16,14 → 16,16 |
import dongfang.mkt.frames.OSDDataRequestFrame; |
import dongfang.mkt.frames.ReadExternalControlRequestFrame; |
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.ReadMotorMixerRequestFrame; |
import dongfang.mkt.frames.ReadParamSetRequestFrame; |
import dongfang.mkt.frames.ReadVariablesRequestFrame; |
import dongfang.mkt.frames.RequestFrame; |
import dongfang.mkt.frames.ResetRequestFrame; |
import dongfang.mkt.frames.SetCompassHeadingRequestFrame; |
import dongfang.mkt.frames.SingleDisplayRequestFrame; |
import dongfang.mkt.frames.VariablesRequestFrame; |
import dongfang.mkt.frames.VersionRequestFrame; |
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.WriteMotorMixerRequestFrame; |
import dongfang.mkt.frames.WriteParamSetRequestFrame; |
|
public class MKOutputStream extends OutputStream implements RequestFrameVisitor { |
162,8 → 164,29 |
base64OutputStream.writeByte(f.getPageOrder().getRemoteKeys()); |
// mdo.writeByte(f.getAutoSendInterval()); |
} |
|
public void visit(ReadMotorMixerRequestFrame f) throws IOException { |
writeByte('n'); |
} |
|
public void visit(VariablesRequestFrame f) throws IOException { |
public void visit(WriteMotorMixerRequestFrame f) throws IOException { |
writeByte('m'); |
writeByte(f.getConfigurationVersion()); |
writeByte(f.getDataLength()); |
for(int i=0; i<f.getMatrix().length; i++) { |
int[] row = f.getMatrix()[i]; |
for(int j=0; j<row.length; j++) { |
base64OutputStream.writeByte(row[j]); |
} |
} |
/* |
for(int i=0; i<f.getOppositeMotors().length; i++) { |
base64OutputStream.writeByte(f.getOppositeMotors()[i]); |
} |
*/ |
} |
|
public void visit(ReadVariablesRequestFrame f) throws IOException { |
writeByte('x'); |
} |
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