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Rev | Author | Line No. | Line |
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1539 | - | 1 | package dongfang.mkt.serial; |
2 | |||
3 | import java.io.IOException; |
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4 | import java.io.OutputStream; |
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5 | |||
6 | import dongfang.mkt.frames.AllDisplaysRequestFrame; |
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7 | import dongfang.mkt.frames.AnalogDebugLabelRequestFrame; |
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8 | import dongfang.mkt.frames.AttitudeDataRequestFrame; |
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9 | import dongfang.mkt.frames.ChangeParameterSetRequestFrame; |
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1562 | - | 10 | import dongfang.mkt.frames.CompassHeadingRequestFrame; |
1539 | - | 11 | import dongfang.mkt.frames.DebugRequestFrame; |
12 | import dongfang.mkt.frames.ExternalControlRequestFrame; |
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13 | import dongfang.mkt.frames.LoopbackTestRequestFrame; |
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14 | import dongfang.mkt.frames.MotorTestRequestFrame; |
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1559 | - | 15 | import dongfang.mkt.frames.OSDDataRequestFrame; |
16 | import dongfang.mkt.frames.ReadExternalControlRequestFrame; |
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1539 | - | 17 | import dongfang.mkt.frames.RequestFrame; |
1564 | - | 18 | import dongfang.mkt.frames.RequestFrameVisitor; |
1539 | - | 19 | import dongfang.mkt.frames.ResetRequestFrame; |
20 | import dongfang.mkt.frames.SetCompassHeadingRequestFrame; |
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21 | import dongfang.mkt.frames.SingleDisplayRequestFrame; |
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22 | import dongfang.mkt.frames.UniversalReadParamSetRequestFrame; |
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23 | import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame; |
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24 | import dongfang.mkt.frames.VariablesRequestFrame; |
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25 | import dongfang.mkt.frames.VersionRequestFrame; |
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26 | |||
1564 | - | 27 | /* |
1539 | - | 28 | public class MKOutputStream extends OutputStream implements RequestFrameVisitor { |
29 | public class MKDataOutputStream { |
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30 | int[] inbuf = new int[3]; |
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31 | int[] outbuf = new int[4]; |
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32 | int inbufptr = 0; |
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33 | |||
34 | void writeByte(int b) throws IOException { |
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35 | if(inbufptr == inbuf.length) flush(); |
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36 | inbuf[inbufptr++] = b; |
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37 | } |
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38 | |||
39 | public void writeBytes(int[] bs) throws IOException { |
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40 | for (int i=0; i<bs.length; i++) |
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41 | writeByte(bs[i]); |
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42 | } |
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43 | |||
44 | void writeWord(int w) throws IOException { |
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45 | writeByte(w & 0xff); |
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46 | writeByte(w >>> 8); |
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47 | } |
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48 | |||
49 | void writeChars(char[] s) throws IOException { |
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50 | for (int i=0; i<s.length; i++) { |
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51 | // Here, a 1:1 mapping between byte values and char codes is assumed. |
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52 | // That means we're assuming ISO-8859-1 (= the first 256 code points |
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53 | // of Unicode, which Java uses for chars) |
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54 | writeByte(s[i]); |
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55 | } |
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56 | } |
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57 | |||
58 | void flush() throws IOException { |
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59 | if (inbufptr == 0) |
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60 | return; |
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61 | |||
62 | while(inbufptr < inbuf.length) { |
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63 | // add padding .. well just clear it, for tidyness. |
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64 | inbuf[inbufptr++] = 0; |
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65 | } |
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66 | |||
67 | MKOutputStream.this.writeByte((inbuf[0] >>> 2) + '='); |
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1562 | - | 68 | MKOutputStream.this.writeByte(( ((inbuf[0] & 0x03) << 4) | (inbuf[1] >>> 4) ) + '='); |
1539 | - | 69 | MKOutputStream.this.writeByte(( ((inbuf[1] & 0x0f) << 2) | (inbuf[2] >>> 6)) + '='); |
70 | MKOutputStream.this.writeByte(((inbuf[2] & 0x3f) + '=')); |
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71 | |||
72 | inbufptr = 0; |
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73 | } |
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74 | } |
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75 | |||
76 | final OutputStream os; |
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77 | MKDataOutputStream base64OutputStream = new MKDataOutputStream(); |
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78 | int crc; |
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79 | |||
80 | public MKOutputStream(OutputStream os) { |
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81 | this.os = os; |
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82 | } |
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83 | |||
84 | @Override |
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85 | public void write(int b) throws IOException { |
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86 | os.write(b); |
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87 | // System.out.println("Writing: " + b); |
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88 | } |
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89 | |||
90 | public void writeByte(int b) throws IOException { |
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91 | crc += b; |
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92 | write(b); |
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93 | } |
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94 | |||
95 | public void write(RequestFrame f) throws IOException { |
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96 | write(crc = '#'); |
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97 | |||
98 | int address = f.getAddress() + 'a'; |
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99 | writeByte(address); |
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100 | |||
101 | // Will cause one of the "visit" methods below |
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102 | // to be called, depending on the type of f. |
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103 | f.accept(this); |
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104 | base64OutputStream.flush(); |
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105 | |||
106 | crc %= 4096; |
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107 | write((crc >>> 6) + '='); |
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108 | write((crc & 0x3f) + '='); |
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109 | |||
110 | write('\r'); |
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111 | } |
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112 | |||
