Model-Based Team / Mbed 2 deprecated CubicHand

Cubic Hand project for EECS 249A course.

Dependencies:   MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811

DataGlove.cpp@36:4a58639da6cf, 2014-12-11 (annotated)

Committer:
naren
Date:
Thu Dec 11 07:03:09 2014 +0000
Revision:
36:4a58639da6cf
Parent:
26:42ae7eed0b68
Child:
37:996bd22a633f
Created Correction class; ; This corrects and filters the sensor data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kalbers 3:5f5d75cba8e1 1 #include "DataGlove.h"
kalbers 3:5f5d75cba8e1 2
naren 14:0c4a26dc6873 3 #define STREAM_FINGERS_QUATERNION 1
naren 14:0c4a26dc6873 4 #define STREAM_QUATERNION 2
naren 14:0c4a26dc6873 5 #define STREAM_FINGERS_RAW 3
naren 14:0c4a26dc6873 6 #define STREAM_RAW 4
naren 14:0c4a26dc6873 7 #define STREAM_FINGERS 5
naren 14:0c4a26dc6873 8
kalbers 13:c701f1122797 9 DataGlove::DataGlove()
kalbers 3:5f5d75cba8e1 10 {
kalbers 13:c701f1122797 11 notConnectedCount = 0;
naren 14:0c4a26dc6873 12 gl = new Glove;
naren 22:0cc5b7e55419 13 correction = new Glove;
naren 22:0cc5b7e55419 14 corrected = new Glove;
kalbers 18:6737bf53ccd1 15 ReceiveCount = 0;
kalbers 19:e751d075e2e6 16 numReceived = 0;
kalbers 23:a8de4f87cada 17 NewData = false;
naren 22:0cc5b7e55419 18 //Initialize correction values to 0
naren 22:0cc5b7e55419 19 correction->roll = 0.0;
naren 22:0cc5b7e55419 20 correction->pitch = 0.0;
naren 22:0cc5b7e55419 21 correction->yaw = 0.0;
naren 22:0cc5b7e55419 22 for (int i = 0; i < 5; i++)
naren 22:0cc5b7e55419 23 correction->fingers[i] = 0.0;
kalbers 3:5f5d75cba8e1 24 }
kalbers 3:5f5d75cba8e1 25
kalbers 3:5f5d75cba8e1 26 DataGlove::~DataGlove()
kalbers 3:5f5d75cba8e1 27 {
naren 14:0c4a26dc6873 28 delete(gl);
kalbers 3:5f5d75cba8e1 29 }
kalbers 3:5f5d75cba8e1 30
kalbers 3:5f5d75cba8e1 31 void DataGlove::Init()
kalbers 3:5f5d75cba8e1 32 {
naren 14:0c4a26dc6873 33 GloveSocket.Init();
kalbers 3:5f5d75cba8e1 34 GloveSocket.Connect();
naren 22:0cc5b7e55419 35 StreamData(STREAM_FINGERS_QUATERNION);
kalbers 15:b48ac00af0b8 36 }
kalbers 15:b48ac00af0b8 37
kalbers 18:6737bf53ccd1 38 void DataGlove::StreamData(uint8_t DataType)
kalbers 15:b48ac00af0b8 39 {
kalbers 3:5f5d75cba8e1 40 SendBuf[0] = '$';
kalbers 3:5f5d75cba8e1 41 SendBuf[1] = 0x0A;
kalbers 3:5f5d75cba8e1 42 SendBuf[2] = 0x03;
naren 14:0c4a26dc6873 43 // Streaming quaternion data
kalbers 18:6737bf53ccd1 44 SendBuf[3] = DataType;
kalbers 3:5f5d75cba8e1 45 SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256;
kalbers 3:5f5d75cba8e1 46 SendBuf[5] = '#';
kalbers 3:5f5d75cba8e1 47 GloveSocket.SendDataToGlove(SendBuf, 6);
kalbers 3:5f5d75cba8e1 48 }
kalbers 3:5f5d75cba8e1 49
kalbers 19:e751d075e2e6 50 void DataGlove::StopSampling()
kalbers 19:e751d075e2e6 51 {
kalbers 19:e751d075e2e6 52 SendBuf[0] = '$';
kalbers 19:e751d075e2e6 53 SendBuf[1] = 0x0B;
kalbers 19:e751d075e2e6 54 SendBuf[2] = 0x02;
kalbers 19:e751d075e2e6 55 // Streaming quaternion data
kalbers 19:e751d075e2e6 56 SendBuf[3] = (SendBuf[0]+SendBuf[1]+SendBuf[2])%256;
kalbers 19:e751d075e2e6 57 SendBuf[4] = '#';
kalbers 19:e751d075e2e6 58 GloveSocket.SendDataToGlove(SendBuf, 6);
kalbers 19:e751d075e2e6 59 }
kalbers 19:e751d075e2e6 60
kalbers 26:42ae7eed0b68 61
kalbers 26:42ae7eed0b68 62 Glove DataGlove::ReceiveBlocking()
