PIDLimitEventType.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.pid;
 
import java.util.ArrayList;
import java.util.EnumSet;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
 
// TODO: Auto-generated Javadoc
 
public enum PIDLimitEventType {
    
    NO_LIMIT(0x00),
    LOWERLIMIT(0x01),
    
    INDEXEVENT(0x02),
    
    UPPERLIMIT(0x04),
    
    OVERCURRENT(0x08),
    CONTROLLER_ERROR(0x10),
    HOME_EVENT(0x20)
    ;
    ;
    
    private static final Map<Byte,PIDLimitEventType> lookup = new HashMap<Byte,PIDLimitEventType>();
    
    static {
        for(PIDLimitEventType cm : EnumSet.allOf(PIDLimitEventType.class)) {
            lookup.put(cm.getValue(), cm);
        }
    }
    
    private byte value;
    
    private PIDLimitEventType(int val) {
        value = (byte) val;
    }
    
    public byte getValue() {
        return value; 
    }
 
    public static PIDLimitEventType get(byte code) { 
        
        return lookup.get(code); 
    }
    
    public static List<PIDLimitEventType> getAllLimitMasks(byte code) { 
        ArrayList<PIDLimitEventType> ret = new ArrayList<PIDLimitEventType>();
        
        for(PIDLimitEventType s:PIDLimitEventType.values()){
            if((s.value&code)>0){
                ret.add(s);
            }
        }
        return ret; 
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.ISendable#getBytes()
     */
    public byte[] getBytes() {
        byte [] b = {getValue()};
        return b;
    }
    
}