PIDLimitEvent.java

Go to the documentation of this file.

package com.neuronrobotics.sdk.pid;
 
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class PIDLimitEvent {
    
    private int channel;
    
    private double ticks; 
    
    private long timeStamp;
    
    private PIDLimitEventType limitType;
    
    public PIDLimitEvent(int chan,double tick,PIDLimitEventType type,long time){
        setGroup(chan);
        setLimitType(type);
        setValue(tick);
        setTimeStamp(time);
        
    }
    
    public PIDLimitEvent(BowlerDatagram data){
        if(!data.getRPC().contains("pidl"))
            throw new RuntimeException("Datagram is not a PID event");
        setGroup(data.getData().getByte(0));
        setLimitType(PIDLimitEventType.get(data.getData().getBytes(1, 1)[0]));
        setValue(ByteList.convertToInt(data.getData().getBytes(2, 4),true));
        setTimeStamp(ByteList.convertToInt(data.getData().getBytes(6, 4),false));
        
    }
    
    public void setGroup(int channel) {
        this.channel = channel;
    }
    
    public int getGroup() {
        return channel;
    }
    
    public void setValue(double ticks) {
        this.ticks = ticks;
    }
    
    public double getValue() {
        return ticks;
    }
    
    public void setTimeStamp(long timeStamp) {
        this.timeStamp = timeStamp;
    }
    
    public long getTimeStamp() {
        return timeStamp;
    }
    
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    @Override 
    public String toString(){
        return "chan="+channel+", Type="+limitType+", value="+ticks+", time="+timeStamp;
    }
    
    public void setLimitType(PIDLimitEventType limitIndex) {
        this.limitType = limitIndex;
    }
    
    public PIDLimitEventType getLimitType() {
        return limitType;
    }
}