WebSVN - Projects - Diff - Rev 1564 and 1566 - /dongfang_FC_rewrite_tool/src/dongfang/mkt/serial/MKOutputStream.java


package dongfang.mkt.serial;
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
/*
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;
                }
 
                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(VariablesRequestFrame 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(UniversalReadParamSetRequestFrame f) throws IOException {
                writeByte('q');
                base64OutputStream.writeByte(f.getConfigurationSetNumber());
        }
 
        public void visit(UniversalWriteParamSetRequestFrame f) throws IOException {
                writeByte('s');
                base64OutputStream.writeByte(f.getConfigurationSetNumber());
                base64OutputStream.writeByte(f.getConfigurationVersionNumber());
                base64OutputStream.writeBytes(f.getData());
        }
       
        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());
        }
}
*/

Rev 1564	Rev 1566
1	package dongfang.mkt.serial;	1	package dongfang.mkt.serial;
2		-
3	import java.io.IOException;	-
4	import java.io.OutputStream;	-
5		-
6	import dongfang.mkt.frames.AllDisplaysRequestFrame;	-
7	import dongfang.mkt.frames.AnalogDebugLabelRequestFrame;	-
8	import dongfang.mkt.frames.AttitudeDataRequestFrame;	-
9	import dongfang.mkt.frames.ChangeParameterSetRequestFrame;	-
10	import dongfang.mkt.frames.CompassHeadingRequestFrame;	-
11	import dongfang.mkt.frames.DebugRequestFrame;	-
12	import dongfang.mkt.frames.ExternalControlRequestFrame;	-
13	import dongfang.mkt.frames.LoopbackTestRequestFrame;	-
14	import dongfang.mkt.frames.MotorTestRequestFrame;	-
15	import dongfang.mkt.frames.OSDDataRequestFrame;	-
16	import dongfang.mkt.frames.ReadExternalControlRequestFrame;	-
17	import dongfang.mkt.frames.RequestFrame;	-
18	import dongfang.mkt.frames.RequestFrameVisitor;	-
19	import dongfang.mkt.frames.ResetRequestFrame;	-
20	import dongfang.mkt.frames.SetCompassHeadingRequestFrame;	-
21	import dongfang.mkt.frames.SingleDisplayRequestFrame;	-
22	import dongfang.mkt.frames.UniversalReadParamSetRequestFrame;	-
23	import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame;	-
24	import dongfang.mkt.frames.VariablesRequestFrame;	-
25	import dongfang.mkt.frames.VersionRequestFrame;	2
26		3
27	/*	4	/*
28	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {	5	public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
29	public class MKDataOutputStream {	6	public class MKDataOutputStream {
30	int[] inbuf = new int[3];	7	int[] inbuf = new int[3];
31	int[] outbuf = new int[4];	8	int[] outbuf = new int[4];
32	int inbufptr = 0;	9	int inbufptr = 0;
33		10
34	void writeByte(int b) throws IOException {	11	void writeByte(int b) throws IOException {
35	if(inbufptr == inbuf.length) flush();	12	if(inbufptr == inbuf.length) flush();
36	inbuf[inbufptr++] = b;	13	inbuf[inbufptr++] = b;
37	}	14	}
38		15
39	public void writeBytes(int[] bs) throws IOException {	16	public void writeBytes(int[] bs) throws IOException {
40	for (int i=0; i<bs.length; i++)	17	for (int i=0; i<bs.length; i++)
41	writeByte(bs[i]);	18	writeByte(bs[i]);
42	}	19	}
43		20
44	void writeWord(int w) throws IOException {	21	void writeWord(int w) throws IOException {
45	writeByte(w & 0xff);	22	writeByte(w & 0xff);
46	writeByte(w >>> 8);	23	writeByte(w >>> 8);
47	}	24	}
48		25
49	void writeChars(char[] s) throws IOException {	26	void writeChars(char[] s) throws IOException {
50	for (int i=0; i<s.length; i++) {	27	for (int i=0; i<s.length; i++) {
51	// Here, a 1:1 mapping between byte values and char codes is assumed.	28	// Here, a 1:1 mapping between byte values and char codes is assumed.
52	// That means we're assuming ISO-8859-1 (= the first 256 code points	29	// That means we're assuming ISO-8859-1 (= the first 256 code points
53	// of Unicode, which Java uses for chars)	30	// of Unicode, which Java uses for chars)
54	writeByte(s[i]);	31	writeByte(s[i]);
55	}	32	}
56	}	33	}
57		34
58	void flush() throws IOException {	35	void flush() throws IOException {
59	if (inbufptr == 0)	36	if (inbufptr == 0)
60	return;	37	return;
61		38
62	while(inbufptr < inbuf.length) {	39	while(inbufptr < inbuf.length) {
63	// add padding .. well just clear it, for tidyness.	40	// add padding .. well just clear it, for tidyness.
64	inbuf[inbufptr++] = 0;	41	inbuf[inbufptr++] = 0;
65	}	42	}
66		43
67	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');	44	MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '=');
