Ejemplo n.º 1
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 12];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeShort(adc1 & 0x00FFFF);
   dos.writeShort(adc2 & 0x00FFFF);
   dos.writeShort(adc3 & 0x00FFFF);
   dos.writeShort(adc4 & 0x00FFFF);
   dos.writeShort(adc5 & 0x00FFFF);
   dos.writeShort(adc6 & 0x00FFFF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 12);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[18] = crcl;
   buffer[19] = crch;
   return buffer;
 }
Ejemplo n.º 2
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 2];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeByte(target_system & 0x00FF);
   dos.writeByte(target_component & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 2);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[12] = crcl;
   buffer[13] = crch;
   dos.close();
   return buffer;
 }
Ejemplo n.º 3
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 21];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(roll);
   dos.writeFloat(pitch);
   dos.writeFloat(yaw);
   dos.writeFloat(thrust);
   dos.writeByte(target & 0x00FF);
   dos.writeByte(roll_manual & 0x00FF);
   dos.writeByte(pitch_manual & 0x00FF);
   dos.writeByte(yaw_manual & 0x00FF);
   dos.writeByte(thrust_manual & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 21);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[27] = crcl;
   buffer[28] = crch;
   dos.close();
   return buffer;
 }
Ejemplo n.º 4
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 43];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(x);
   dos.writeFloat(y);
   dos.writeFloat(z);
   dos.writeShort(timeout & 0x00FFFF);
   dos.writeByte(type & 0x00FF);
   dos.writeByte(color & 0x00FF);
   dos.writeByte(coordinate_system & 0x00FF);
   for (int i = 0; i < 26; i++) {
     dos.writeByte(name[i]);
   }
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 43);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[49] = crcl;
   buffer[50] = crch;
   dos.close();
   return buffer;
 }
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 13];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeInt((int) (latitude & 0x00FFFFFFFF));
   dos.writeInt((int) (longitude & 0x00FFFFFFFF));
   dos.writeInt((int) (altitude & 0x00FFFFFFFF));
   dos.writeByte(target_system & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 13);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[19] = crcl;
   buffer[20] = crch;
   dos.close();
   return buffer;
 }
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 28];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.writeFloat(x);
   dos.writeFloat(y);
   dos.writeFloat(z);
   dos.writeFloat(roll);
   dos.writeFloat(pitch);
   dos.writeFloat(yaw);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 28);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[38] = crcl;
   buffer[39] = crch;
   dos.close();
   return buffer;
 }
Ejemplo n.º 7
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 16];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeLong(time_usec);
   dos.writeShort(press_abs & 0x00FFFF);
   dos.writeShort(press_diff1 & 0x00FFFF);
   dos.writeShort(press_diff2 & 0x00FFFF);
   dos.writeShort(temperature & 0x00FFFF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 16);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[22] = crcl;
   buffer[23] = crch;
   dos.close();
   return buffer;
 }
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 26];
   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.LITTLE_ENDIAN);
   dos.put((byte) 0xFE);
   dos.put((byte) (length & 0x00FF));
   dos.put((byte) (sequence & 0x00FF));
   dos.put((byte) (sysId & 0x00FF));
   dos.put((byte) (componentId & 0x00FF));
   dos.put((byte) (messageType & 0x00FF));
   dos.putFloat(nav_roll);
   dos.putFloat(nav_pitch);
   dos.putFloat(alt_error);
   dos.putFloat(aspd_error);
   dos.putFloat(xtrack_error);
   dos.putShort((short) (nav_bearing & 0x00FFFF));
   dos.putShort((short) (target_bearing & 0x00FFFF));
   dos.putShort((short) (wp_dist & 0x00FFFF));
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 26);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[32] = crcl;
   buffer[33] = crch;
   return buffer;
 }
Ejemplo n.º 9
