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fixes tx protocol for groundstation

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This commit is contained in:
Brendan Haines 2015-03-08 22:02:53 -06:00
parent ffc1c2fe77
commit 3ca4c787c6
2 changed files with 15 additions and 10 deletions
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22
GroundStation/v2/ConnectionPanel.java
View File

@ -107,12 +107,13 @@ class ConnectionPanel extends JPanel implements ActionListener {
* @param reconnect - tells server whether to listen for new connections. If false, server will shut down * @param reconnect - tells server whether to listen for new connections. If false, server will shut down
*/ */
public void disconnectTcp( boolean reconnect ) { public void disconnectTcp( boolean reconnect ) {
out.print( "DISCONNECT" ); out.print( "DISCONNECT " );
out.print( "D" ); out.print( "D" );
if( reconnect ) out.print( "_R" ); if( reconnect ) out.print( "_R" );
out.println(); out.println();
try { try {
tcpTimer.stop();
in.close(); in.close();
out.close(); out.close();
tcpSocket.close(); tcpSocket.close();
@ -131,20 +132,21 @@ class ConnectionPanel extends JPanel implements ActionListener {
out.print( "H " ); // Heartbeat / begin message indicator out.print( "H " ); // Heartbeat / begin message indicator
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors
if( contentOut.motorTesting ) { if( contentOut.motorTesting ) {
for( int i = 0; i < contentOut.motorValues.length; i++ ) for( int i = 0; i < contentOut.motorValues.length; i++ ) {
out.printf( "M%2d_%4d ", i, contentOut.motorValues[i] ); out.printf( "M%02d_%04d ", i, contentOut.motorValues[i] );
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors (redundant)
}
} }
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors (redundant)
if( contentOut.controls ) { if( contentOut.controls ) {
for( int i = 0; i < contentOut.controlValues.length; i++ ) for( int i = 0; i < contentOut.controlValues.length; i++ ) {
out.printf( "C%2d_%4d ", i, contentOut.controlValues[i] ); out.printf( "C%02d_%04d ", i, contentOut.controlValues[i] );
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors (redundant)
}
} }
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors (redundant) /*if( contentOut.orientation ) {
if( contentOut.orientation ) {
for( int i = 0; i < contentOut.orientValues.length; i++ ) for( int i = 0; i < contentOut.orientValues.length; i++ )
out.print( "O" + i + "_" + contentOut.orientValues[i] + " " ); out.print( "O" + i + "_" + contentOut.orientValues[i] + " " );
} }*/
if( contentOut.getMotorsEnabled() ) out.print( "E " ); // enable motors (redundant)
out.println(); out.println();
} }

3
GroundStation/v2/GroundStation.java
View File

@ -40,6 +40,9 @@ class GroundStation implements ActionListener {
connectPanel.setEnabled( true ); connectPanel.setEnabled( true );
mainWindow.getContentPane().add( connectPanel ); mainWindow.getContentPane().add( connectPanel );
JButton fcButton = new JButton( "arm" );
mainWindow.getContentPane().add( fcButton );
tabbedPane = new JTabbedPane(); tabbedPane = new JTabbedPane();
mainWindow.getContentPane().add( tabbedPane ); mainWindow.getContentPane().add( tabbedPane );