| 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'); |
| } |
| |