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 35];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFE);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(sequence & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeFloat(param1);
   dos.writeFloat(param2);
   dos.writeFloat(param3);
   dos.writeFloat(param4);
   dos.writeInt((int) (x & 0x00FFFFFFFF));
   dos.writeInt((int) (y & 0x00FFFFFFFF));
   dos.writeFloat(z);
   dos.writeShort(command & 0x00FFFF);
   dos.writeByte(target_system & 0x00FF);
   dos.writeByte(target_component & 0x00FF);
   dos.writeByte(frame & 0x00FF);
   dos.writeByte(current & 0x00FF);
   dos.writeByte(autocontinue & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 35);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[41] = crcl;
   buffer[42] = crch;
   dos.close();
   return buffer;
 }
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[8 + 20];
   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.LITTLE_ENDIAN);
   dos.put((byte) 0xFE);
   dos.put((byte) (length & 0x00FF));
   dos.put((byte) (sequence & 0x00FF));
   dos.put((byte) (sysId & 0x00FF));
   dos.put((byte) (componentId & 0x00FF));
   dos.put((byte) (messageType & 0x00FF));
   dos.putInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.putFloat(roll_rate);
   dos.putFloat(pitch_rate);
   dos.putFloat(yaw_rate);
   dos.putFloat(thrust);
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 20);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[26] = crcl;
   buffer[27] = crch;
   return buffer;
 }
Ejemplo n.º 11
0
 /** Encode message with raw data and other informations */
 public byte[] encode() throws IOException {
   byte[] buffer = new byte[12 + 23];
   LittleEndianDataOutputStream dos =
       new LittleEndianDataOutputStream(new ByteArrayOutputStream());
   dos.writeByte((byte) 0xFD);
   dos.writeByte(length & 0x00FF);
   dos.writeByte(incompat & 0x00FF);
   dos.writeByte(compat & 0x00FF);
   dos.writeByte(packet & 0x00FF);
   dos.writeByte(sysId & 0x00FF);
   dos.writeByte(componentId & 0x00FF);
   dos.writeByte(messageType & 0x00FF);
   dos.writeByte((messageType >> 8) & 0x00FF);
   dos.writeByte((messageType >> 16) & 0x00FF);
   dos.writeInt((int) (time_boot_ms & 0x00FFFFFFFF));
   dos.writeFloat(image_interval);
   dos.writeFloat(video_framerate);
   dos.writeShort(image_resolution_h & 0x00FFFF);
   dos.writeShort(image_resolution_v & 0x00FFFF);
   dos.writeShort(video_resolution_h & 0x00FFFF);
   dos.writeShort(video_resolution_v & 0x00FFFF);
   dos.writeByte(camera_id & 0x00FF);
   dos.writeByte(image_status & 0x00FF);
   dos.writeByte(video_status & 0x00FF);
   dos.flush();
   byte[] tmp = dos.toByteArray();
   for (int b = 0; b < tmp.length; b++) buffer[b] = tmp[b];
   int crc = MAVLinkCRC.crc_calculate_encode(buffer, 23);
   crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);
   byte crcl = (byte) (crc & 0x00FF);
   byte crch = (byte) ((crc >> 8) & 0x00FF);
   buffer[33] = crcl;
   buffer[34] = crch;
   dos.close();
   return buffer;
 }
Ejemplo n.º 12
0
  /**
   * Generate MAVLink messages Java classes
   *
   * @param mavlink
   * @param targetPath
   */
  protected void generateMessageClass(MAVLinkData mavlink, String targetPath) {
    StringBuffer sbRead, sbWrite, fieldWrite;
    String packageRootName = "org.mavlink.messages";
    String xmlFilename = mavlink.getFile();
    String packageName = packageRootName + "." + xmlFilename;
    String directory = targetPath + "/org/mavlink/messages/" + xmlFilename + "/";
    OutputStream output = null;
    PrintWriter writer = null;
    String forToString = "";
    for (MAVLinkMessage message : mavlink.getMessages().values()) {
      String className = "msg_" + message.getName().toLowerCase();
      String filename = directory + className + ".java";
      imports = imports + "import " + packageName + "." + className + ";\n";
      try {
        File file = new File(directory);
        file.mkdirs();
        output = new FileOutputStream(filename, false);
        writer = new PrintWriter(output);
        sbRead = new StringBuffer();
        sbWrite = new StringBuffer();
        fieldWrite = new StringBuffer();
        if (forEmbeddedJava) {
          sbWrite.append("  dos.writeByte((byte)0xFE);\n");
          sbWrite.append("  dos.writeByte(length & 0x00FF);\n");
          sbWrite.append("  dos.writeByte(sequence & 0x00FF);\n");
          sbWrite.append("  dos.writeByte(sysId & 0x00FF);\n");