kalbers 26:42ae7eed0b68 63 {
kalbers 26:42ae7eed0b68 64 while(Receive() == false);
kalbers 26:42ae7eed0b68 65 return *gl;
kalbers 26:42ae7eed0b68 66 }
kalbers 26:42ae7eed0b68 67
kalbers 26:42ae7eed0b68 68 bool DataGlove::Receive()
kalbers 3:5f5d75cba8e1 69 {
kalbers 15:b48ac00af0b8 70 raw = false;
kalbers 19:e751d075e2e6 71 numReceived += GloveSocket.GetDataFromBuffer(Buf, 1);
kalbers 19:e751d075e2e6 72 //if(ReceiveCount++%25 == 0) printf("%d %c\r\n", ReceiveCount, Buf[0]);
kalbers 19:e751d075e2e6 73 if (Buf[0] == '$' && numReceived > 0)
kalbers 19:e751d075e2e6 74 {
naren 14:0c4a26dc6873 75 bcc = '$';
kalbers 19:e751d075e2e6 76 numReceived += GloveSocket.GetDataFromBuffer((Buf+numReceived), 2);
kalbers 19:e751d075e2e6 77 if ((numReceived > 2) && (Buf[1] == 0x0a))
kalbers 19:e751d075e2e6 78 {
kalbers 19:e751d075e2e6 79 pkglen = Buf[2];
naren 14:0c4a26dc6873 80 bcc += Buf[1];
kalbers 19:e751d075e2e6 81 bcc += Buf[2];
kalbers 19:e751d075e2e6 82 numReceived += GloveSocket.GetDataFromBuffer((Buf+numReceived), pkglen - numReceived + 3);
kalbers 19:e751d075e2e6 83 if ((numReceived - 3 )< pkglen)
kalbers 19:e751d075e2e6 84 {
kalbers 19:e751d075e2e6 85 if(numReceived == 0) notConnectedCount++;
kalbers 26:42ae7eed0b68 86 return false;
naren 14:0c4a26dc6873 87 }
kalbers 19:e751d075e2e6 88 for (u = 3; u <= pkglen; u++)
kalbers 19:e751d075e2e6 89 {
naren 14:0c4a26dc6873 90 bcc += Buf[u];
naren 14:0c4a26dc6873 91 }
kalbers 19:e751d075e2e6 92 if ((numReceived - 3 == pkglen) && (bcc == Buf[pkglen+1]))
kalbers 19:e751d075e2e6 93 {
kalbers 19:e751d075e2e6 94 memcpy(buffer, (Buf + 3), numReceived - 3);
kalbers 19:e751d075e2e6 95 /*timeOfArrival = (buffer[3] << 24) + (buffer[4] << 16) + (buffer[5] << 8) + buffer[6];
naren 14:0c4a26dc6873 96 id = (buffer[1] << 8) + buffer[2];
kalbers 19:e751d075e2e6 97 pkgtype = buffer[0];*/
kalbers 19:e751d075e2e6 98 timeOfArrival = (Buf[6] << 24) + (Buf[7] << 16) + (Buf[8] << 8) + Buf[9];
kalbers 19:e751d075e2e6 99 id = (Buf[4] << 8) + Buf[5];
kalbers 19:e751d075e2e6 100 pkgtype = Buf[3];
kalbers 26:42ae7eed0b68 101 ReceiveCount++;
naren 14:0c4a26dc6873 102 switch (pkgtype){
naren 14:0c4a26dc6873 103 case STREAM_FINGERS_QUATERNION:
naren 14:0c4a26dc6873 104 {
kalbers 18:6737bf53ccd1 105 ExtractFingersQuat();
naren 14:0c4a26dc6873 106 }
naren 14:0c4a26dc6873 107 break;
naren 14:0c4a26dc6873 108 case STREAM_QUATERNION:
naren 14:0c4a26dc6873 109 {
kalbers 18:6737bf53ccd1 110 ExtractQuat();
naren 14:0c4a26dc6873 111 }
naren 14:0c4a26dc6873 112 break;
naren 14:0c4a26dc6873 113 case STREAM_FINGERS_RAW:
naren 14:0c4a26dc6873 114 {
kalbers 18:6737bf53ccd1 115 ExtractFingersRaw();
naren 14:0c4a26dc6873 116 }
naren 14:0c4a26dc6873 117 break;
naren 14:0c4a26dc6873 118 case STREAM_RAW:
naren 14:0c4a26dc6873 119 {
kalbers 18:6737bf53ccd1 120 ExtractRaw();
naren 14:0c4a26dc6873 121 }
naren 14:0c4a26dc6873 122 break;
naren 14:0c4a26dc6873 123
naren 14:0c4a26dc6873 124 case STREAM_FINGERS:
naren 14:0c4a26dc6873 125 {
kalbers 18:6737bf53ccd1 126 ExtractFingers();
naren 14:0c4a26dc6873 127 }
naren 14:0c4a26dc6873 128 break;
naren 14:0c4a26dc6873 129 }
kalbers 23:a8de4f87cada 130 NewData = true;
kalbers 19:e751d075e2e6 131 Buf[0] = 0; //Clear Token so no repeats.
