DyIOOutputStream.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.dyio;
 
import java.io.IOException;
import java.io.OutputStream;
 
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class DyIOOutputStream extends OutputStream {
    
    DyIOChannel chan;
    
    public DyIOOutputStream(DyIOChannel channel) {
        chan = channel;
    }
    
    public void write(ByteList bl) throws IOException {
        if(chan.getMode() != DyIOChannelMode.USART_TX) {
            throw new IOException("The DyIO is not configured with a UART Tx mode");
        }
        //Bypassing the channel on transmit to prevent re-transmits
        //chan.getDevice().send(new SetChannelValueCommand(chan.getNumber(),bl));
        //System.out.println("Sending ByteList: "+bl.asString());
        while(bl.size()>0){
            ByteList b;
            if(bl.size()>20){
                b = new ByteList(bl.popList(20));
            }else{
                b = new ByteList(bl.popList(bl.size()));
            }
            //System.out.println("Sending ByteList: "+b.asString());
            chan.setValue(b);
        }
    }
    
    /* (non-Javadoc)
     * @see java.io.OutputStream#write(int)
     */
    @Override
    public void write(int b) throws IOException {
        write(new ByteList(b));
    }
 
    /* (non-Javadoc)
     * @see java.io.OutputStream#write(byte[])
     */
    @Override
    public void write(byte[] b) throws IOException {
        write(new ByteList(b));
    }
    
    /* (non-Javadoc)
     * @see java.io.OutputStream#write(byte[], int, int)
     */
    @Override
    public void write(byte[] b, int off, int len) throws IOException {
        write(new ByteList(b).getBytes(off, len));
    }
}