TeleopBrakeStateMessage.java

package com.roboclub.robobuggy.messages;

import java.util.Date;

/**
 * Message sent by low level indicating the brake command from the RC controller
 *
 * @version 0.5
 *          <p>
 *          CHANGELOG: NONE
 *          <p>
 *          DESCRIPTION: TODO
 */


public class TeleopBrakeStateMessage extends BaseMessage {

    public static final String VERSION_ID = "teleopbrakeV0.1";
    private boolean down;

    /**
     * Construct a new {@link TeleopBrakeStateMessage} at time now
     *
     * @param isDown the commanded state of the by the RC controller
     */
    public TeleopBrakeStateMessage(boolean isDown) {
        this.down = isDown;
        this.timestamp = new Date().getTime();
    }

    /**
     * Construct a new {@link TeleopBrakeStateMessage} at time now
     *
     * @param brakeValue the current value of the brakes
     */
    public TeleopBrakeStateMessage(int brakeValue) {
        switch (brakeValue) {
            case 0:
                this.down = false;
                break;
            case 1:
                this.down = true;
                break;
            default:
                this.down = false;
        }
        this.timestamp = new Date().getTime();
    }


    /**
     * Construct a new {@link TeleopBrakeStateMessage}
     *
     * @param timestamp {@link Date} representing the time of the message
     * @param isDown    the current value of the brakes
     */
    public TeleopBrakeStateMessage(Date timestamp, boolean isDown) {
        this.down = isDown;
        this.timestamp = new Date(timestamp.getTime()).getTime();
    }

    /**
     * getState
     *
     * @return The commanded brake state according to low level
     */
    public boolean getState() {
        return this.down;
    }

    /**
     * getTime
     *
     * @return The time the message was received
     */
    public long getTime() {
        return this.timestamp;
    }

}