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    public boolean fatal=false; // flag which is set when an error is so fatal that reconnecting won't be tried - e.g. unknown version number.
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    public boolean fatal=false; // flag which is set when an error is so fatal that reconnecting won't be tried - e.g. unknown version number.
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    public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes
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    public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes
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    // version Info from Flight Control
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    // version Info from Flight Control
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    public int version_major=-1;
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    public int version_major=-1;
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    public int version_minor=-1;
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    public int version_minor=-1;
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    public int version_compatible=-1;
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    public int version_compatible=-1;
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    // temp - to be removed
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    // temp - to be removed
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    String p_msg="--";
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    String p_msg="--";
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    public String msg="BT_INIT";
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    public String msg="BT_INIT";
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    int data_count=0;
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    public int data_count=0;
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    /******************  Section: public Methods ************************************************/
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    public MKCommunicator(String url)     // Constructor with URL string e.g. "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control
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    /******************  Section: public Methods ************************************************/
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    {
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    public MKCommunicator(String url)     // Constructor with URL string e.g. "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control
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        debug_data=new MKDebugData();
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    {
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        mk_url=url; // remember URL for connecting / reconnecting later
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    {
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    {
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        try{
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        try{
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                connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE);
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                connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE);
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                reader=connection.openInputStream();
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                reader=connection.openInputStream();
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                writer=connection.openOutputStream();
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                writer=connection.openOutputStream();
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                connection_start_time=System.currentTimeMillis();
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                connected=true; // if we get here everything seems to be OK
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                connected=true; // if we get here everything seems to be OK
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                get_version();
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           }
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           }
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        catch (Exception ex)
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        catch (Exception ex)
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            {
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            {
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                // TODO difference fatal errors from those which will lead to reconnection
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                // TODO difference fatal errors from those which will lead to reconnection
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                msg="Problem connecting" + "\n" + ex;
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                msg="Problem connecting" + "\n" + ex;
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            }  
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            }  
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        get_version();
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    }
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    }
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    MKDebugData debug_data;
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    MKDebugData debug_data;
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    public void process_data(int[] data,int len)
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    public void process_data(int[] data,int len)
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    {
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    {
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        int[] decoded_data;
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        int[] decoded_data;
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        switch((char)data[2])
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        switch((char)data[2])
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            {
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            {
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        msg+="OK";
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        msg+="OK";
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        data_count++;
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        data_count++;
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    }
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    }
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    // Thread to recieve data from Connection
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    // Thread to recieve data from Connection
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    public void run()
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    public void run()
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    {
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    {
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        int[] data_set=new int[150];
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        int[] data_set=new int[150];
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        int input;
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        int input;
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        int pos=0;
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        int pos=0;
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        msg+="!!run started!!";
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        msg+="!!run started!!";
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        while(true)
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        while(true)
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            {
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            {
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            if (!connected)
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                {
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            if (!connected)
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                    connect();
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                connect();
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                }
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            else
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            else
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                try{
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                try{
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                    pos=0;
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                    pos=0;
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                    input=0;
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                    input=0;
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                    // recieve data-set
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                    // recieve data-set