ProgramSectionCommand.java

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package com.neuronrobotics.sdk.commands.neuronrobotics.bootloader;
 
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 ProgramSectionCommand extends BowlerAbstractCommand {
    
    public static String hex(long n) {
        // call toUpperCase() if that's required
        return String.format("0x%8s", Long.toHexString(n)).replace(' ', '0');
    }
    
    public ProgramSectionCommand(int channel, int address, ByteList byteData) {
        setOpCode("prog");
        System.out.println("Sending to address "+hex(address)+" size = "+byteData.size());
        setMethod(BowlerMethod.CRITICAL);
        getCallingDataStorage().add(channel);
        getCallingDataStorage().addAs32(address);
        for (byte b:byteData){
            getCallingDataStorage().add(b);
        }
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#validate(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    @Override
    public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException {
        super.validate(data);
        
        if(!data.getRPC().equals("_rdy")) {
            throw new InvalidResponseException("Program Command did not return '_rdy'.");
        }
        
        return data;
    }
}