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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 206 | ligi | 1 | /********************************************* |
| 2 | * |
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| 3 | * class representing the DebugData Structure |
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| 4 | * |
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| 5 | * Author: Marcus -LiGi- Bueschleb |
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| 6 | * |
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| 7 | * see README for further Infos |
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| 8 | * |
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| 9 | ********************************************/ |
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| 10 | |||
| 11 | package org.ligi.ufo; |
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| 12 | |||
| 13 | public class MKDebugData |
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| 14 | { |
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| 15 | |||
| 16 | public int[] analog; |
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| 17 | public String[] names; |
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| 18 | public boolean[] got_name; |
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| 19 | public int motor_complete=-1; |
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| 20 | |||
| 21 | |||
| 22 | private int i; |
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| 23 | |||
| 24 | public int motor_val(int id) { return analog[12+id]; } |
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| 25 | public int nick_int() { return analog[0]; } |
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| 26 | public int roll_int() { return analog[1]; } |
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| 27 | public int accnick() { return analog[2]; } |
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| 28 | public int accroll() { return analog[3]; } |
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| 29 | |||
| 30 | |||
| 31 | public int UBatt() { return analog[9]; } |
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| 32 | public int SenderOkay() { return analog[10]; } |
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| 33 | |||
| 34 | |||
| 35 | |||
| 36 | |||
| 37 | public MKDebugData() |
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| 38 | { |
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| 39 | names=new String[32]; |
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| 40 | analog=new int[32]; |
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| 41 | got_name=new boolean[32]; |
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| 42 | for (i=0;i<32;i++) |
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| 43 | { |
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| 44 | analog[i]=-1; |
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| 45 | names[i]="-#"+i+"->"; |
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| 46 | got_name[i]=false; |
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| 47 | } |
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| 48 | |||
| 49 | } |
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| 50 | |||
| 51 | public void set_names_by_mk_data(int[] in_arr) |
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| 52 | { |
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| 53 | int id=in_arr[0]; |
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| 54 | names[id]=""; |
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| 55 | for (i=0;i<16;i++) |
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| 56 | { |
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| 57 | if ((char)in_arr[i+1]!=' ') |
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| 58 | names[id]+=(char)in_arr[i+1]; |
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| 59 | got_name[id]=true; |
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| 60 | } |
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| 61 | names[id]+=":"; |
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| 62 | } |
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| 63 | |||
| 222 | ligi | 64 | public int parse_signed_int_2(int i1,int i2) |
| 65 | { |
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| 66 | int res=(int)((i2<<8)|i1); |
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| 67 | if ((res&(1<<15))!=0) |
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| 68 | return -(res&(0xFFFF-1))^(0xFFFF-1); |
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| 69 | else |
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| 70 | return res; |
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| 71 | |||
| 72 | } |
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| 206 | ligi | 73 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
| 74 | { |
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| 75 | |||
| 76 | for (i=0;i<32;i++) |
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| 222 | ligi | 77 | // { |
| 78 | analog[i]=parse_signed_int_2( in_arr[2+i*2], in_arr[3+i*2] ); |
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| 79 | //(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
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| 80 | // if ((analog[i]&(1<<15))!=0) |
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| 81 | //analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 82 | // } |
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| 206 | ligi | 83 | |
| 84 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
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| 85 | |||
| 86 | |||
| 87 | } |
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| 88 | |||
| 89 | |||
| 90 | |||
| 91 | } |