68	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');	45	MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) \| (inbuf[1] >>> 4) ) + '=');
69	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');	46	MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) \| (inbuf[2] >>> 6)) + '=');
70	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));	47	MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '='));
71		48
72	inbufptr = 0;	49	inbufptr = 0;
73	}	50	}
74	}	51	}
75		52
76	final OutputStream os;	53	final OutputStream os;
77	MKDataOutputStream base64OutputStream = new MKDataOutputStream();	54	MKDataOutputStream base64OutputStream = new MKDataOutputStream();
78	int crc;	55	int crc;
79		56
80	public MKOutputStream(OutputStream os) {	57	public MKOutputStream(OutputStream os) {
81	this.os = os;	58	this.os = os;
82	}	59	}
83		60
84	@Override	61	@Override
85	public void write(int b) throws IOException {	62	public void write(int b) throws IOException {
86	os.write(b);	63	os.write(b);
87	// System.out.println("Writing: " + b);	64	// System.out.println("Writing: " + b);
88	}	65	}
89		66
90	public void writeByte(int b) throws IOException {	67	public void writeByte(int b) throws IOException {
91	crc += b;	68	crc += b;
92	write(b);	69	write(b);
93	}	70	}
94		71
95	public void write(RequestFrame f) throws IOException {	72	public void write(RequestFrame f) throws IOException {
96	write(crc = '#');	73	write(crc = '#');
97		74
98	int address = f.getAddress() + 'a';	75	int address = f.getAddress() + 'a';
99	writeByte(address);	76	writeByte(address);
100		77
101	// Will cause one of the "visit" methods below	78	// Will cause one of the "visit" methods below
102	// to be called, depending on the type of f.	79	// to be called, depending on the type of f.
103	f.accept(this);	80	f.accept(this);
104	base64OutputStream.flush();	81	base64OutputStream.flush();
105		82
106	crc %= 4096;	83	crc %= 4096;
107	write((crc >>> 6) + '=');	84	write((crc >>> 6) + '=');
108	write((crc & 0x3f) + '=');	85	write((crc & 0x3f) + '=');
109		86
110	write('\r');	87	write('\r');
111	}	88	}
112		89
113	/ *	90	/ *
114	public void visit(RequestFrame f) {	91	public void visit(RequestFrame f) {
115	throw new RuntimeException("Unbound RequestFrame type: "	92	throw new RuntimeException("Unbound RequestFrame type: "
116	+ f.getClass().getSimpleName()	93	+ f.getClass().getSimpleName()
117	+ ". Don't know how to output.");	94	+ ". Don't know how to output.");
118	}	95	}
119	* /	96	* /
120		97
121	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {	98	public void visit(AnalogDebugLabelRequestFrame f) throws IOException {
122	writeByte('a');	99	writeByte('a');
123	base64OutputStream.writeByte(f.getChannel());	100	base64OutputStream.writeByte(f.getChannel());
124	}	101	}
125		102
126	public void visit(AttitudeDataRequestFrame f) throws IOException {	103	public void visit(AttitudeDataRequestFrame f) throws IOException {
127	writeByte('c');	104	writeByte('c');
128	base64OutputStream.writeByte(f.getAutoSendInterval());	105	base64OutputStream.writeByte(f.getAutoSendInterval());
129	}	106	}
130		107
131	public void visit(DebugRequestFrame f) throws IOException {	108	public void visit(DebugRequestFrame f) throws IOException {
132	writeByte('d');	109	writeByte('d');
133	base64OutputStream.writeByte(f.getAutoSendInterval());	110	base64OutputStream.writeByte(f.getAutoSendInterval());
134	}	111	}
135		112
136	public void visit(ChangeParameterSetRequestFrame f) throws IOException {	113	public void visit(ChangeParameterSetRequestFrame f) throws IOException {
137	writeByte('f');	114	writeByte('f');
138	base64OutputStream.writeByte(f.getParameterSetNumber());	115	base64OutputStream.writeByte(f.getParameterSetNumber());
139	}	116	}
140		117
141	public void visit(VersionRequestFrame f) throws IOException {	118	public void visit(VersionRequestFrame f) throws IOException {
142	writeByte('v');	119	writeByte('v');
143	}	120	}
144		121
145	public void visit(ResetRequestFrame f) throws IOException {	122	public void visit(ResetRequestFrame f) throws IOException {
146	writeByte('R');	123	writeByte('R');
147	}	124	}
148		125
149	public void visit(MotorTestRequestFrame f) throws IOException {	126	public void visit(MotorTestRequestFrame f) throws IOException {
150	writeByte('t');	127	writeByte('t');
151	base64OutputStream.writeBytes(f.getMotorValues());	128	base64OutputStream.writeBytes(f.getMotorValues());
152	}	129	}
153		130
154	public void visit(SingleDisplayRequestFrame f) throws IOException {	131	public void visit(SingleDisplayRequestFrame f) throws IOException {