1564 | - | 113 | / * |
1539 | - | 114 | public void visit(RequestFrame f) { |
115 | throw new RuntimeException("Unbound RequestFrame type: " |
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116 | + f.getClass().getSimpleName() |
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117 | + ". Don't know how to output."); |
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118 | } |
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1564 | - | 119 | * / |
1539 | - | 120 | |
121 | public void visit(AnalogDebugLabelRequestFrame f) throws IOException { |
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122 | writeByte('a'); |
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123 | base64OutputStream.writeByte(f.getChannel()); |
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124 | } |
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125 | |||
126 | public void visit(AttitudeDataRequestFrame f) throws IOException { |
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127 | writeByte('c'); |
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128 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
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129 | } |
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130 | |||
131 | public void visit(DebugRequestFrame f) throws IOException { |
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132 | writeByte('d'); |
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133 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
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134 | } |
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135 | |||
136 | public void visit(ChangeParameterSetRequestFrame f) throws IOException { |
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137 | writeByte('f'); |
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138 | base64OutputStream.writeByte(f.getParameterSetNumber()); |
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139 | } |
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140 | |||
141 | public void visit(VersionRequestFrame f) throws IOException { |
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142 | writeByte('v'); |
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143 | } |
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144 | |||
145 | public void visit(ResetRequestFrame f) throws IOException { |
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146 | writeByte('R'); |
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147 | } |
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148 | |||
149 | public void visit(MotorTestRequestFrame f) throws IOException { |
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150 | writeByte('t'); |
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151 | base64OutputStream.writeBytes(f.getMotorValues()); |
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152 | } |
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153 | |||
154 | public void visit(SingleDisplayRequestFrame f) throws IOException { |
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155 | writeByte('l'); |
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156 | base64OutputStream.writeByte(f.getMenuItemCode()); // In 0.74 there is not the all in one mode. |
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157 | } |
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158 | |||
159 | public void visit(AllDisplaysRequestFrame f) throws IOException { |
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160 | writeByte('h'); |
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161 | base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys()); |
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162 | // mdo.writeByte(f.getAutoSendInterval()); |
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163 | } |
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164 | |||
165 | public void visit(VariablesRequestFrame f) throws IOException { |
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166 | writeByte('x'); |
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167 | } |
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168 | |||
169 | public void visit(ExternalControlRequestFrame f) throws IOException { |
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1559 | - | 170 | writeByte('b'); |
1539 | - | 171 | base64OutputStream.writeByte(f.getDigital()[0]); |
172 | base64OutputStream.writeByte(f.getDigital()[1]); |
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173 | base64OutputStream.writeByte(f.getRemoteButtons()); |
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174 | base64OutputStream.writeByte(f.getPitch()); |
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175 | base64OutputStream.writeByte(f.getRoll()); |
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176 | base64OutputStream.writeByte(f.getYaw()); |
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177 | base64OutputStream.writeByte(f.getThrottle()); |
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178 | base64OutputStream.writeByte(f.getHeight()); |
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179 | base64OutputStream.writeByte(f.getCommand()); |
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180 | base64OutputStream.writeByte(f.getFrameNum()); |
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181 | base64OutputStream.writeByte(f.getArgument()); |
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182 | } |
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1559 | - | 183 | |
184 | public void visit(ReadExternalControlRequestFrame f) throws IOException { |
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185 | writeByte('g'); |
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186 | } |
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1539 | - | 187 | |
188 | public void visit(LoopbackTestRequestFrame f) throws IOException { |
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189 | writeByte('0'); |
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190 | base64OutputStream.writeByte(f.getByte()); |
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191 | base64OutputStream.writeWord(f.getWord()); |
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192 | base64OutputStream.writeChars(f.getChararray()); |
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193 | } |
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194 | |||
195 | public void visit(UniversalReadParamSetRequestFrame f) throws IOException { |
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196 | writeByte('q'); |
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197 | base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
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198 | } |
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199 | |||
200 | public void visit(UniversalWriteParamSetRequestFrame f) throws IOException { |
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201 | writeByte('s'); |
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202 | base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
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203 | base64OutputStream.writeByte(f.getConfigurationVersionNumber()); |
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204 | base64OutputStream.writeBytes(f.getData()); |
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205 | } |
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206 | |||
207 | public void visit(SetCompassHeadingRequestFrame f) throws IOException { |
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208 | writeByte('K'); |
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209 | } |
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1559 | - | 210 | |
1562 | - | 211 | public void visit(CompassHeadingRequestFrame f) throws IOException { |
212 | writeByte('w'); |
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213 | } |
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214 | |||
1559 | - | 215 | public void visit(OSDDataRequestFrame f) throws IOException { |
216 | writeByte('o'); |
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217 | base64OutputStream.writeByte(f.getAutoSendInterval()); |
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218 | } |
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1539 | - | 219 | } |
1564 | - | 220 | */ |