naren 14:0c4a26dc6873 132 notConnectedCount = 0;
kalbers 19:e751d075e2e6 133 numReceived = 0;
kalbers 26:42ae7eed0b68 134 return true;
naren 14:0c4a26dc6873 135 }
kalbers 19:e751d075e2e6 136 else
kalbers 19:e751d075e2e6 137 {
kalbers 19:e751d075e2e6 138 if (bcc!=Buf[pkglen+1])
naren 14:0c4a26dc6873 139 notConnectedCount++;
naren 14:0c4a26dc6873 140 }
naren 14:0c4a26dc6873 141 }
kalbers 3:5f5d75cba8e1 142 }
kalbers 3:5f5d75cba8e1 143 else {
kalbers 15:b48ac00af0b8 144 //printf("couldn't get data %d\r\n", notConnectedCount);
kalbers 19:e751d075e2e6 145 // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20)
kalbers 19:e751d075e2e6 146 if (notConnectedCount > 200) {
naren 22:0cc5b7e55419 147 printf("Connection broke! Trying to re-establish... %d %c\r\n",numReceived,Buf[0]);
kalbers 19:e751d075e2e6 148 //GloveSocket.Reconnect();
kalbers 19:e751d075e2e6 149 //StreamData(STREAM_QUATERNION);
kalbers 19:e751d075e2e6 150 notConnectedCount = 0;
kalbers 19:e751d075e2e6 151 }
kalbers 19:e751d075e2e6 152 numReceived = 0;
naren 14:0c4a26dc6873 153 notConnectedCount++;
kalbers 3:5f5d75cba8e1 154 }
kalbers 26:42ae7eed0b68 155 return false;
kalbers 3:5f5d75cba8e1 156 }
kalbers 3:5f5d75cba8e1 157
kalbers 18:6737bf53ccd1 158 void DataGlove::ExtractFingersQuat()
kalbers 18:6737bf53ccd1 159 {
kalbers 18:6737bf53ccd1 160 k = 7;
kalbers 18:6737bf53ccd1 161 q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 162 k += 4;
kalbers 18:6737bf53ccd1 163 q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 164 k += 4;
kalbers 18:6737bf53ccd1 165 q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 166 k += 4;
kalbers 18:6737bf53ccd1 167 q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 168 k += 4;
kalbers 18:6737bf53ccd1 169 for (y = 0; y < 5; y++)
kalbers 18:6737bf53ccd1 170 {
kalbers 18:6737bf53ccd1 171 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
kalbers 18:6737bf53ccd1 172 k += 2;
kalbers 18:6737bf53ccd1 173 }
kalbers 18:6737bf53ccd1 174 q00 = q0 / 32768.0;
kalbers 18:6737bf53ccd1 175 q11 = q1 / 32768.0;
kalbers 18:6737bf53ccd1 176 q22 = q2 / 32768.0;
kalbers 18:6737bf53ccd1 177 q33 = q3 / 32768.0;
kalbers 18:6737bf53ccd1 178
kalbers 18:6737bf53ccd1 179 norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
kalbers 18:6737bf53ccd1 180 test = q00 * q11 + q22 * q33;
kalbers 18:6737bf53ccd1 181
kalbers 18:6737bf53ccd1 182 roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
kalbers 18:6737bf53ccd1 183 pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
kalbers 18:6737bf53ccd1 184 yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
kalbers 18:6737bf53ccd1 185
kalbers 18:6737bf53ccd1 186 gl->roll = roll;
kalbers 18:6737bf53ccd1 187 gl->pitch = pitch;
kalbers 18:6737bf53ccd1 188 gl->yaw = yaw;
kalbers 18:6737bf53ccd1 189 gl->lastPkgTime = timeOfArrival;
kalbers 18:6737bf53ccd1 190
kalbers 18:6737bf53ccd1 191 }
kalbers 18:6737bf53ccd1 192 void DataGlove::ExtractQuat()
