
169	writeByte('h');	174	writeByte('h');
170	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());	175	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());
171	// mdo.writeByte(f.getAutoSendInterval());	176	// mdo.writeByte(f.getAutoSendInterval());
172	}	177	}
173		178
174	public void visit(ReadMotorMixerRequestFrame f) throws IOException {	179	public void visit(ReadMotorMixerRequestFrame f) throws IOException {
175	writeByte('n');	180	writeByte('n');
176	}	181	}
177		182
178	public void visit(WriteMotorMixerRequestFrame f) throws IOException {	183	public void visit(WriteMotorMixerRequestFrame f) throws IOException {
179	writeByte('m');	184	writeByte('m');
180	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());	185	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());
181	base64OutputStream.writeByte(f.getDataLength());	186	base64OutputStream.writeByte(f.getDataLength());
182	base64OutputStream.writeChars(f.getName());	187	base64OutputStream.writeChars(f.getName());
183	for(int i=0; i<f.getMatrix().length; i++) {	188	for(int i=0; i<f.getMatrix().length; i++) {
184	int[] row = f.getMatrix()[i];	189	int[] row = f.getMatrix()[i];
185	for(int j=0; j<row.length; j++) {	190	for(int j=0; j<row.length; j++) {
186	base64OutputStream.writeSignedByte(row[j]);	191	base64OutputStream.writeSignedByte(row[j]);
187	//System.out.print(row[j] + " ");	192	//System.out.print(row[j] + " ");
188	}	193	}
189	//System.out.println();	194	//System.out.println();
190	}	195	}
191	/*	196	/*
192	for(int i=0; i<f.getOppositeMotors().length; i++) {	197	for(int i=0; i<f.getOppositeMotors().length; i++) {
193	base64OutputStream.writeByte(f.getOppositeMotors()[i]);	198	base64OutputStream.writeByte(f.getOppositeMotors()[i]);
194	}	199	}
195	*/	200	*/
196	}	201	}
197		202
198	public void visit(ReadVariablesRequestFrame f) throws IOException {	203	public void visit(ReadVariablesRequestFrame f) throws IOException {
199	writeByte('x');	204	writeByte('x');
200	}	205	}
201		206
202	public void visit(ExternalControlRequestFrame f) throws IOException {	207	public void visit(ExternalControlRequestFrame f) throws IOException {
203	writeByte('b');	208	writeByte('b');
204	base64OutputStream.writeByte(f.getDigital()[0]);	209	base64OutputStream.writeByte(f.getDigital()[0]);
205	base64OutputStream.writeByte(f.getDigital()[1]);	210	base64OutputStream.writeByte(f.getDigital()[1]);
206	base64OutputStream.writeByte(f.getRemoteButtons());	211	base64OutputStream.writeByte(f.getRemoteButtons());
207	base64OutputStream.writeByte(f.getPitch());	212	base64OutputStream.writeByte(f.getPitch());
208	base64OutputStream.writeByte(f.getRoll());	213	base64OutputStream.writeByte(f.getRoll());
209	base64OutputStream.writeByte(f.getYaw());	214	base64OutputStream.writeByte(f.getYaw());
210	base64OutputStream.writeByte(f.getThrottle());	215	base64OutputStream.writeByte(f.getThrottle());
211	base64OutputStream.writeByte(f.getHeight());	216	base64OutputStream.writeByte(f.getHeight());
212	base64OutputStream.writeByte(f.getCommand());	217	base64OutputStream.writeByte(f.getCommand());
213	base64OutputStream.writeByte(f.getFrameNum());	218	base64OutputStream.writeByte(f.getFrameNum());
214	base64OutputStream.writeByte(f.getArgument());	219	base64OutputStream.writeByte(f.getArgument());
215	}	220	}
216		221
217	public void visit(ReadExternalControlRequestFrame f) throws IOException {	222	public void visit(ReadExternalControlRequestFrame f) throws IOException {
218	writeByte('g');	223	writeByte('g');
219	}	224	}
220		225
221	public void visit(LoopbackTestRequestFrame f) throws IOException {	226	public void visit(LoopbackTestRequestFrame f) throws IOException {
222	writeByte('0');	227	writeByte('0');
223	base64OutputStream.writeByte(f.getByte());	228	base64OutputStream.writeByte(f.getByte());
224	base64OutputStream.writeWord(f.getWord());	229	base64OutputStream.writeWord(f.getWord());
225	base64OutputStream.writeChars(f.getChararray());	230	base64OutputStream.writeChars(f.getChararray());
226	}	231	}
227		232
228	public void visit(ReadParamSetRequestFrame f) throws IOException {	233	public void visit(ReadParamSetRequestFrame f) throws IOException {
229	writeByte('q');	234	writeByte('q');
230	base64OutputStream.writeByte(f.getConfigurationSetNumber());	235	base64OutputStream.writeByte(f.getConfigurationSetNumber());
231	}	236	}
232		237
233	public void visit(WriteParamSetRequestFrame f) throws IOException {	238	public void visit(WriteParamSetRequestFrame f) throws IOException {
234	writeByte('s');	239	writeByte('s');
235	base64OutputStream.writeByte(f.getConfigurationSetNumber());	240	base64OutputStream.writeByte(f.getConfigurationSetNumber());
236	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	241	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
237	base64OutputStream.writeByte(f.getDataLength() + 12);	242	base64OutputStream.writeByte(f.getDataLength() + 12);
238	base64OutputStream.writeBytes(f.getData());	243	base64OutputStream.writeBytes(f.getData());
239	base64OutputStream.writeChars(f.getName());	244	base64OutputStream.writeChars(f.getName());
240	}	245	}
241		246
242	public void visit(SetCompassHeadingRequestFrame f) throws IOException {	247	public void visit(SetCompassHeadingRequestFrame f) throws IOException {
243	writeByte('K');	248	writeByte('K');
244	}	249	}
245		250
246	public void visit(CompassHeadingRequestFrame f) throws IOException {	251	public void visit(CompassHeadingRequestFrame f) throws IOException {
247	writeByte('w');	252	writeByte('w');
248	}	253	}
249		254
250	public void visit(OSDDataRequestFrame f) throws IOException {	255	public void visit(OSDDataRequestFrame f) throws IOException {
251	writeByte('o');	256	writeByte('o');
252	base64OutputStream.writeByte(f.getAutoSendInterval());	257	base64OutputStream.writeByte(f.getAutoSendInterval());
253	}	258	}
254		259
255	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {	260	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {
256	writeByte('i');	261	writeByte('i');
257	}	262	}
258		263
259	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {	264	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {
260	writeByte('j');	265	writeByte('j');
261	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	266	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
262	base64OutputStream.writeByte(f.getDataLength());	267	base64OutputStream.writeByte(f.getDataLength());
263	base64OutputStream.writeBytes(f.getData());	268	base64OutputStream.writeBytes(f.getData());
264	}	269	}
265		270
266	public void visit(ReadRCChannelsRequestFrame f) throws IOException {	271	public void visit(ReadRCChannelsRequestFrame f) throws IOException {
267	writeByte('p');	272	writeByte('p');
268	}	273	}
269	}	274	}
270		275