PingCommand.java

package se.nicklasgavelin.sphero.command;

import se.nicklasgavelin.sphero.Robot;

/**
 * Ping command to keep the connection to the Sphero alive. The original Ping
 * command doesn't work as expected as a CODE_ERROR_UNSUPPORTED is returned.
 * Modified the FrontLEDCommand to work as a ping command to.
 * 
 * @author Nicklas Gavelin, nicklas.gavelin@gmail.com, Luleå University of Technology
 */
public class PingCommand extends CommandMessage
{
	private float brightness;

	/**
	 * Create a ping command for a given robot
	 * 
	 * @param r The robot the ping command is for (needed for some values)
	 */
	public PingCommand( Robot r )
	{
		super( COMMAND_MESSAGE_TYPE.CUSTOM_PING );
		this.brightness = r.getLed().getFrontLEDBrightness();
	}

	@Override
	public byte[] getPacketData()
	{
		byte[] data = new byte[ 1 ];
		data[0] = (byte) (int) ( 255.0D * this.brightness );

		return data;
	}
}