/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKInputStream.java |
---|
16,10 → 16,12 |
import dongfang.mkt.frames.MotorTestResponseFrame; |
import dongfang.mkt.frames.OSDDataResponseFrame; |
import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame; |
import dongfang.mkt.frames.ResponseFrame; |
import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
import dongfang.mkt.frames.ReadParamSetResponseFrame; |
import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame; |
import dongfang.mkt.frames.WriteParamSetResponseFrame; |
import dongfang.mkt.frames.VariablesResponseFrame; |
import dongfang.mkt.frames.VersionResponseFrame; |
225,6 → 227,21 |
result = f; |
break; |
} |
case 'I': { |
ReadIMUConfigurationResponseFrame f = new ReadIMUConfigurationResponseFrame(address); |
f.setConfigurationVersion(base64InputStream.readByte()); |
int length = base64InputStream.readByte(); |
f.setConfigurationSetLength(length); |
f.setData(base64InputStream.readBytes(length)); |
result = f; |
break; |
} |
case 'J': { |
WriteIMUConfigurationResponseFrame f = new WriteIMUConfigurationResponseFrame(address); |
f.setWasAccepted(base64InputStream.readByte()==1); |
result = f; |
break; |
} |
case 'k' : { |
CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
base64InputStream.readSignedWords(2); |
314,7 → 331,7 |
break; |
} |
case 'S': { |
UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address); |
WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address); |
f.setParameterSetNumber(base64InputStream.readByte()); |
result = f; |
break; |
370,7 → 387,7 |
break; |
} |
case 'Q': |
UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address); |
ReadParamSetResponseFrame f = new ReadParamSetResponseFrame(address); |
f.setConfigurationSetNumber(base64InputStream.readByte()); |
f.setConfigurationVersion(base64InputStream.readByte()); |
int length = base64InputStream.readByte(); |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java |
---|
15,14 → 15,16 |
import dongfang.mkt.frames.MotorTestRequestFrame; |
import dongfang.mkt.frames.OSDDataRequestFrame; |
import dongfang.mkt.frames.ReadExternalControlRequestFrame; |
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.ReadParamSetRequestFrame; |
import dongfang.mkt.frames.RequestFrame; |
import dongfang.mkt.frames.ResetRequestFrame; |
import dongfang.mkt.frames.SetCompassHeadingRequestFrame; |
import dongfang.mkt.frames.SingleDisplayRequestFrame; |
import dongfang.mkt.frames.UniversalReadParamSetRequestFrame; |
import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame; |
import dongfang.mkt.frames.VariablesRequestFrame; |
import dongfang.mkt.frames.VersionRequestFrame; |
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.WriteParamSetRequestFrame; |
public class MKOutputStream extends OutputStream implements RequestFrameVisitor { |
public class MKDataOutputStream { |
191,12 → 193,12 |
base64OutputStream.writeChars(f.getChararray()); |
} |
public void visit(UniversalReadParamSetRequestFrame f) throws IOException { |
public void visit(ReadParamSetRequestFrame f) throws IOException { |
writeByte('q'); |
base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
} |
public void visit(UniversalWriteParamSetRequestFrame f) throws IOException { |
public void visit(WriteParamSetRequestFrame f) throws IOException { |
writeByte('s'); |
base64OutputStream.writeByte(f.getConfigurationSetNumber()); |
base64OutputStream.writeByte(f.getConfigurationVersionNumber()); |
217,4 → 219,15 |
writeByte('o'); |
base64OutputStream.writeByte(f.getAutoSendInterval()); |
} |
public void visit(ReadIMUConfigurationRequestFrame f) throws IOException { |
writeByte('i'); |
} |
public void visit(WriteIMUConfigurationRequestFrame f) throws IOException { |
writeByte('j'); |
base64OutputStream.writeByte(f.getConfigurationVersionNumber()); |
base64OutputStream.writeByte(f.getDataLength()); |
base64OutputStream.writeBytes(f.getData()); |
} |
} |