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Rev 231 Rev 303
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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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    public MKLCD LCD;
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    public MKLCD LCD;
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    public MKVersion version;
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    public MKVersion version;
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    public MKDebugData debug_data;
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    public MKDebugData debug_data;
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    public MKParamsParser params;
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    public MKWatchDog watchdog;
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    public MKWatchDog watchdog;
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    public int debug_data_count=0;
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    public int debug_data_count=0;
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    public int version_data_count=0;
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    public int version_data_count=0;
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    public int other_data_count=0;
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    public int other_data_count=0;
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    public int lcd_data_count=0;
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    public int params_data_count=0;
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    public int lcd_data_count=0;
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    String name;
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    /******************  Section: public Methods ************************************************/
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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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    public MKCommunicator()  
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    {
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    {
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        version=new MKVersion();
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        debug_data=new MKDebugData();
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        params=new MKParamsParser();
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        version=new MKVersion();
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        //      mk_url=url; // remember URL for connecting / reconnecting later
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        debug_data=new MKDebugData();
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                LCD= new MKLCD(this);
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                watchdog=new MKWatchDog(this);
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        new Thread( this ).start(); // fire up main Thread
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    }
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    //  URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control
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    public void connect_to(String _url,String _name)
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    {
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        mk_url=url; // remember URL for connecting / reconnecting later
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        mk_url=_url;
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        name=_name;
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        new Thread( this ).start(); // fire up main Thread
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        force_disconnect=false;
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        connected=false;
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    }
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    }
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    /******************  Section: private Methods ************************************************/
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    /******************  Section: private Methods ************************************************/
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    private void connect()
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                get_version();
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                get_version();
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                lcd_data_count=0;
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                lcd_data_count=0;
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                debug_data_count=0;
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                debug_data_count=0;
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                version_data_count=0;
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                version_data_count=0;
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                LCD= new MKLCD(this);
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                watchdog=new MKWatchDog(this);
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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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    public void get_version()
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    public void get_version()
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    {
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    {
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        send_command(0,'v',new int[0]);
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        send_command(0,'v',new int[0]);
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    }
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    }
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    // send a MotorTest request - params are the speed for each Motor
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    public void motor_test(int[] params)
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    public void motor_test(int[] params)
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    {
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    {
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        send_command(0,'t',params);
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        send_command(0,'t',params);
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    }
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    // get params
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    public void get_params(int id)
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    {
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        int[] params=new int[1];
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        params[0]=id;
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        send_command(0,'q',params);
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    }
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    }
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    // send command to FC ( add crc and pack into pseudo Base64
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    // send command to FC ( add crc and pack into pseudo Base64
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            case '3':
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            case '3':
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                LCD.handle_lcd_data(Decode64(data,3,20),data[2]-(int)'0');
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                LCD.handle_lcd_data(Decode64(data,3,20),data[2]-(int)'0');
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                lcd_data_count++;
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                lcd_data_count++;
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                break;
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                break;
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            case 'L':
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            case 'M':
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            case 'N':
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            case 'O':
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            case 'P':
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                params.set_by_mk_data(Decode64(data,3,58),version);
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                params_data_count++;
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                break;
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            default:
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            default:
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                other_data_count++;
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                other_data_count++;
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                break;
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                break;
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    }
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    }
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    String o_msg="";
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    String o_msg="";
224 
 
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225 
    public boolean force_disconnect=false;
 262 
    public boolean force_disconnect=true;
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