kalbers 18:6737bf53ccd1 193 {
kalbers 18:6737bf53ccd1 194 k = 7;
kalbers 18:6737bf53ccd1 195 q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 196 k += 4;
kalbers 18:6737bf53ccd1 197 q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 198 k += 4;
kalbers 18:6737bf53ccd1 199 q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 200 k += 4;
kalbers 18:6737bf53ccd1 201 q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
kalbers 18:6737bf53ccd1 202 k += 4;
kalbers 18:6737bf53ccd1 203 for (y = 0; y < 5; y++)
kalbers 18:6737bf53ccd1 204 {
kalbers 18:6737bf53ccd1 205 gl->fingers[y] = 0.0;
kalbers 18:6737bf53ccd1 206 }
kalbers 18:6737bf53ccd1 207 q00 = q0 / 32768.0;
kalbers 18:6737bf53ccd1 208 q11 = q1 / 32768.0;
kalbers 18:6737bf53ccd1 209 q22 = q2 / 32768.0;
kalbers 18:6737bf53ccd1 210 q33 = q3 / 32768.0;
kalbers 18:6737bf53ccd1 211
kalbers 18:6737bf53ccd1 212 norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
kalbers 18:6737bf53ccd1 213 test = q00 * q11 + q22 * q33;
kalbers 18:6737bf53ccd1 214 roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
kalbers 18:6737bf53ccd1 215 pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
kalbers 18:6737bf53ccd1 216 yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
kalbers 18:6737bf53ccd1 217
kalbers 18:6737bf53ccd1 218 gl->roll = roll;
kalbers 18:6737bf53ccd1 219 gl->pitch = pitch;
kalbers 18:6737bf53ccd1 220 gl->yaw = yaw;
kalbers 18:6737bf53ccd1 221 gl->lastPkgTime = timeOfArrival;
kalbers 18:6737bf53ccd1 222
kalbers 18:6737bf53ccd1 223 }
kalbers 18:6737bf53ccd1 224
kalbers 18:6737bf53ccd1 225 void DataGlove::ExtractFingersRaw()
kalbers 3:5f5d75cba8e1 226 {
kalbers 18:6737bf53ccd1 227 k = 7;
kalbers 18:6737bf53ccd1 228 for (j = 0; j < 3; j++)
kalbers 18:6737bf53ccd1 229 {
kalbers 18:6737bf53ccd1 230 gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 231 if (gl->gyro[j] > 0x7fff)
kalbers 18:6737bf53ccd1 232 gl->gyro[j] -= 0x10000;
kalbers 18:6737bf53ccd1 233 k += 2;
kalbers 18:6737bf53ccd1 234 }
kalbers 18:6737bf53ccd1 235 for (j = 0; j < 3; j++)
kalbers 18:6737bf53ccd1 236 {
kalbers 18:6737bf53ccd1 237 gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 238 if (gl->magn[j] > 0x7fff)
kalbers 18:6737bf53ccd1 239 gl->magn[j] -= 0x10000;
kalbers 18:6737bf53ccd1 240 k += 2;
kalbers 18:6737bf53ccd1 241 }
kalbers 18:6737bf53ccd1 242 for (j = 0; j < 3; j++)
kalbers 18:6737bf53ccd1 243 {
kalbers 18:6737bf53ccd1 244 gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 245 if (gl->accel[j]>0x7fff)
kalbers 18:6737bf53ccd1 246 gl->accel[j] -= 0x10000;
kalbers 18:6737bf53ccd1 247 k += 2;
kalbers 18:6737bf53ccd1 248 }
kalbers 18:6737bf53ccd1 249 for (y = 0; y < 5; y++)
kalbers 18:6737bf53ccd1 250 {
kalbers 18:6737bf53ccd1 251 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
kalbers 18:6737bf53ccd1 252 k += 2;
kalbers 18:6737bf53ccd1 253 }
kalbers 18:6737bf53ccd1 254
