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Control library and protocol for the Robobo-ROB robotic platform.
There is a newer version: 1.1.8
/*******************************************************************************
 *
 *   Copyright 2016 Mytech Ingenieria Aplicada 
 *   Copyright 2016 Julio Gómez 
 *
 *   This file is part of Robobo ROB Interface Library.
 *
 *   Robobo ROB Interface Library 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, either version 3 of the License, or
 *   (at your option) any later version.
 *
 *   Robobo ROB Interface Library 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 Robobo ROB Interface Library.  If not, see .
 *
 ******************************************************************************/

package com.mytechia.robobo.rob.comm;

import com.mytechia.commons.framework.simplemessageprotocol.Command;
import com.mytechia.commons.framework.simplemessageprotocol.Endianness;
import com.mytechia.commons.framework.simplemessageprotocol.exception.MessageFormatException;

import java.text.SimpleDateFormat;
import java.util.Date;

/**
 * Robobo proyect specific commands. This class extends Command to add the fields
 * waitingTimeAck and lastTransmissionTime in order to know when a message was lost.
 *
 * @author Julio Alberto Gomez Fernandez
 */
public abstract class RoboCommand extends  Command{

    public static final long DEFAULT_TIME_TO_WAIT=10000;//20 ms

    public static final int DEFAULT_MAX_NUMBER_TRANSMISSIONS =3;

    protected long lastTransmissionTime;

    protected long waitingTimeAck =DEFAULT_TIME_TO_WAIT;

    protected int maxNumTransmissions=1;

    protected int numberTransmissions =0;

    private  final SimpleDateFormat TRANSMISSION_TIME_FORMATTER = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.S");
    
    private  static final CommandUtil COMMAND_UTIL= new CommandUtil();


    public RoboCommand() {
        super(Endianness.BIG_ENDIAN);
    }

    public RoboCommand(byte[] message) throws MessageFormatException {
        super(Endianness.BIG_ENDIAN, message);
    }

    

    @Override
    public void setSequenceNumber(int sequenceNumber){
        super.setSequenceNumber(sequenceNumber);
    }

    public long getLastTransmissionTime() {
        return lastTransmissionTime;
    }

    public void setLastTransmissionTime(long timeLastTransmission) {
        this.lastTransmissionTime = timeLastTransmission;
    }

    public long getWaitingTimeAck() {
        return waitingTimeAck;
    }

    public void setWaitingTimeAck(long waitingTimeAck) {
        this.waitingTimeAck = waitingTimeAck;
    }

    public int getMaxNumTransmissions() {
        return maxNumTransmissions;
    }

    public void setMaxNumTransmissions(int maxNumTransmissions) {
        this.maxNumTransmissions = maxNumTransmissions;
    }

    public int getNumberTransmissions() {
        return numberTransmissions;
    }

    public void increaseNumTransmissions() {
        numberTransmissions++;
    }

    
    public static int decodeDataFieldSize(byte[] messageHeaderData) throws MessageFormatException{
        COMMAND_UTIL.decodeMessageHead(messageHeaderData);
        return COMMAND_UTIL.getDataFieldSize();
    }

    boolean exceededWaitingTimeAck() {

        if (waitingTimeAck == -1) {
            return false;
        }

        if (lastTransmissionTime == 0) {
            return false;
        }

        return (waitingTimeAck < (System.currentTimeMillis() - this.lastTransmissionTime));

    }

    public boolean reachedMaximunNumberTransmissions(){
        return (numberTransmissions >= maxNumTransmissions);
    }

    public String toSimpleString(){

        StringBuilder simpleStringBuilder= new StringBuilder();
        simpleStringBuilder.append(this.getClass().getSimpleName());
        simpleStringBuilder.append("[");
        simpleStringBuilder.append("type=").append(this.getCommandType());
        simpleStringBuilder.append(", sequenceNumer=").append(this.getSequenceNumber());
        simpleStringBuilder.append("]");

        return simpleStringBuilder.toString();
    }

    public String toTransmittingString(){
        StringBuilder simpleStringBuilder= new StringBuilder();
        simpleStringBuilder.append(this.getClass().getSimpleName());
        simpleStringBuilder.append("[");
        simpleStringBuilder.append("type=").append(this.getCommandType());
        simpleStringBuilder.append(", sequenceNumer=").append(this.getSequenceNumber());
        simpleStringBuilder.append(", numberRetransmisions=").append(this.getNumberTransmissions());

        String formattedTimeStamp= TRANSMISSION_TIME_FORMATTER.format(new Date(this.getLastTransmissionTime()));
        simpleStringBuilder.append(", lastTransmissionTime=").append(formattedTimeStamp);

        simpleStringBuilder.append("]");

        return simpleStringBuilder.toString();
    }
    
    private static class CommandUtil extends Command{
        
        public CommandUtil(){
            super(Endianness.BIG_ENDIAN);
        }

        @Override
        protected int decodeMessageData(byte[] bytes, int initIndex) throws MessageFormatException {
            throw new UnsupportedOperationException("Not supported yet."); 
        }
        
        
        @Override
        public void decodeMessageHead(byte[] messageHeaderData) throws MessageFormatException{
                super.decodeMessageHead(messageHeaderData);
        }
        
    }


}