155	writeByte('l');	132	writeByte('l');
156	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.	133	base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode.
157	}	134	}
158		135
159	public void visit(AllDisplaysRequestFrame f) throws IOException {	136	public void visit(AllDisplaysRequestFrame f) throws IOException {
160	writeByte('h');	137	writeByte('h');
161	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());	138	base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys());
162	// mdo.writeByte(f.getAutoSendInterval());	139	// mdo.writeByte(f.getAutoSendInterval());
163	}	140	}
164		141
165	public void visit(VariablesRequestFrame f) throws IOException {	142	public void visit(VariablesRequestFrame f) throws IOException {
166	writeByte('x');	143	writeByte('x');
167	}	144	}
168		145
169	public void visit(ExternalControlRequestFrame f) throws IOException {	146	public void visit(ExternalControlRequestFrame f) throws IOException {
170	writeByte('b');	147	writeByte('b');
171	base64OutputStream.writeByte(f.getDigital()[0]);	148	base64OutputStream.writeByte(f.getDigital()[0]);
172	base64OutputStream.writeByte(f.getDigital()[1]);	149	base64OutputStream.writeByte(f.getDigital()[1]);
173	base64OutputStream.writeByte(f.getRemoteButtons());	150	base64OutputStream.writeByte(f.getRemoteButtons());
174	base64OutputStream.writeByte(f.getPitch());	151	base64OutputStream.writeByte(f.getPitch());
175	base64OutputStream.writeByte(f.getRoll());	152	base64OutputStream.writeByte(f.getRoll());
176	base64OutputStream.writeByte(f.getYaw());	153	base64OutputStream.writeByte(f.getYaw());
177	base64OutputStream.writeByte(f.getThrottle());	154	base64OutputStream.writeByte(f.getThrottle());
178	base64OutputStream.writeByte(f.getHeight());	155	base64OutputStream.writeByte(f.getHeight());
179	base64OutputStream.writeByte(f.getCommand());	156	base64OutputStream.writeByte(f.getCommand());
180	base64OutputStream.writeByte(f.getFrameNum());	157	base64OutputStream.writeByte(f.getFrameNum());
181	base64OutputStream.writeByte(f.getArgument());	158	base64OutputStream.writeByte(f.getArgument());
182	}	159	}
183		160
184	public void visit(ReadExternalControlRequestFrame f) throws IOException {	161	public void visit(ReadExternalControlRequestFrame f) throws IOException {
185	writeByte('g');	162	writeByte('g');
186	}	163	}
187		164
188	public void visit(LoopbackTestRequestFrame f) throws IOException {	165	public void visit(LoopbackTestRequestFrame f) throws IOException {
189	writeByte('0');	166	writeByte('0');
190	base64OutputStream.writeByte(f.getByte());	167	base64OutputStream.writeByte(f.getByte());
191	base64OutputStream.writeWord(f.getWord());	168	base64OutputStream.writeWord(f.getWord());
192	base64OutputStream.writeChars(f.getChararray());	169	base64OutputStream.writeChars(f.getChararray());
193	}	170	}
194		171
195	public void visit(UniversalReadParamSetRequestFrame f) throws IOException {	172	public void visit(UniversalReadParamSetRequestFrame f) throws IOException {
196	writeByte('q');	173	writeByte('q');
197	base64OutputStream.writeByte(f.getConfigurationSetNumber());	174	base64OutputStream.writeByte(f.getConfigurationSetNumber());
198	}	175	}
199		176
200	public void visit(UniversalWriteParamSetRequestFrame f) throws IOException {	177	public void visit(UniversalWriteParamSetRequestFrame f) throws IOException {
201	writeByte('s');	178	writeByte('s');
202	base64OutputStream.writeByte(f.getConfigurationSetNumber());	179	base64OutputStream.writeByte(f.getConfigurationSetNumber());
203	base64OutputStream.writeByte(f.getConfigurationVersionNumber());	180	base64OutputStream.writeByte(f.getConfigurationVersionNumber());
204	base64OutputStream.writeBytes(f.getData());	181	base64OutputStream.writeBytes(f.getData());
205	}	182	}
206		183
207	public void visit(SetCompassHeadingRequestFrame f) throws IOException {	184	public void visit(SetCompassHeadingRequestFrame f) throws IOException {
208	writeByte('K');	185	writeByte('K');
209	}	186	}
210		187
211	public void visit(CompassHeadingRequestFrame f) throws IOException {	188	public void visit(CompassHeadingRequestFrame f) throws IOException {
212	writeByte('w');	189	writeByte('w');
213	}	190	}
214		191
215	public void visit(OSDDataRequestFrame f) throws IOException {	192	public void visit(OSDDataRequestFrame f) throws IOException {
216	writeByte('o');	193	writeByte('o');
217	base64OutputStream.writeByte(f.getAutoSendInterval());	194	base64OutputStream.writeByte(f.getAutoSendInterval());
218	}	195	}
219	}	196	}
220	*/	197	*/

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