          sbWrite.append("  dos.writeByte(componentId & 0x00FF);\n");
          sbWrite.append("  dos.writeByte(messageType & 0x00FF);\n");
        } else {
          sbWrite.append("  dos.put((byte)0xFE);\n");
          sbWrite.append("  dos.put((byte)(length & 0x00FF));\n");
          sbWrite.append("  dos.put((byte)(sequence & 0x00FF));\n");
          sbWrite.append("  dos.put((byte)(sysId & 0x00FF));\n");
          sbWrite.append("  dos.put((byte)(componentId & 0x00FF));\n");
          sbWrite.append("  dos.put((byte)(messageType & 0x00FF));\n");
        }
        // Write Header
        writer.print("/**\n * Generated class : " + className + "\n * DO NOT MODIFY!\n **/\n");
        writer.print("package " + packageName + ";\n");
        writer.print("import " + packageRootName + ".MAVLinkMessage;\n");
        writer.print("import org.mavlink.IMAVLinkCRC;\n");
        writer.print("import org.mavlink.MAVLinkCRC;\n");
        writer.print("import java.io.ByteArrayOutputStream;\n");
        writer.print("import java.io.IOException;\n");
        if (forEmbeddedJava) {
          if (isLittleEndian) {
            writer.print("import org.mavlink.io.LittleEndianDataInputStream;\n");
            writer.print("import org.mavlink.io.LittleEndianDataOutputStream;\n");
          } else {
            writer.print("import java.io.DataInputStream;\n");
            writer.print("import java.io.DataOutputStream;\n");
          }
        } else {
          writer.print("import java.nio.ByteBuffer;\n");
          writer.print("import java.nio.ByteOrder;\n");
        }
        String description = message.getDescription();
        writer.print(
            "/**\n * Class "
                + className
                + "\n * "
                + (description == null ? "" : message.getDescription().trim())
                + "\n **/\n");
        writer.print("public class " + className + " extends MAVLinkMessage {\n");
        String id = MAVLINK_MSG + "_ID_" + message.getName();
        writer.print("  public static final int " + id + " = " + message.getId() + ";\n");
        writer.print("  private static final long serialVersionUID = " + id + ";\n");
        writer.print(
            "  public "
                + className
                + "(int sysId, int componentId) {\n    messageType = "
                + id
                + ";\n    this.sysId = sysId;\n    this.componentId = componentId;\n");

        // Calculate extra_crc for Mavlinl 1.0
        String extraCrcBuffer = message.getName() + " ";
        // Write Fields
        int fieldLen = 0;
        Collections.sort(message.getFields(), new FieldCompare());
        for (int j = 0; j < message.getFields().size(); j++) {
          MAVLinkField field = message.getFields().get(j);
          fieldWrite.append("  /**\n   * " + field.getDescription().trim() + "\n   */\n");
          MAVLinkDataType type = field.getType();
          fieldWrite.append("  public " + type.getJavaType(field.getName()) + "\n");
          sbRead.append(type.getReadType(field.getName(), forEmbeddedJava));
          sbWrite.append(type.getWriteType(field.getName(), forEmbeddedJava));
          String attr = field.getName();
          if (type.isArray && type.type == MAVLinkDataType.CHAR) {
            String first = "" + attr.charAt(0);
            attr = first.toUpperCase() + field.getName().substring(1);
            fieldWrite.append("  public void set" + attr + "(String tmp) {\n");
            fieldWrite.append("    int len = Math.min(tmp.length(), " + type.arrayLenth + ");\n");
            fieldWrite.append(
                "    for (int i=0; i<len; i++) {\n      "
                    + field.getName()
                    + "[i] = tmp.charAt(i);\n    }\n");
            fieldWrite.append(
                "    for (int i=len; i<"
                    + type.arrayLenth
                    + "; i++) {\n      "
                    + field.getName()
                    + "[i] = 0;\n    }\n  }\n");
            fieldWrite.append("  public String get" + attr + "() {\n");
            fieldWrite.append("    String result=\"\";\n");
            fieldWrite.append(
                "    for (int i=0; i<"
                    + type.arrayLenth
                    + "; i++) {\n      if ("
                    + field.getName()
