package se.nicklasgavelin.sphero.command;
/**
* Set data streaming to received data from the Sphero device.
* For masks perform bitwise or to get multiple sensor values.
*
* Masks are found under the class SetDataStreamingCommand.DATA_STREAMING_MASKS
*
* @author Nicklas Gavelin, nicklas.gavelin@gmail.com, Luleå University of
* Technology
*/
public class SetDataStreamingCommand extends CommandMessage
{
// Internal storage
private int mDivisor, mPacketFrames, mSensorMask, mSensorMask2, mPacketCount;
/**
* Create a data streaming command without first setting the mask.
* Call the .addMask to add more masks to the packet. If no call to
* .addMask is performed before this packet is sent the mask that is set
* is the OFF mask (that will turn a current streaming off)
*
* @param mDivisor Divisor to divide the default sampling rate of 400
* Hz
* @param mPacketFrames Number of frames per packet
* @param mPacketCount Number of packets to receive from the moment data is
* started being captured
*/
public SetDataStreamingCommand( int mDivisor, int mPacketFrames, int mPacketCount )
{
this( mDivisor, mPacketFrames, 0, mPacketCount );
}
/**
* Create a data streaming command
*
* @param mDivisor Divisor to divide the default sampling rate of 400
* Hz
* @param mPacketFrames Number of frames per packet
* @param mSensorMask Sensor mask for, bitwise or for multiple sensor
* values
* @param mPacketCount Number of packets to receive from the moment data is
* started being captured
*/
public SetDataStreamingCommand( int mDivisor, int mPacketFrames, int mSensorMask, int mPacketCount )
{
super( COMMAND_MESSAGE_TYPE.SET_DATA_STREAMING );
// Set internal variables
this.mDivisor = mDivisor;
this.mPacketFrames = mPacketFrames;
this.mSensorMask = mSensorMask;
this.mPacketCount = mPacketCount;
}
/**
* Returns the internal packet count value
*
* @return Packet count value
*/
public int getPacketCount()
{
return this.mPacketCount;
}
/**
* Returns the internal divisor value
*
* @return Divisor value
*/
public int getDivisor()
{
return this.mDivisor;
}
/**
* Returns the internal packet frames value
*
* @return Packet frames value
*/
public int getPacketFrames()
{
return this.mPacketFrames;
}
/**
* Add mask to the already existing one
*
* @param mask The mask to add
*/
public void addMask( int mask )
{
this.mSensorMask |= mask;
}
/**
* Add mask to the already existing mask2
*
* @param mask The mask to add
*/
public void addMask2( int mask )
{
this.mSensorMask2 |= mask;
}
/**
* Returns the internal sensor mask value
*
* @return The sensor mask value
*/
public int getMask()
{
return this.mSensorMask;
}
/**
* Returns the internal sensor mask2 value
*
* @return The sensor mask2 value
*/
public int getMask2()
{
return this.mSensorMask2;
}
@Override
protected byte[] getPacketData()
{
byte[] data = new byte[ 13 ];
data[0] = (byte) ( this.mDivisor >> 8 );
data[1] = (byte) this.mDivisor;
data[2] = (byte) ( this.mPacketFrames >> 8 );
data[3] = (byte) this.mPacketFrames;
data[4] = (byte) ( this.mSensorMask >> 24 );
data[5] = (byte) ( this.mSensorMask >> 16 );
data[6] = (byte) ( this.mSensorMask >> 8 );
data[7] = (byte) this.mSensorMask;
data[8] = (byte) this.mPacketCount;
data[9] = (byte) ( this.mSensorMask2 >> 24 );
data[10] = (byte) ( this.mSensorMask2 >> 16 );
data[11] = (byte) ( this.mSensorMask2 >> 8 );
data[12] = (byte) this.mSensorMask2;
return data;
}
/* ******************
* INNER CLASSES
*/
/**
* Mask values for the data streaming
*/
public static final class DATA_STREAMING_MASKS
{
public static final int OFF = 0;
/**
* Motor masks
*/
public static final class MOTOR_BACK_EMF
{
/**
* Both left and right filtered/raw
*/
public static final class ALL
{
public static final int FILTERED = LEFT.FILTERED | RIGHT.FILTERED,
RAW = LEFT.RAW | RIGHT.RAW;
}
/**
* Left motor masks
*/
public static final class LEFT
{
public static final int FILTERED = 32, RAW = 2097152;
}
/**
* Right motor mask
*/
public static final class RIGHT
{
public static final int FILTERED = 64, RAW = 4194304;
}
}
/**
* Magnetometer masks
*/
public static final class MAGNETOMETER
{
/**
* All axis, filtered/raw
*/
public static final class ALL
{
public static final int FILTERED = X.FILTERED | Y.FILTERED | Z.FILTERED,
RAW = X.RAW | Y.RAW | Z.RAW;
}
/**
* X-axis
*/
public static final class X
{
public static final int FILTERED = 512, RAW = 33554432;
}
/**
* Y-axis
*/
public static final class Y
{
public static final int FILTERED = 256, RAW = 16777216;
}
/**
* Z-axis
*/
public static final class Z
{
public static final int FILTERED = 128, RAW = 8388608;
}
}
/**
* Accelerometer masks
*/
public static final class ACCELEROMETER
{
/**
* All axis filtered/raw
*/
public static final class ALL
{
public static final int FILTERED = ( X.FILTERED | Y.FILTERED | Z.FILTERED ),
RAW = ( X.RAW | Y.RAW | Z.RAW );
}
/**
* X-axis filtered/raw
*/
public static final class X
{
public static final int FILTERED = 32768, RAW = -2147483648;
}
/**
* Y-axis filtered/raw
*/
public static final class Y
{
public static final int FILTERED = 16384, RAW = 1073741824;
}
/**
* Z-axis filtered/raw
*/
public static final class Z
{
public static final int FILTERED = 8192, RAW = 536870912;
}
}
/**
* Gyro masks
*/
public static final class GYRO
{
/**
* All axis filtered/raw
*/
public static final class ALL
{
public static final int FILTERED = X.FILTERED | Y.FILTERED | Z.FILTERED,
RAW = X.RAW | Y.RAW | Z.RAW;
}
/**
* Gyro X-axis value masks
*/
public static final class X
{
public static final int FILTERED = 4096, RAW = 268435456;
}
/**
* Gyro Y-axis value masks
*/
public static final class Y
{
public static final int FILTERED = 2048, RAW = 134217728;
}
/**
* Gyro Z-axis value masks
*/
public static final class Z
{
public static final int FILTERED = 1024, RAW = 67108864;
}
}
/**
* IMU masks
*/
public static final class IMU
{
/**
* All settings filtered/raw
*/
public static final class ALL
{
public static final int FILTERED = YAW.FILTERED | ROLL.FILTERED | PITCH.FILTERED;
}
/**
* IMU yaw value masks
*/
public static final class YAW
{
public static final int FILTERED = 65536;
}
public static final class ROLL
{
public static final int FILTERED = 131072;
}
public static final class PITCH
{
public static final int FILTERED = 262144;
}
}
}
}