WebSVN - Projects - Diff - Rev 1695 and 1696 - /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.ProfilerLabelRequestFrame;
import dongfang.mkt.frames.ProfilerRequestFrame;
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(ProfilerLabelRequestFrame f) throws IOException {
                writeByte('f');
                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(ProfilerRequestFrame f) throws IOException {
                writeByte('u');
                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');
        }
}
 

Subversion Repositories Projects

(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java - Rev 1695 → 1696

Rev 1695		Rev 1696
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.DCMMatrixRequestFrame;
13	import dongfang.mkt.frames.DebugRequestFrame;	13	import dongfang.mkt.frames.DebugRequestFrame;
14	import dongfang.mkt.frames.ExternalControlRequestFrame;	14	import dongfang.mkt.frames.ExternalControlRequestFrame;
15	import dongfang.mkt.frames.LoopbackTestRequestFrame;	15	import dongfang.mkt.frames.LoopbackTestRequestFrame;
16	import dongfang.mkt.frames.MotorTestRequestFrame;	16	import dongfang.mkt.frames.MotorTestRequestFrame;
17	import dongfang.mkt.frames.OSDDataRequestFrame;	17	import dongfang.mkt.frames.OSDDataRequestFrame;
-		18	import dongfang.mkt.frames.ProfilerLabelRequestFrame;
-		19	import dongfang.mkt.frames.ProfilerRequestFrame;
18	import dongfang.mkt.frames.ReadExternalControlRequestFrame;	20	import dongfang.mkt.frames.ReadExternalControlRequestFrame;
19	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;	21	import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
20	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;	22	import dongfang.mkt.frames.ReadMotorMixerRequestFrame;
21	import dongfang.mkt.frames.ReadParamSetRequestFrame;	23	import dongfang.mkt.frames.ReadParamSetRequestFrame;
22	import dongfang.mkt.frames.ReadRCChannelsRequestFrame;	24	import dongfang.mkt.frames.ReadRCChannelsRequestFrame;
23	import dongfang.mkt.frames.ReadVariablesRequestFrame;	25	import dongfang.mkt.frames.ReadVariablesRequestFrame;
24	import dongfang.mkt.frames.RequestFrame;	26	import dongfang.mkt.frames.RequestFrame;
25	import dongfang.mkt.frames.ResetRequestFrame;	27	import dongfang.mkt.frames.ResetRequestFrame;
26	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;	28	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
27	import dongfang.mkt.frames.SingleDisplayRequestFrame;	29	import dongfang.mkt.frames.SingleDisplayRequestFrame;
28	import dongfang.mkt.frames.VersionRequestFrame;	30	import dongfang.mkt.frames.VersionRequestFrame;
29	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;	31	import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
30	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;	32	import dongfang.mkt.frames.WriteMotorMixerRequestFrame;
31	import dongfang.mkt.frames.WriteParamSetRequestFrame;	33	import dongfang.mkt.frames.WriteParamSetRequestFrame;
32		34
33	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {	35	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
34	public class MKDataOutputStream {	36	public class MKDataOutputStream {
35	int[] inbuf = new int[3];	37	int[] inbuf = new int[3];
36	int[] outbuf = new int[4];	38	int[] outbuf = new int[4];
37	int inbufptr = 0;	39	int inbufptr = 0;
38		40
39	void writeByte(int b) throws IOException {	41	void writeByte(int b) throws IOException {
40	if(inbufptr == inbuf.length) flush();	42	if(inbufptr == inbuf.length) flush();
41	inbuf[inbufptr++] = b;	43	inbuf[inbufptr++] = b;
42	}	44	}
43		45
44	void writeSignedByte(int b) throws IOException {	46	void writeSignedByte(int b) throws IOException {
45	if (b<0) b+= 256;	47	if (b<0) b+= 256;
46	writeByte(b);	48	writeByte(b);
47	}	49	}
48		50
49	public void writeBytes(int[] bs) throws IOException {	51	public void writeBytes(int[] bs) throws IOException {
50	for (int i=0; i<bs.length; i++)	52	for (int i=0; i<bs.length; i++)
51	writeByte(bs[i]);	53	writeByte(bs[i]);
52	}	54	}
53		55
54	void writeWord(int w) throws IOException {	56	void writeWord(int w) throws IOException {
55	writeByte(w & 0xff);	57	writeByte(w & 0xff);
56	writeByte(w >>> 8);	58	writeByte(w >>> 8);
57	}	59	}
58		60
59	void writeChars(char[] s) throws IOException {	61	void writeChars(char[] s) throws IOException {
60	for (int i=0; i<s.length; i++) {	62	for (int i=0; i<s.length; i++) {
61	// Here, a 1:1 mapping between byte values and char codes is assumed.	63	// Here, a 1:1 mapping between byte values and char codes is assumed.