                    + "[i] != 0) result=result+"
                    + field.getName()
                    + "[i]; else break;\n    }\n    return result;\n  }\n");
          }
          fieldLen += type.getLengthType();
          forToString =
              forToString
                  + (j != 0 ? "+" : "")
                  + "  \"  "
                  + field.getName()
                  + "=\"+"
                  + (field.getType().isArray && field.getType().type == MAVLinkDataType.CHAR
                      ? "get" + attr + "()"
                      : field.getName());
          extraCrcBuffer = extraCrcBuffer + type.getCType() + " " + field.getName() + " ";
          if (type.isArray) {
            extraCrcBuffer = extraCrcBuffer + (char) type.arrayLenth;
          }
        }
        writer.print("    length = " + fieldLen + ";\n}\n\n");
        writer.print(fieldWrite.toString());
        int extra_crc = MAVLinkCRC.crc_calculate(MAVLinkCRC.stringToByte(extraCrcBuffer));
        int magicNumber = (extra_crc & 0x00FF) ^ ((extra_crc >> 8 & 0x00FF));
        MAVLINK_MESSAGE_CRCS[message.getId()] = magicNumber;

        writer.print("/**\n");
        writer.print(" * Decode message with raw data\n");
        writer.print(" */\n");
        if (forEmbeddedJava) {
          if (isLittleEndian) {
            writer.print(
                "public void decode(LittleEndianDataInputStream dis) throws IOException {\n");
          } else {
            writer.print("public void decode(DataInputStream dis) throws IOException {\n");
          }
        } else {
          writer.print("public void decode(ByteBuffer dis) throws IOException {\n");
        }

        writer.print(sbRead.toString());
        writer.print("}\n");

        writer.print("/**\n");
        writer.print(" * Encode message with raw data and other informations\n");
        writer.print(" */\n");
        writer.print("public byte[] encode() throws IOException {\n");
        writer.print("  byte[] buffer = new byte[8+" + fieldLen + "];\n");
        if (forEmbeddedJava) {
          if (isLittleEndian) {
            writer.print(
                "   LittleEndianDataOutputStream dos = new LittleEndianDataOutputStream(new ByteArrayOutputStream());\n");
          } else {
            writer.print("   ByteArrayOutputStream baos = new ByteArrayOutputStream();\n");
            writer.print("   DataOutputStream dos = new DataOutputStream(baos);\n");
          }
        } else {
          if (isLittleEndian) {
            writer.print(
                "   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.LITTLE_ENDIAN);\n");
          } else {
            writer.print(
                "   ByteBuffer dos = ByteBuffer.wrap(buffer).order(ByteOrder.BIG_ENDIAN);\n");
          }
        }
        writer.print(sbWrite.toString());
        if (forEmbeddedJava) {
          if (isLittleEndian) {
            writer.print("  dos.flush();\n  byte[] tmp = dos.toByteArray();\n");
          } else {
            writer.print("  dos.flush();\n  byte[] tmp = baos.toByteArray();\n");
          }
          writer.print("  for (int b=0; b<tmp.length; b++) buffer[b]=tmp[b];\n");
        } else {
          // nothing
        }
        writer.print("  int crc = MAVLinkCRC.crc_calculate_encode(buffer, " + fieldLen + ");\n");
        writer.print(
            "  crc = MAVLinkCRC.crc_accumulate((byte) IMAVLinkCRC.MAVLINK_MESSAGE_CRCS[messageType], crc);\n");
        writer.print("  byte crcl = (byte) (crc & 0x00FF);\n");
        writer.print("  byte crch = (byte) ((crc >> 8) & 0x00FF);\n");
        writer.print("  buffer[" + (fieldLen + 6) + "] = crcl;\n");
        writer.print("  buffer[" + (fieldLen + 7) + "] = crch;\n");
        writer.print("  return buffer;\n}\n");

        if (debug) {
          writer.print("public String toString() {\n");
          writer.print("return \"" + id + " : \" + " + forToString + ";");
          writer.print("}\n");
        }
        writer.print("}\n");
        forToString = "";
      } catch (Exception e) {
        System.err.println("ERROR : " + e);
        e.printStackTrace();
      } finally {
        try {
          writer.close();
          output.close();
        } catch (Exception ex) {
          System.err.println("ERROR : " + ex);
          ex.printStackTrace();
        }
      }
    }
  }