BowlerAbstractDeviceServer.java

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package com.neuronrobotics.sdk.common.device.server;
 
import java.io.IOException;
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.commands.bcs.core.NamespaceCommand;
import com.neuronrobotics.sdk.commands.bcs.core.PingCommand;
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerDatagramFactory;
import com.neuronrobotics.sdk.common.Log;
 
 
// TODO: Auto-generated Javadoc
public abstract class BowlerAbstractDeviceServer extends BowlerAbstractDevice {
    
    private String core = "bcs.core.*;0.3;;";
    
    private ArrayList<String> namespaces = new  ArrayList<String>();
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect()
     */
    @Override
    public boolean connect(){
        super.connect();
        addNamespace(core);
        return isAvailable();
    }
    
    public void addNamespace(String nms){
        if(!namespaces.contains(nms))
            namespaces.add(nms);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    public void onAllResponse(BowlerDatagram data) {
        String rpc = data.getRPC();
        if(rpc.contains("_nms")) {
            Log.info("Got a namespace packet of size: "+data.getData().size());
            if(data.getData().size() == 0) {
                try {
                    sendSyncResponse(new NamespaceCommand(namespaces.size(),true));
                } catch (IOException e) {
                    e.printStackTrace();
                }
                return;
            }
            if(data.getData().size() == 1) {
                int index = data.getData().get(0);
                try {
                    sendSyncResponse(new NamespaceCommand(namespaces.size(),namespaces.get(index)));    
                } catch (IOException e) {
                    e.printStackTrace();
                }
                return;
            }
        }else if(rpc.contains("_png")){
            //Log.info("Got ping");
            try {
                sendSyncResponse(new PingCommand());
            } catch (IOException e) {
                e.printStackTrace();
            }
            return;
        }else
            onSynchronusRecive(data);
 
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    public void onAsyncResponse(BowlerDatagram data) {
        // TODO Auto-generated method stub
 
    }
    
    public void sendAsync(BowlerAbstractCommand command, int rpcIndexID) throws IOException {
        command.setNamespaceIndex(rpcIndexID);
        BowlerDatagram bd = BowlerDatagramFactory.build(getAddress(), command);
        //Log.debug("ASYN>>\n"+bd.toString());
        getConnection().sendAsync(bd);
        getConnection().getDataOuts().flush();
    }
    
    public void sendSyncResponse(BowlerAbstractCommand command) throws IOException {
        BowlerDatagram bd =BowlerDatagramFactory.build(getAddress(), command);
        //Log.debug("RESP>>\n"+bd.toString());
        getConnection().sendAsync(bd);
        getConnection().getDataOuts().flush();
    }
    
    public void sendPacketWithNoResponse(BowlerDatagram data) throws IOException {
        //Log.debug("RESP>>\n"+bd.toString());
        getConnection().sendAsync(data);
        getConnection().getDataOuts().flush();
    }
    
    public abstract void onSynchronusRecive(BowlerDatagram data);
}