SetSpeed.java

/**
*    Copyright (c) 2011-2014, OpenIoT
*   
*    This file is part of OpenIoT.
*
*    OpenIoT is free software: you can redistribute it and/or modify
*    it under the terms of the GNU Lesser General Public License as published by
*    the Free Software Foundation, version 3 of the License.
*
*    OpenIoT 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 Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public License
*    along with OpenIoT.  If not, see <http://www.gnu.org/licenses/>.
*
*     Contact: OpenIoT mailto: info@openiot.eu
 * @author Jerome Rousselot
 * @author Ali Salehi
*/

package org.openiot.gsn.utils.protocols.EPuck;

import org.openiot.gsn.utils.protocols.AbstractHCIQueryWithoutAnswer;

import java.util.Vector;

import org.apache.log4j.Logger;

public class SetSpeed extends AbstractHCIQueryWithoutAnswer {
	
	private static final transient Logger logger = Logger.getLogger( SetSpeed.class );
	public static final String queryDescription = "Set the speed of the EPuck robot's two wheels.";
	public static final String[] paramsDescriptions = {"Speed of the left wheel.","Speed of the right wheel."};
   
	public SetSpeed (String name) {
      super(name, queryDescription, paramsDescriptions);
   }
   
   /*
    * This query takes exactly two Integer objects as parameters.
    * The first one sets the speed for the left wheel and the second
    * one sets the speed for the right wheel.
    * If there is an error with the parameters, the null pointer
    * is returned.
    */
   public byte[] buildRawQuery ( Vector < Object > params ) {
      byte[] query = null;

      if(params.size() == 2 && (params.get(0) instanceof String) && (params.get(1) instanceof String)) {
         Integer leftSpeed, rightSpeed;
         String textLeftSpeed, textRightSpeed;
         //leftSpeed = (Integer)params.get(1);
         //rightSpeed = (Integer)params.get(2);
         //String textLeftSpeed = leftSpeed.toString( );
         //String textRightSpeed = rightSpeed.toString( );
         textLeftSpeed = (String) params.get(0);
         textRightSpeed = (String) params.get(1);
         
         query = new byte[3+textLeftSpeed.length()+textRightSpeed.length()];
         query[0] = 'D';
         query[1] = ',';
         byte[] bytesLeftSpeed = textLeftSpeed.getBytes();
         for(int i = 0; i < bytesLeftSpeed.length; i++ )
            query[2+i] = bytesLeftSpeed[i];
         query[2+bytesLeftSpeed.length]=',';
         byte[] bytesRightSpeed = textRightSpeed.getBytes();
         for(int i = 0; i < bytesRightSpeed.length; i++ )
            query[3+bytesLeftSpeed.length+i] = bytesRightSpeed[i];
      } else {
    	  logger.warn("Bad arguments for query ! (Number=" + params.size() + " and should be 2)" );
      }
      return query;
   }
}