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