| 8,6 → 8,7 |
|---|
| import dongfang.mkt.frames.AnalogDebugLabelResponseFrame; |
| import dongfang.mkt.frames.AttitudeDataResponseFrame; |
| import dongfang.mkt.frames.ChangeParameterSetResponseFrame; |
| import dongfang.mkt.frames.CompassHeadingResponseFrame; |
| import dongfang.mkt.frames.ConfirmFrame; |
| import dongfang.mkt.frames.DebugResponseFrame; |
| import dongfang.mkt.frames.MotorTestResponseFrame; |
| 98,6 → 99,14 |
|---|
| return result; |
| } |
| |
| public int[] readSignedWords(int length) throws IOException { |
| int[] result = new int[length]; |
| for (int i = 0; i < length; i++) { |
| result[i] = readSignedWord(); |
| } |
| return result; |
| } |
| |
| public char[] readChars(int length) throws IOException { |
| char[] result = new char[length]; |
| for (int i = 0; i < length; i++) { |
| 154,6 → 163,7 |
|---|
| readByteCnt = 0; |
| //RESPONSE_IDS id = getResponseType(iid); |
| ResponseFrame result; |
| // System.out.println("Received a: " + (char)iid + " from " + address); |
| switch (iid) { |
| case 'A': { |
| AnalogDebugLabelResponseFrame f = new AnalogDebugLabelResponseFrame(address); |
| 215,6 → 225,15 |
|---|
| result = f; |
| break; |
| } |
| case 'k' : { |
| CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address); |
| base64InputStream.readSignedWords(2); |
| base64InputStream.readBytes(2); |
| base64InputStream.readByte(); |
| base64InputStream.readByte(); |
| result = f; |
| break; |
| } |
| case 'L': { |
| AllDisplaysResponseFrame f = new AllDisplaysResponseFrame(address); |
| f.setItem(base64InputStream.readByte()); |
| 268,7 → 287,7 |
|---|
| f.setBatteryVoltage(base64InputStream.readByte()); |
| f.setGroundSpeed(base64InputStream.readWord()); |
| |
| f.setHeading(base64InputStream.readSignedWord()); |
| f.setDirectionOfFlight(base64InputStream.readSignedWord()); |
| f.setCompassHeading(base64InputStream.readSignedWord()); |
| |
| f.setPitchAngle(base64InputStream.readSignedByte()); |
| 355,6 → 374,14 |
|---|
| result = f; |
| break; |
| default: |
| int b; |
| int count = 0; |
| while((b=read()) != '\r') { |
| count++; |
| } |
| System.err.println("Unknown frame " + (char)iid + " received from " + address); |
| System.err.println("It appears to have " + (count-2) + " data bytes (encoded)"); |
| System.err.println("(" + (count-2) * 6/8 + " data bytes decoded)"); |
| result = null; |
| } |
| |