62	// That means we're assuming ISO-8859-1 (= the first 256 code points	64	// That means we're assuming ISO-8859-1 (= the first 256 code points
63	// of Unicode, which Java uses for chars)	65	// of Unicode, which Java uses for chars)
64	writeByte(s[i]);	66	writeByte(s[i]);
65	}	67	}
66	}	68	}
67		69
68	void flush() throws IOException {	70	void flush() throws IOException {
69	if (inbufptr == 0)	71	if (inbufptr == 0)
70	return;	72	return;
71		73
72	while(inbufptr < inbuf.length) {	74	while(inbufptr < inbuf.length) {
73	// add padding .. well just clear it, for tidyness.	75	// add padding .. well just clear it, for tidyness.
74	inbuf[inbufptr++] = 0;	76	inbuf[inbufptr++] = 0;
75	}	77	}
76		78
77	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');	79	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
78	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');	80	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');
79	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');	81	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');
80	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));	82	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));
81		83
82	inbufptr = 0;	84	inbufptr = 0;
83	}	85	}
84	}	86	}
85		87
86	final OutputStream os;	88	final OutputStream os;
87	MKDataOutputStream base64OutputStream = new MKDataOutputStream();	89	MKDataOutputStream base64OutputStream = new MKDataOutputStream();
88	int crc;	90	int crc;
89		91
90	public MKOutputStream(OutputStream os) {	92	public MKOutputStream(OutputStream os) {
91	this.os = os;	93	this.os = os;
92	}	94	}
93		95
94	@Override	96	@Override
95	public void write(int b) throws IOException {	97	public void write(int b) throws IOException {
96	os.write(b);	98	os.write(b);
97	// System.out.println("Writing: " + b);	99	// System.out.println("Writing: " + b);
98	}	100	}
99		101
100	public void writeByte(int b) throws IOException {	102	public void writeByte(int b) throws IOException {
101	crc += b;	103	crc += b;
102	write(b);	104	write(b);
103	}	105	}
104		106
105	public void write(RequestFrame f) throws IOException {	107	public void write(RequestFrame f) throws IOException {
106	write(crc = '#');	108	write(crc = '#');
107		109
108	int address = f.getAddress() + 'a';	110	int address = f.getAddress() + 'a';
109	writeByte(address);	111	writeByte(address);
110		112
111	// Will cause one of the "visit" methods below	113	// Will cause one of the "visit" methods below
112	// to be called, depending on the type of f.	114	// to be called, depending on the type of f.
113	f.accept(this);	115	f.accept(this);
114	base64OutputStream.flush();	116	base64OutputStream.flush();
115		117
116	crc %= 4096;	118	crc %= 4096;
117	write((crc >>> 6) + '=');	119	write((crc >>> 6) + '=');
118	write((crc & 0x3f) + '=');	120	write((crc & 0x3f) + '=');
119		121
120	write('\r');	122	write('\r');
121	}	123	}
122		124
123	/*	125	/*
124	public void visit(RequestFrame f) {	126	public void visit(RequestFrame f) {
125	throw new RuntimeException("Unbound RequestFrame type: "	127	throw new RuntimeException("Unbound RequestFrame type: "
126	+ f.getClass().getSimpleName()	128	+ f.getClass().getSimpleName()
127	+ ". Don't know how to output.");	129	+ ". Don't know how to output.");
128	}	130	}
129	*/	131	*/
130		132
131	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {	133	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {
132	writeByte('a');	134	writeByte('a');
133	base64OutputStream.writeByte(f.getChannel());	135	base64OutputStream.writeByte(f.getChannel());
134	}	136	}
-		137
-		138	public void visit(ProfilerLabelRequestFrame f) throws IOException {
-		139	writeByte('f');
-		140	base64OutputStream.writeByte(f.getChannel());
-		141	}
135		142
136	public void visit(AttitudeDataRequestFrame f) throws IOException {	143	public void visit(AttitudeDataRequestFrame f) throws IOException {
137	writeByte('c');	144	writeByte('c');
138	base64OutputStream.writeByte(f.getAutoSendInterval());	145	base64OutputStream.writeByte(f.getAutoSendInterval());
139	}	146	}
140		147
141	public void visit(DebugRequestFrame f) throws IOException {	148	public void visit(DebugRequestFrame f) throws IOException {
142	writeByte('d');	149	writeByte('d');
143	base64OutputStream.writeByte(f.getAutoSendInterval());	150	base64OutputStream.writeByte(f.getAutoSendInterval());
