Rev 1689 | Rev 1695 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1689 | Rev 1690 | ||
---|---|---|---|
Line 16... | Line 16... | ||
16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
16 | import dongfang.mkt.frames.MotorTestResponseFrame; |
17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
17 | import dongfang.mkt.frames.OSDDataResponseFrame; |
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
18 | import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
19 | import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame; |
19 | import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame; |
20 | import dongfang.mkt.frames.ReadMotorMixerResponseFrame; |
20 | import dongfang.mkt.frames.ReadMotorMixerResponseFrame; |
- | 21 | import dongfang.mkt.frames.ReadParamSetResponseFrame; |
|
- | 22 | import dongfang.mkt.frames.ReadRCChannelsResponseFrame; |
|
- | 23 | import dongfang.mkt.frames.ReadVariablesResponseFrame; |
|
21 | import dongfang.mkt.frames.ResponseFrame; |
24 | import dongfang.mkt.frames.ResponseFrame; |
22 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
25 | import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
23 | import dongfang.mkt.frames.ReadParamSetResponseFrame; |
26 | import dongfang.mkt.frames.VersionResponseFrame; |
24 | import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame; |
27 | import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame; |
25 | import dongfang.mkt.frames.WriteMotorMixerResponseFrame; |
28 | import dongfang.mkt.frames.WriteMotorMixerResponseFrame; |
26 | import dongfang.mkt.frames.WriteParamSetResponseFrame; |
29 | import dongfang.mkt.frames.WriteParamSetResponseFrame; |
27 | import dongfang.mkt.frames.ReadVariablesResponseFrame; |
- | |
28 | import dongfang.mkt.frames.VersionResponseFrame; |
- | |
Line 29... | Line 30... | ||
29 | 30 | ||
30 | public class MKInputStream extends InputStream { |
31 | public class MKInputStream extends InputStream { |
31 | int readByteCnt; |
32 | int readByteCnt; |
32 | class MKDataInputStream { |
33 | class MKDataInputStream { |
Line 366... | Line 367... | ||
366 | f.setThrottle(base64InputStream.readByte()); |
367 | f.setThrottle(base64InputStream.readByte()); |
367 | f.setCurrent(base64InputStream.readWord()); |
368 | f.setCurrent(base64InputStream.readWord()); |
368 | f.setCapacityUsed(base64InputStream.readWord()); |
369 | f.setCapacityUsed(base64InputStream.readWord()); |
369 | result = f; |
370 | result = f; |
370 | break; |
371 | break; |
371 | } |
372 | } |
- | 373 | case 'P': { |
|
- | 374 | ReadRCChannelsResponseFrame f = new ReadRCChannelsResponseFrame(address); |
|
- | 375 | int numberOfChannels = base64InputStream.readByte(); |
|
- | 376 | f.setNumberOfChannels(numberOfChannels); |
|
- | 377 | f.setChannels(base64InputStream.readSignedWords(numberOfChannels)); |
|
- | 378 | result = f; |
|
- | 379 | break; |
|
- | 380 | } |
|
372 | case 'S': { |
381 | case 'S': { |
373 | WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address); |
382 | WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address); |
374 | f.setParameterSetNumber(base64InputStream.readByte()); |
383 | f.setParameterSetNumber(base64InputStream.readByte()); |
375 | result = f; |
384 | result = f; |
376 | break; |
385 | break; |