WebSVN - Projects - Diff - Rev 1566 and 1698 - /dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ExternalControlRequestFrame.java


package dongfang.mkt.frames;
 
import java.io.IOException;
 
import dongfang.mkt.RequestFrameVisitor;
 
 
/*
uint8_t digital[2];
uint8_t remoteButtons;
int8_t  pitch;
int8_t  roll;
int8_t  yaw;
uint8_t throttle;
int8_t  height;
uint8_t free;
uint8_t frame;
uint8_t config;
*/
public class ExternalControlRequestFrame extends RequestFrame {
        public static final int COMMAND_NONE = 0;
        public static final int COMMAND_START = 6;
        public static final int COMMAND_STOP = 8;
        public static final int COMMAND_GYROCAL = 2;
        public static final int COMMAND_ACCCAL = 4;
       
        int[] digital = new int[2];// unsigned byte.
        int remoteButtons;              // unsigned byte.
        int pitch;                              // signed byte.
        int roll;                               // signed byte.
        int     yaw;                            // signed byte.
        int throttle;                   // unsigned byte.
        int height;                             // signed byte (!).
        int command;                    // unsigned byte. Called "free" in MK code.
        int frameNum;                   // unsigned byte.
        int argument;                   // unsigned byte. Called "config" in MK code.
 
        public ExternalControlRequestFrame() {
                super(FC_ADDRESS);
        }
 
        public int[] getDigital() {
                return digital;
        }
 
        public void setDigital(int[] digital) {
                this.digital = digital;
        }
 
        public int getRemoteButtons() {
                return remoteButtons;
        }
 
        public void setRemoteButtons(int remoteButtons) {
                this.remoteButtons = remoteButtons;
        }
 
        public int getPitch() {
                return pitch;
        }
 
        public void setPitch(int pitch) {
                this.pitch = pitch;
        }
 
        public int getRoll() {
                return roll;
        }
 
        public void setRoll(int roll) {
                this.roll = roll;
        }
 
        public int getYaw() {
                return yaw;
        }
 
        public void setYaw(int yaw) {
                this.yaw = yaw;
        }
 
        public int getThrottle() {
                return throttle;
        }
 
        public void setThrottle(int throttle) {
                this.throttle = throttle;
        }
 
        public int getHeight() {
                return height;
        }
 
        public void setHeight(int height) {
                this.height = height;
        }
 
        public int getCommand() {
                return command;
        }
 
        public void setCommand(int command) {
                this.command = command;
        }
 
        public int getFrameNum() {
                return frameNum;
        }
 
        public void setFrameNum(int frameNum) {
                this.frameNum = frameNum;
        }
 
        public int getArgument() {
                return argument;
        }
 
        public void setArgument(int argument) {
                this.argument = argument;
        }
       
        public void start() {
                command = COMMAND_START;
        }
 
        public void stop() {
                command = COMMAND_STOP;
        }
 
        public void gyroCal() {
                command = COMMAND_GYROCAL;
        }
 
        public void accCal() {
                command = COMMAND_ACCCAL;
        }
 
        @Override
        public void accept(RequestFrameVisitor o) throws IOException {
                o.visit(this);
        }
}