-		151	}
-		152
-		153	public void visit(ProfilerRequestFrame f) throws IOException {
-		154	writeByte('u');
-		155	base64OutputStream.writeByte(f.getAutoSendInterval());
144	}	156	}
145		157
146	public void visit(DCMMatrixRequestFrame f) throws IOException {	158	public void visit(DCMMatrixRequestFrame f) throws IOException {
147	writeByte('e');	159	writeByte('e');
148	}	160	}
149		161
150	public void visit(ChangeParameterSetRequestFrame f) throws IOException {	162	public void visit(ChangeParameterSetRequestFrame f) throws IOException {
151	writeByte('f');	163	writeByte('f');
152	base64OutputStream.writeByte(f.getParameterSetNumber());	164	base64OutputStream.writeByte(f.getParameterSetNumber());
153	}	165	}
154		166
155	public void visit(VersionRequestFrame f) throws IOException {	167	public void visit(VersionRequestFrame f) throws IOException {
156	writeByte('v');	168	writeByte('v');
157	}	169	}
158		170
159	public void visit(ResetRequestFrame f) throws IOException {	171	public void visit(ResetRequestFrame f) throws IOException {
160	writeByte('R');	172	writeByte('R');
161	}	173	}
162		174
163	public void visit(MotorTestRequestFrame f) throws IOException {	175	public void visit(MotorTestRequestFrame f) throws IOException {
164	writeByte('t');	176	writeByte('t');
165	base64OutputStream.writeBytes(f.getMotorValues());	177	base64OutputStream.writeBytes(f.getMotorValues());
166	}	178	}
167		179
168	public void visit(SingleDisplayRequestFrame f) throws IOException {	180	public void visit(SingleDisplayRequestFrame f) throws IOException {
169	writeByte('l');	181	writeByte('l');
170	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.	182	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.
171	}	183	}
172		184
173	public void visit(AllDisplaysRequestFrame f) throws IOException {	185	public void visit(AllDisplaysRequestFrame f) throws IOException {
174	writeByte('h');	186	writeByte('h');
175	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());	187	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());
176	// mdo.writeByte(f.getAutoSendInterval());	188	// mdo.writeByte(f.getAutoSendInterval());
177	}	189	}
178		190
179	public void visit(ReadMotorMixerRequestFrame f) throws IOException {	191	public void visit(ReadMotorMixerRequestFrame f) throws IOException {
180	writeByte('n');	192	writeByte('n');
181	}	193	}
182		194
183	public void visit(WriteMotorMixerRequestFrame f) throws IOException {	195	public void visit(WriteMotorMixerRequestFrame f) throws IOException {
184	writeByte('m');	196	writeByte('m');
185	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());	197	base64OutputStream.writeByte(f.getMotorMixerVersionNumber());
186	base64OutputStream.writeByte(f.getDataLength());	198	base64OutputStream.writeByte(f.getDataLength());
187	base64OutputStream.writeChars(f.getName());	199	base64OutputStream.writeChars(f.getName());
188	for(int i=0; i<f.getMatrix().length; i++) {	200	for(int i=0; i<f.getMatrix().length; i++) {
189	int[] row = f.getMatrix()[i];	201	int[] row = f.getMatrix()[i];
190	for(int j=0; j<row.length; j++) {	202	for(int j=0; j<row.length; j++) {
191	base64OutputStream.writeSignedByte(row[j]);	203	base64OutputStream.writeSignedByte(row[j]);
192	//System.out.print(row[j] + " ");	204	//System.out.print(row[j] + " ");
193	}	205	}
194	//System.out.println();	206	//System.out.println();
195	}	207	}
196	/*	208	/*
197	for(int i=0; i<f.getOppositeMotors().length; i++) {	209	for(int i=0; i<f.getOppositeMotors().length; i++) {
198	base64OutputStream.writeByte(f.getOppositeMotors()[i]);	210	base64OutputStream.writeByte(f.getOppositeMotors()[i]);
199	}	211	}
200	*/	212	*/
201	}	213	}
202		214
203	public void visit(ReadVariablesRequestFrame f) throws IOException {	215	public void visit(ReadVariablesRequestFrame f) throws IOException {
204	writeByte('x');	216	writeByte('x');
205	}	217	}
206		218
207	public void visit(ExternalControlRequestFrame f) throws IOException {	219	public void visit(ExternalControlRequestFrame f) throws IOException {
208	writeByte('b');	220	writeByte('b');
209	base64OutputStream.writeByte(f.getDigital()[0]);	221	base64OutputStream.writeByte(f.getDigital()[0]);
210	base64OutputStream.writeByte(f.getDigital()[1]);	222	base64OutputStream.writeByte(f.getDigital()[1]);
