SetChannelModeCommand.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.io.setmode;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.InvalidResponseException;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
 
// TODO: Auto-generated Javadoc
public class SetChannelModeCommand extends BowlerAbstractCommand {
 
    
    public SetChannelModeCommand(int channel, DyIOChannelMode mode) {
        setOpCode("schm");
        setMethod(BowlerMethod.POST);
        getCallingDataStorage().add(channel);
        getCallingDataStorage().add(mode);
        getCallingDataStorage().add(0);
    }
    
    public SetChannelModeCommand(int channel, DyIOChannelMode mode,boolean isAsync) {
        setOpCode("schm");
        setMethod(BowlerMethod.POST);
        getCallingDataStorage().add(channel);
        getCallingDataStorage().add(mode);
        getCallingDataStorage().add((isAsync?1:0));
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    @Override
    public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException {
        super.validate(data);
        if(!(data.getRPC().equals("_rdy") || data.getRPC().equals("schm")||data.getRPC().equals("gacm"))) {
            throw new InvalidResponseException("Set Channel Mode did not return '_rdy' or 'schm'.");
        }
        
        return data;
    }
}