BowlerAbstractCommand.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.common;
 
// TODO: Auto-generated Javadoc
public abstract class BowlerAbstractCommand implements ISendable {
    
    private String opCode;
    
    private BowlerMethod method;
    
    private ByteList data = new ByteList();
 
    private int namespaceIndex=0;//default used when no conflicts are expected
    
    public byte[] getCallingData() {
        return data.getBytes();
    }
    
    public void setOpCode(String opCode) {
        if(opCode.length() != 4) {
            throw new InvalidDataLengthException();
        }
        
        this.opCode = opCode;
    }
    
    public String getOpCode() {
        return opCode;
    }
 
    public void setMethod(BowlerMethod method) {
        this.method = method;
    }
 
    public BowlerMethod getMethod() {
        return method;
    }
    
    public byte getLength() {
        return (byte) (opCode.length() + getCallingData().length);
    }
    
    public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException {
        if (data==null){
            // TODO: Correct this with JSDK-8
             throw new InvalidResponseException("No response from device");
        }
        // throws 
        if( data.getRPC().equals("_err")) {
            Integer zone=Integer.valueOf(data.getData().getByte(0));
            Integer section=Integer.valueOf(data.getData().getByte(1));
            //System.err.println("Failed!!\n"+data);
            switch(zone) {
            default:
                throw new InvalidResponseException("Unknown error. (" + zone + " " + section + ")");
            case 0:
                switch(section) {
                default:
                    throw new InvalidResponseException("Unknow error in the communications stack. (" + zone + " " + section + ")"+data);
                case 0x7f:
                    throw new InvalidResponseException("The method provided is invalid.");
                case 0:
                    throw new InvalidResponseException("RPC undefined on device");
                case 1:
                    throw new InvalidResponseException("The RPC sent in undefined with GET method.");
                case 2:
                    throw new InvalidResponseException("The RPC sent in undefined with POST method.");
                case 3:
                    throw new InvalidResponseException("The RPC sent in undefined with CRITICAL method.");
                }
            case 85:
                switch(section) {
                default:
                    throw new InvalidResponseException("Unknown co-processor error. (" + zone + " " + section + ")");
                case 1:
                case 2:
                    throw new InvalidResponseException("The co-processor did not respond.");
                }
            case 1:
                switch(section) {
                default:
                    throw new InvalidResponseException("Unknow error in the GET parser. (" + zone + " " + section + ")");
                case 0:
                    throw new InvalidResponseException("Error with GET parsing, mostlikely the channel mode does not have a GET functionality.");
                }
            case 2:
                switch(section) {
                default:
                    throw new InvalidResponseException("Unknow error in the POST parser. (" + zone + " " + section + ")");
                case 0:
                    throw new InvalidResponseException("Failed to properly set the value to the channel.");
                case 1:
                    throw new InvalidResponseException("Failed to properly set the mode / the given mode type is unknown.");
                case 2:
                    throw new InvalidResponseException("Failed to set the input channel value.");
                }
            case 3:
            case 6:
                switch(section) {
                default:
                    throw new InvalidResponseException("Unknow error in the CRITICAL parser. (" + zone + " " + section + ")");
                case 0:
                    throw new InvalidResponseException("Failed to configure channel.");
                case 1:
                    throw new InvalidResponseException("Failed to configure PID channel.");
                case 3:
                    throw new InvalidResponseException("Invalid name string, either too short or too long "+data);
                }
            }
        }
        
        return data;
    }
    
    public static BowlerAbstractCommand parse(BowlerDatagram data) {
        return new BowlerAbstractCommand() {};
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.ISendable#getBytes()
     */
    public byte[] getBytes() {
        ByteList buffer = new ByteList();
        buffer.add(opCode.getBytes());
        buffer.add(getCallingData());
        return buffer.getBytes();
    }
    
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    public String toString() {
        if(getBytes().length == 0) {
            return "";
        }
        String rtn = "";
        for(byte x : getBytes()){
            rtn += String.format("%02x ", x);
        }
        rtn = rtn.substring(0, rtn.length()-1);
        return rtn.toUpperCase();
    }
 
    public void setData(ByteList data) {
        this.data = data;
    }
 
    public ByteList getCallingDataStorage() {
        return data;
    }
 
    public void setNamespaceIndex(int namespaceIndex){
        this.namespaceIndex = namespaceIndex;       
    }
    
    public int getNamespaceIndex(){
        return this.namespaceIndex;     
    }
 
}