GetValueCommand.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.commands.bcs.io;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.ByteList;
import com.neuronrobotics.sdk.common.InvalidResponseException;
 
// TODO: Auto-generated Javadoc
public class GetValueCommand extends BowlerAbstractCommand {
    
    private int channel;
    
    public GetValueCommand(int channel) {
        this.channel = channel;
        setOpCode("gchv");
        setMethod(BowlerMethod.GET);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#getCallingData()
     */
    @Override
    public byte[] getCallingData() {
        return ByteList.wrap(channel);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    @Override
    public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException {
        super.validate(data);
        if (data == null){
            //System.err.println("No response to Get Value Command\n"+data);
            throw new InvalidResponseException("Get Channel Value did not respond.");
        }
        if(!data.getRPC().equals(getOpCode())) {
            //System.err.println("Wrong response to Get Value Command, expected:"+getOpCode()+", got:\n"+data);
            throw new InvalidResponseException("Get Channel Value did not return with 'gchv'.\n"+data);
        }
        
        return data;
    }
}