211	base64OutputStream.writeByte(f.getRemoteButtons());	223	base64OutputStream.writeByte(f.getRemoteButtons());
212	base64OutputStream.writeByte(f.getPitch());	224	base64OutputStream.writeByte(f.getPitch());
213	base64OutputStream.writeByte(f.getRoll());	225	base64OutputStream.writeByte(f.getRoll());
214	base64OutputStream.writeByte(f.getYaw());	226	base64OutputStream.writeByte(f.getYaw());
215	base64OutputStream.writeByte(f.getThrottle());	227	base64OutputStream.writeByte(f.getThrottle());
216	base64OutputStream.writeByte(f.getHeight());	228	base64OutputStream.writeByte(f.getHeight());
217	base64OutputStream.writeByte(f.getCommand());	229	base64OutputStream.writeByte(f.getCommand());
218	base64OutputStream.writeByte(f.getFrameNum());	230	base64OutputStream.writeByte(f.getFrameNum());
219	base64OutputStream.writeByte(f.getArgument());	231	base64OutputStream.writeByte(f.getArgument());
220	}	232	}
221		233
222	public void visit(ReadExternalControlRequestFrame f) throws IOException {	234	public void visit(ReadExternalControlRequestFrame f) throws IOException {
223	writeByte('g');	235	writeByte('g');
224	}	236	}
225		237
226	public void visit(LoopbackTestRequestFrame f) throws IOException {	238	public void visit(LoopbackTestRequestFrame f) throws IOException {
227	writeByte('0');	239	writeByte('0');
228	base64OutputStream.writeByte(f.getByte());	240	base64OutputStream.writeByte(f.getByte());
229	base64OutputStream.writeWord(f.getWord());	241	base64OutputStream.writeWord(f.getWord());
230	base64OutputStream.writeChars(f.getChararray());	242	base64OutputStream.writeChars(f.getChararray());
231	}	243	}
232		244
233	public void visit(ReadParamSetRequestFrame f) throws IOException {	245	public void visit(ReadParamSetRequestFrame f) throws IOException {
234	writeByte('q');	246	writeByte('q');
235	base64OutputStream.writeByte(f.getConfigurationSetNumber());	247	base64OutputStream.writeByte(f.getConfigurationSetNumber());
236	}	248	}
237		249
238	public void visit(WriteParamSetRequestFrame f) throws IOException {	250	public void visit(WriteParamSetRequestFrame f) throws IOException {
239	writeByte('s');	251	writeByte('s');
240	base64OutputStream.writeByte(f.getConfigurationSetNumber());	252	base64OutputStream.writeByte(f.getConfigurationSetNumber());
241	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	253	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
242	base64OutputStream.writeByte(f.getDataLength() + 12);	254	base64OutputStream.writeByte(f.getDataLength() + 12);
243	base64OutputStream.writeBytes(f.getData());	255	base64OutputStream.writeBytes(f.getData());
244	base64OutputStream.writeChars(f.getName());	256	base64OutputStream.writeChars(f.getName());
245	}	257	}
246		258
247	public void visit(SetCompassHeadingRequestFrame f) throws IOException {	259	public void visit(SetCompassHeadingRequestFrame f) throws IOException {
248	writeByte('K');	260	writeByte('K');
249	}	261	}
250		262
251	public void visit(CompassHeadingRequestFrame f) throws IOException {	263	public void visit(CompassHeadingRequestFrame f) throws IOException {
252	writeByte('w');	264	writeByte('w');
253	}	265	}
254		266
255	public void visit(OSDDataRequestFrame f) throws IOException {	267	public void visit(OSDDataRequestFrame f) throws IOException {
256	writeByte('o');	268	writeByte('o');
257	base64OutputStream.writeByte(f.getAutoSendInterval());	269	base64OutputStream.writeByte(f.getAutoSendInterval());
258	}	270	}
259		271
260	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {	272	public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {
261	writeByte('i');	273	writeByte('i');
262	}	274	}
263		275
264	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {	276	public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {
265	writeByte('j');	277	writeByte('j');
266	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	278	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
267	base64OutputStream.writeByte(f.getDataLength());	279	base64OutputStream.writeByte(f.getDataLength());
268	base64OutputStream.writeBytes(f.getData());	280	base64OutputStream.writeBytes(f.getData());
269	}	281	}
270		282
271	public void visit(ReadRCChannelsRequestFrame f) throws IOException {	283	public void visit(ReadRCChannelsRequestFrame f) throws IOException {
272	writeByte('p');	284	writeByte('p');
273	}	285	}
274	}	286	}
275		287