/*
*
* Goko
* Copyright (C) 2013 PsyKo
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
package org.goko.controller.g2core.controller.action;
import org.apache.commons.lang3.ObjectUtils;
import org.goko.controller.g2core.configuration.G2CoreConfiguration;
import org.goko.controller.g2core.controller.G2Core;
import org.goko.controller.g2core.controller.G2CoreControllerService;
import org.goko.controller.tinyg.commons.action.AbstractTinyGControllerAction;
import org.goko.core.common.exception.GkException;
import org.goko.core.controller.action.DefaultControllerAction;
/**
* Stop action for G2Core
*
* @author PsyKo
*
*/
public class G2CoreStopAction extends AbstractTinyGControllerAction<G2CoreConfiguration, G2CoreControllerService> {
public G2CoreStopAction(G2CoreControllerService controllerService) {
super(controllerService);
}
/** (inheritDoc)
* @see org.goko.core.controller.action.IGkControllerAction#canExecute()
*/
@Override
public boolean canExecute() throws GkException {
return ObjectUtils.equals(G2Core.State.MOTION_RUNNING, getControllerService().getState())
|| ObjectUtils.equals(G2Core.State.RUNNING, getControllerService().getState())
|| ObjectUtils.equals(G2Core.State.HOMING, getControllerService().getState())
|| ObjectUtils.equals(G2Core.State.MOTION_HOLDING, getControllerService().getState())
|| ObjectUtils.equals(G2Core.State.PROBE_CYCLE, getControllerService().getState());
}
/** (inheritDoc)
* @see org.goko.core.controller.action.IGkControllerAction#execute(java.lang.String[])
*/
@Override
public void execute(Object... parameters) throws GkException {
getControllerService().stopMotion();
}
/** (inheritDoc)
* @see org.goko.core.controller.action.IGkControllerAction#getId()
*/
@Override
public String getId() {
return DefaultControllerAction.STOP;
}
}