PidDeviceServer.java

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package com.neuronrobotics.sdk.namespace.bcs.pid;
 
import java.io.IOException;
 
import com.neuronrobotics.sdk.common.BowlerDataType;
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.common.MACAddress;
import com.neuronrobotics.sdk.common.device.server.BowlerAbstractServer;
import com.neuronrobotics.sdk.pid.IPIDEventListener;
import com.neuronrobotics.sdk.pid.PIDEvent;
import com.neuronrobotics.sdk.pid.PIDLimitEvent;
import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice;
 
// TODO: Auto-generated Javadoc
public class PidDeviceServer extends BowlerAbstractServer implements IPIDEventListener {
 
    private PidDeviceServerNamespace pidServer;
 
    public PidDeviceServer(MACAddress mac,IPidControlNamespace device) {
        super(mac);
        pidServer = new PidDeviceServerNamespace(mac, device);
        addBowlerDeviceServerNamespace(pidServer);
        
        device.addPIDEventListener(this);
        Log.info("Starting UDP");
        try {
            startNetworkServer(1865);
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
            //System.exit(1);
        }
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent)
     */
    @Override
    public void onPIDEvent(PIDEvent e) {
        Log.info("Pushing "+e);
        pushAsyncPacket(2,//0 is core, 1 is rpc 
                pidServer.getNamespace(), 
                "_pid", 
                new Object[]{
                    new Byte((byte) e.getGroup()),
                    new Integer((int)e.getValue()),
                    new Integer((int) e.getTimeStamp()),
                    new Integer(e.getVelocity())
                }, 
                new BowlerDataType[]{
                    BowlerDataType.I08,//channel
                    BowlerDataType.I32,//position
                    BowlerDataType.I32,//timestamp
                    BowlerDataType.I32//velocity
                } );
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDLimitEvent(com.neuronrobotics.sdk.pid.PIDLimitEvent)
     */
    @Override
    public void onPIDLimitEvent(PIDLimitEvent e) {
        pushAsyncPacket(2,//0 is core, 1 is rpc 
                pidServer.getNamespace(), 
                "pidl", 
                new Object[]{
                    new Byte((byte) e.getGroup()),
                    new Byte( e.getLimitType().getValue()),
                    new Integer((int) e.getValue()),
                    new Integer((int) e.getTimeStamp()),
                }, 
                new BowlerDataType[]{
                    BowlerDataType.I08,//channel
                    BowlerDataType.I08,//type
                    BowlerDataType.I32,//position
                    BowlerDataType.I32,//timestamp
                } );
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int)
     */
    @Override
    public void onPIDReset(int group, float currentValue) {}//used for object state not commands
 
    
    public static void main(String [] args){
        Log.enableInfoPrint();
        PidDeviceServer srv = new PidDeviceServer(new MACAddress(), new VirtualGenericPIDDevice(10000,"PID SERVER TEST") );
        
    }
}