kalbers 18:6737bf53ccd1 255 gl->roll = 0.0;
kalbers 18:6737bf53ccd1 256 gl->pitch = 0.0;
kalbers 18:6737bf53ccd1 257 gl->yaw = 0.0;
kalbers 18:6737bf53ccd1 258 gl->lastPkgTime = timeOfArrival;
kalbers 18:6737bf53ccd1 259 }
kalbers 18:6737bf53ccd1 260
kalbers 18:6737bf53ccd1 261 void DataGlove::ExtractRaw()
kalbers 18:6737bf53ccd1 262 {
kalbers 18:6737bf53ccd1 263 k = 7;
kalbers 18:6737bf53ccd1 264 for (j = 0; j < 3; j++){
kalbers 18:6737bf53ccd1 265 gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 266 if (gl->gyro[j] > 0x7fff)
kalbers 18:6737bf53ccd1 267 gl->gyro[j] -= 0x10000;
kalbers 18:6737bf53ccd1 268 k += 2;
kalbers 18:6737bf53ccd1 269 }
kalbers 18:6737bf53ccd1 270 for (j = 0; j < 3; j++){
kalbers 18:6737bf53ccd1 271 gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 272 if (gl->magn[j] > 0x7fff)
kalbers 18:6737bf53ccd1 273 gl->magn[j] -= 0x10000;
kalbers 18:6737bf53ccd1 274 k += 2;
kalbers 18:6737bf53ccd1 275 }
kalbers 18:6737bf53ccd1 276 for (j = 0; j < 3; j++){
kalbers 18:6737bf53ccd1 277 gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
kalbers 18:6737bf53ccd1 278 if (gl->accel[j] > 0x7fff)
kalbers 18:6737bf53ccd1 279 gl->accel[j] -= 0x10000;
kalbers 18:6737bf53ccd1 280 k += 2;
kalbers 18:6737bf53ccd1 281 }
kalbers 18:6737bf53ccd1 282 int y = 0;
kalbers 18:6737bf53ccd1 283 for (y = 0; y < 5; y++){
kalbers 18:6737bf53ccd1 284 gl->fingers[y] = 0.0;
kalbers 18:6737bf53ccd1 285 }
kalbers 18:6737bf53ccd1 286
kalbers 18:6737bf53ccd1 287 gl->roll = 0.0;
kalbers 18:6737bf53ccd1 288 gl->pitch = 0.0;
kalbers 18:6737bf53ccd1 289 gl->yaw = 0.0;
kalbers 18:6737bf53ccd1 290 gl->lastPkgTime = timeOfArrival;
kalbers 18:6737bf53ccd1 291 }
kalbers 18:6737bf53ccd1 292
kalbers 18:6737bf53ccd1 293 void DataGlove::ExtractFingers()
kalbers 18:6737bf53ccd1 294 {
kalbers 18:6737bf53ccd1 295 k = 7;
kalbers 18:6737bf53ccd1 296 for (y = 0; y < 5; y++){
kalbers 18:6737bf53ccd1 297 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
kalbers 18:6737bf53ccd1 298 k += 2;
kalbers 18:6737bf53ccd1 299 }
kalbers 18:6737bf53ccd1 300
kalbers 18:6737bf53ccd1 301 gl->roll = 0.0;
kalbers 18:6737bf53ccd1 302 gl->pitch = 0.0;
kalbers 18:6737bf53ccd1 303 gl->yaw = 0.0;
kalbers 18:6737bf53ccd1 304 gl->lastPkgTime = timeOfArrival;
kalbers 23:a8de4f87cada 305 }
kalbers 23:a8de4f87cada 306
kalbers 23:a8de4f87cada 307 Glove DataGlove::GetCurrentValues()
kalbers 23:a8de4f87cada 308 {
kalbers 23:a8de4f87cada 309 return *gl;
kalbers 23:a8de4f87cada 310 }
kalbers 26:42ae7eed0b68 311
kalbers 23:a8de4f87cada 312 bool DataGlove::CheckForNewValues()
kalbers 23:a8de4f87cada 313 {
kalbers 23:a8de4f87cada 314 if(NewData == true)
kalbers 23:a8de4f87cada 315 {
kalbers 23:a8de4f87cada 316 NewData = false;
kalbers 23:a8de4f87cada 317 return true;
kalbers 23:a8de4f87cada 318 }else
kalbers 23:a8de4f87cada 319 {
kalbers 23:a8de4f87cada 320 return false;
kalbers 23:a8de4f87cada 321 }
kalbers 3:5f5d75cba8e1 322 }