WebSVN - Projects - Diff - Rev 1562 and 1564 - /dongfang_FC_rewrite_tool/src/dongfang/mkt/serial/MKInputStream.java



 
import java.io.IOException;
import java.io.InputStream;

import java.io.OutputStream;
 
import dongfang.mkt.datatype.GPSBearingAndRange;
import dongfang.mkt.datatype.GPSPosition;
import dongfang.mkt.frames.AllDisplaysResponseFrame;
import dongfang.mkt.frames.AnalogDebugLabelResponseFrame;
import dongfang.mkt.frames.AttitudeDataResponseFrame;
import dongfang.mkt.frames.ChangeParameterSetResponseFrame;
import dongfang.mkt.frames.CompassHeadingResponseFrame;
import dongfang.mkt.frames.ConfirmFrame;
import dongfang.mkt.frames.DebugResponseFrame;
 
 
import dongfang.mkt.frames.MotorTestResponseFrame;
import dongfang.mkt.frames.OSDDataResponseFrame;
import dongfang.mkt.frames.ReadExternalControlResponseFrame;
import dongfang.mkt.frames.ResponseFrame;
import dongfang.mkt.frames.SetCompassHeadingResponseFrame;
import dongfang.mkt.frames.UniversalReadParamSetResponseFrame;
import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame;

import dongfang.mkt.frames.VariablesResponseFrame;
import dongfang.mkt.frames.VersionResponseFrame;
 
/*
public class MKInputStream extends InputStream {
        int readByteCnt;

                        pos.setLatitude(base64InputStream.readSignedDWord());
                        pos.setAltitude(base64InputStream.readSignedDWord());
                        pos.setStatus(base64InputStream.readByte());
                        f.setTargetPosition(pos);

                       
                        GPSBearingAndRange rnb = new GPSBearingAndRange();
                        rnb.setDistance(base64InputStream.readWord());
                        rnb.setBearing(base64InputStream.readSignedWord());

                        f.setCurrentToTarget(rnb);

                        pos.setLatitude(base64InputStream.readSignedDWord());
                        pos.setAltitude(base64InputStream.readSignedDWord());
                        pos.setStatus(base64InputStream.readByte());
                        f.setHomePosition(pos);

                       
                        rnb = new GPSBearingAndRange();
                        rnb.setDistance(base64InputStream.readWord());
                        rnb.setBearing(base64InputStream.readSignedWord());

                        f.setCurrentToHome(rnb);

                case 'T': {
                        MotorTestResponseFrame f = new MotorTestResponseFrame(address);
                        result = f;
                        break;
                }
                / *
                 * We have a collision with the 'x' token: Also used for VariablesRequest.
                case 'x': {
                        LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address);
                        f.setByte(getDataInputStream().readByte());
                        f.setWord(getDataInputStream().readWord());
                        f.setChararray(getDataInputStream().readChars(8));
                        result = f;
                        break;
                }
            * /
                case 'V': {
                        VersionResponseFrame f = new VersionResponseFrame(address);
                        f.setSWMajor(base64InputStream.readByte());
                        f.setSWMinor(base64InputStream.readByte());
                        f.setProtoMajor(base64InputStream.readByte());

                        break;
                }
                case 'w': {
                        SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address);
                        // do stuff.
                        / *
                        ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                        ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                        ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];
                        ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];
                        ToMk3Mag.CalState = compassCalState;
                        * /
                        // Waste 8 bytes to make CRC match.
                        base64InputStream.readBytes(8);
                        result = f;
                        break;
                }

