NamespaceCommand.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.core;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.InvalidResponseException;
 
// TODO: Auto-generated Javadoc
public class NamespaceCommand extends BowlerAbstractCommand {
    
    public NamespaceCommand() {
        setOpCode("_nms");
        setMethod(BowlerMethod.GET);
    }
    
    public NamespaceCommand(int name) {
        setOpCode("_nms");
        setMethod(BowlerMethod.GET);
        getCallingDataStorage().add(name);
    }
    
    public NamespaceCommand(int name,boolean upstream) {
        setOpCode("_nms");
        if(upstream)
            setMethod(BowlerMethod.POST);
        else
            setMethod(BowlerMethod.GET);
        getCallingDataStorage().add(name);
    }
    
    public NamespaceCommand(int index,String name) {
        setOpCode("_nms");
        setMethod(BowlerMethod.POST);
        getCallingDataStorage().add(name);
        getCallingDataStorage().add(0);// null terminate the string
        getCallingDataStorage().add(index);// set the size of the list of namespaces
    }
    
    @Override
    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));
            
            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 + ")");
                case 0x7f:
                    throw new InvalidResponseException("The method provided is invalid.");
                case 0:
                    throw new InvalidResponseException("The packet was not sent syncronously.");
                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 4:
                    throw new InvalidResponseException("Invalid namespace request");
                case 5:
                    throw new InvalidResponseException("Invalid namespace index requested");
                }
            }
        }
        
        return data;
    }
}