Rev 1566	Rev 1698
1	package dongfang.mkt.frames;	1	package dongfang.mkt.frames;
2		2
3	import java.io.IOException;	3	import java.io.IOException;
4		4
5	import dongfang.mkt.RequestFrameVisitor;	5	import dongfang.mkt.RequestFrameVisitor;
6		6
7		7
8	/*	8	/*
9	uint8_t digital[2];	9	uint8_t digital[2];
10	uint8_t remoteButtons;	10	uint8_t remoteButtons;
11	int8_t pitch;	11	int8_t pitch;
12	int8_t roll;	12	int8_t roll;
13	int8_t yaw;	13	int8_t yaw;
14	uint8_t throttle;	14	uint8_t throttle;
15	int8_t height;	15	int8_t height;
16	uint8_t free;	16	uint8_t free;
17	uint8_t frame;	17	uint8_t frame;
18	uint8_t config;	18	uint8_t config;
19	*/	19	*/
20	public class ExternalControlRequestFrame extends RequestFrame {	20	public class ExternalControlRequestFrame extends RequestFrame {
21	public static final int COMMAND_NONE = 0;	21	public static final int COMMAND_NONE = 0;
22	public static final int COMMAND_START = 6;	22	public static final int COMMAND_START = 6;
23	public static final int COMMAND_STOP = 8;	23	public static final int COMMAND_STOP = 8;
24	public static final int COMMAND_GYROCAL = 2;	24	public static final int COMMAND_GYROCAL = 2;
25	public static final int COMMAND_ACCCAL = 4;	25	public static final int COMMAND_ACCCAL = 4;
26		26
27	int[] digital = new int[2];// unsigned byte.	27	int[] digital = new int[2];// unsigned byte.
28	int remoteButtons; // unsigned byte.	28	int remoteButtons; // unsigned byte.
29	int pitch; // signed byte.	29	int pitch; // signed byte.
30	int roll; // signed byte.	30	int roll; // signed byte.
31	int yaw; // signed byte.	31	int yaw; // signed byte.
32	int throttle; // unsigned byte.	32	int throttle; // unsigned byte.
33	int height; // signed byte (!).	33	int height; // signed byte (!).
34	int command; // unsigned byte. Called "free" in MK code.	34	int command; // unsigned byte. Called "free" in MK code.
35	int frameNum; // unsigned byte.	35	int frameNum; // unsigned byte.
36	int argument; // unsigned byte. Called "config" in MK code.	36	int argument; // unsigned byte. Called "config" in MK code.
37		37
38	ExternalControlRequestFrame(int address) {	38	public ExternalControlRequestFrame() {
39	super(address);	39	super(FC_ADDRESS);
40	}	40	}
41		41
42	public int[] getDigital() {	42	public int[] getDigital() {
43	return digital;	43	return digital;
44	}	44	}
45		45
46	public void setDigital(int[] digital) {	46	public void setDigital(int[] digital) {
47	this.digital = digital;	47	this.digital = digital;
48	}	48	}
49		49
50	public int getRemoteButtons() {	50	public int getRemoteButtons() {
51	return remoteButtons;	51	return remoteButtons;
52	}	52	}
53		53
54	public void setRemoteButtons(int remoteButtons) {	54	public void setRemoteButtons(int remoteButtons) {
55	this.remoteButtons = remoteButtons;	55	this.remoteButtons = remoteButtons;
56	}	56	}
57		57
58	public int getPitch() {	58	public int getPitch() {
59	return pitch;	59	return pitch;
60	}	60	}
61		61
62	public void setPitch(int pitch) {	62	public void setPitch(int pitch) {
63	this.pitch = pitch;	63	this.pitch = pitch;
64	}	64	}
65		65
66	public int getRoll() {	66	public int getRoll() {
67	return roll;	67	return roll;
68	}	68	}
69		69
70	public void setRoll(int roll) {	70	public void setRoll(int roll) {
71	this.roll = roll;	71	this.roll = roll;
72	}	72	}
73		73
74	public int getYaw() {	74	public int getYaw() {
75	return yaw;	75	return yaw;
76	}	76	}
77		77
78	public void setYaw(int yaw) {	78	public void setYaw(int yaw) {
79	this.yaw = yaw;	79	this.yaw = yaw;
80	}	80	}
81		81
82	public int getThrottle() {	82	public int getThrottle() {
83	return throttle;	83	return throttle;
84	}	84	}
85		85
86	public void setThrottle(int throttle) {	86	public void setThrottle(int throttle) {
87	this.throttle = throttle;	87	this.throttle = throttle;
88	}	88	}
89		89
90	public int getHeight() {	90	public int getHeight() {
91	return height;	91	return height;
92	}	92	}
93		93
94	public void setHeight(int height) {	94	public void setHeight(int height) {
95	this.height = height;	95	this.height = height;
96	}	96	}
97		97
98	public int getCommand() {	98	public int getCommand() {
99	return command;	99	return command;
100	}	100	}
101		101
102	public void setCommand(int command) {	102	public void setCommand(int command) {
103	this.command = command;	103	this.command = command;
104	}	104	}
105		105
106	public int getFrameNum() {	106	public int getFrameNum() {
107	return frameNum;	107	return frameNum;
108	}	108	}
109		109
110	public void setFrameNum(int frameNum) {	110	public void setFrameNum(int frameNum) {
111	this.frameNum = frameNum;	111	this.frameNum = frameNum;
112	}	112	}
113		113
114	public int getArgument() {	114	public int getArgument() {
115	return argument;	115	return argument;
116	}	116	}
117		117
118	public void setArgument(int argument) {	118	public void setArgument(int argument) {
119	this.argument = argument;	119	this.argument = argument;
120	}	120	}
121		121
122	public void start() {	122	public void start() {
123	command = COMMAND_START;	123	command = COMMAND_START;
124	}	124	}
125		125
126	public void stop() {	126	public void stop() {
127	command = COMMAND_STOP;	127	command = COMMAND_STOP;
128	}	128	}
129		129
130	public void gyroCal() {	130	public void gyroCal() {
131	command = COMMAND_GYROCAL;	131	command = COMMAND_GYROCAL;
132	}	132	}
133		133
134	public void accCal() {	134	public void accCal() {
135	command = COMMAND_ACCCAL;	135	command = COMMAND_ACCCAL;
136	}	136	}
137		137
138	@Override	138	@Override
139	public void accept(RequestFrameVisitor o) throws IOException {	139	public void accept(RequestFrameVisitor o) throws IOException {
140	o.visit(this);	140	o.visit(this);
141	}	141	}
142	}	142	}

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(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ExternalControlRequestFrame.java - Rev 1566 → 1698