                }

 
                return result;
        }
}
*/

Rev 1562	Rev 1564
Line 2...	Line 2...
2		2
3	import java.io.IOException;	3	import java.io.IOException;
4	import java.io.InputStream;	4	import java.io.InputStream;
Line -...	Line 5...
-		5	import java.io.OutputStream;
-		6
5	import java.io.OutputStream;	7	import dongfang.mkt.datatype.GPSBearingAndRange;
6		8	import dongfang.mkt.datatype.GPSPosition;
7	import dongfang.mkt.frames.AllDisplaysResponseFrame;	9	import dongfang.mkt.frames.AllDisplaysResponseFrame;
8	import dongfang.mkt.frames.AnalogDebugLabelResponseFrame;	10	import dongfang.mkt.frames.AnalogDebugLabelResponseFrame;
9	import dongfang.mkt.frames.AttitudeDataResponseFrame;	11	import dongfang.mkt.frames.AttitudeDataResponseFrame;
10	import dongfang.mkt.frames.ChangeParameterSetResponseFrame;	12	import dongfang.mkt.frames.ChangeParameterSetResponseFrame;
11	import dongfang.mkt.frames.CompassHeadingResponseFrame;	13	import dongfang.mkt.frames.CompassHeadingResponseFrame;
12	import dongfang.mkt.frames.ConfirmFrame;	14	import dongfang.mkt.frames.ConfirmFrame;
13	import dongfang.mkt.frames.DebugResponseFrame;	15	import dongfang.mkt.frames.DebugResponseFrame;
14	import dongfang.mkt.frames.MotorTestResponseFrame;	-
15	import dongfang.mkt.frames.OSDDataResponseFrame;	-
16	import dongfang.mkt.frames.OSDDataResponseFrame.GPSDistanceAndBearing;	16	import dongfang.mkt.frames.MotorTestResponseFrame;
17	import dongfang.mkt.frames.OSDDataResponseFrame.GPSPosition;	17	import dongfang.mkt.frames.OSDDataResponseFrame;
18	import dongfang.mkt.frames.ReadExternalControlResponseFrame;	18	import dongfang.mkt.frames.ReadExternalControlResponseFrame;
19	import dongfang.mkt.frames.ResponseFrame;	19	import dongfang.mkt.frames.ResponseFrame;
20	import dongfang.mkt.frames.SetCompassHeadingResponseFrame;	20	import dongfang.mkt.frames.SetCompassHeadingResponseFrame;
21	import dongfang.mkt.frames.UniversalReadParamSetResponseFrame;	21	import dongfang.mkt.frames.UniversalReadParamSetResponseFrame;
22	import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame;	22	import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame;
Line -...	Line 23...
-		23	import dongfang.mkt.frames.VariablesResponseFrame;
23	import dongfang.mkt.frames.VariablesResponseFrame;	24	import dongfang.mkt.frames.VersionResponseFrame;
24	import dongfang.mkt.frames.VersionResponseFrame;	25
25		26	/*
26	public class MKInputStream extends InputStream {	27	public class MKInputStream extends InputStream {
27	int readByteCnt;	28	int readByteCnt;
Line 258...	Line 259...
258	pos.setLatitude(base64InputStream.readSignedDWord());	259	pos.setLatitude(base64InputStream.readSignedDWord());
259	pos.setAltitude(base64InputStream.readSignedDWord());	260	pos.setAltitude(base64InputStream.readSignedDWord());
260	pos.setStatus(base64InputStream.readByte());	261	pos.setStatus(base64InputStream.readByte());
261	f.setTargetPosition(pos);	262	f.setTargetPosition(pos);
Line 262...	Line 263...
262		263
263	GPSDistanceAndBearing rnb = new GPSDistanceAndBearing();	264	GPSBearingAndRange rnb = new GPSBearingAndRange();
264	rnb.setDistance(base64InputStream.readWord());	265	rnb.setDistance(base64InputStream.readWord());
265	rnb.setBearing(base64InputStream.readSignedWord());	266	rnb.setBearing(base64InputStream.readSignedWord());
Line 266...	Line 267...
266	f.setCurrentToTarget(rnb);	267	f.setCurrentToTarget(rnb);
Line 270...	Line 271...
270	pos.setLatitude(base64InputStream.readSignedDWord());	271	pos.setLatitude(base64InputStream.readSignedDWord());
271	pos.setAltitude(base64InputStream.readSignedDWord());	272	pos.setAltitude(base64InputStream.readSignedDWord());
272	pos.setStatus(base64InputStream.readByte());	273	pos.setStatus(base64InputStream.readByte());
273	f.setHomePosition(pos);	274	f.setHomePosition(pos);
Line 274...	Line 275...
274		275
275	rnb = new GPSDistanceAndBearing();	276	rnb = new GPSBearingAndRange();
276	rnb.setDistance(base64InputStream.readWord());	277	rnb.setDistance(base64InputStream.readWord());
277	rnb.setBearing(base64InputStream.readSignedWord());	278	rnb.setBearing(base64InputStream.readSignedWord());
Line 278...	Line 279...
278	f.setCurrentToHome(rnb);	279	f.setCurrentToHome(rnb);
Line 318...	Line 319...
318	case 'T': {	319	case 'T': {
319	MotorTestResponseFrame f = new MotorTestResponseFrame(address);	320	MotorTestResponseFrame f = new MotorTestResponseFrame(address);
320	result = f;	321	result = f;
321	break;	322	break;
322	}	323	}
323	/*	324	/ *
324	* We have a collision with the 'x' token: Also used for VariablesRequest.	325	* We have a collision with the 'x' token: Also used for VariablesRequest.
325	case 'x': {	326	case 'x': {
326	LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address);	327	LoopbackTestResponseFrame f = new LoopbackTestResponseFrame(address);
327	f.setByte(getDataInputStream().readByte());	328	f.setByte(getDataInputStream().readByte());
328	f.setWord(getDataInputStream().readWord());	329	f.setWord(getDataInputStream().readWord());
329	f.setChararray(getDataInputStream().readChars(8));	330	f.setChararray(getDataInputStream().readChars(8));
330	result = f;	331	result = f;
331	break;	332	break;
332	}	333	}
333	*/	334	* /
334	case 'V': {	335	case 'V': {
335	VersionResponseFrame f = new VersionResponseFrame(address);	336	VersionResponseFrame f = new VersionResponseFrame(address);
336	f.setSWMajor(base64InputStream.readByte());	337	f.setSWMajor(base64InputStream.readByte());
337	f.setSWMinor(base64InputStream.readByte());	338	f.setSWMinor(base64InputStream.readByte());
338	f.setProtoMajor(base64InputStream.readByte());	339	f.setProtoMajor(base64InputStream.readByte());
Line 351...	Line 352...
351	break;	352	break;
352	}	353	}
353	case 'w': {	354	case 'w': {
354	SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address);	355	SetCompassHeadingResponseFrame f = new SetCompassHeadingResponseFrame(address);
355	// do stuff.	356	// do stuff.
356	/*	357	/ *
357	ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg	358	ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
358	ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg	359	ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
359	ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];	360	ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];
360	ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];	361	ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];
361	ToMk3Mag.CalState = compassCalState;	362	ToMk3Mag.CalState = compassCalState;
362	*/	363	* /
363	// Waste 8 bytes to make CRC match.	364	// Waste 8 bytes to make CRC match.
364	base64InputStream.readBytes(8);	365	base64InputStream.readBytes(8);
365	result = f;	366	result = f;
366	break;	367	break;
367	}	368	}
Line 397...	Line 398...
397	}	398	}
Line 398...	Line 399...
398		399
399	return result;	400	return result;
400	}	401	}
-		402	}
401	}	403	*/

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(root)/dongfang_FC_rewrite_tool/src/dongfang/mkt/serial/MKInputStream.java - Rev 1562 → 1564