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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 static com.mytechia.robobo.rob.comm.MessageType.MaxValueMotors;
import static com.mytechia.robobo.rob.comm.MessageType.OperationModeMessage;

import com.mytechia.commons.framework.simplemessageprotocol.Command;
import com.mytechia.commons.framework.simplemessageprotocol.IMessageBuilder;
import com.mytechia.commons.framework.simplemessageprotocol.MessageFactory;
import com.mytechia.commons.framework.simplemessageprotocol.exception.MessageFormatException;

/**
 * This class know how to decode a received raw RoboCommand.
 *
 * @author Julio Alberto Gomez Fernandez
 */
public class RoboCommandFactory extends MessageFactory {

    public RoboCommandFactory() {

        registerAckMessageBuilder();

        registerRobStatusMessageBuilder();

        reguisterSetRobStatusPeriodMessageBuilder();

        registerSetLEDColorMessageBuilder();

        registerSetLEDsModeMessageBuilder();

        registerMoveMTMessageBuilder();

        registerMovePanTilMessageBuilder();

        registerResetPanTiltOffsetMessageBuilder();
        
        registerMaxValueMotorsBuilder();
        
        registerInfraredConfigurationMessageBuilder();
        
        registerOperationModeMessageBuilder();

        registerStopWarningMessageBuilder();

        registerControlValuesMessageBuilder();

    }
    

    private void registerResetPanTiltOffsetMessageBuilder() {
        registerMessageBuilder(
                new IMessageBuilder() {
            @Override
            public byte type() {
                return MessageType.ResetPanTiltOffsetMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new ResetPanTiltOffsetMessage(bytes);
            }
        }
        );
    }

    private void registerMovePanTilMessageBuilder() {
        registerMessageBuilder(
                new IMessageBuilder() {
            @Override
            public byte type() {
                return MessageType.MovePanTiltMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new MovePanTiltMessage(bytes);
            }
        }
        );
    }

    private void registerMoveMTMessageBuilder() {
        registerMessageBuilder(
                new IMessageBuilder() {
            @Override
            public byte type() {
                return MessageType.MoveMTMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new MoveMTMessage(bytes);
            }
        }
        );
    }

    private void registerSetLEDsModeMessageBuilder() {
        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.RobSetLEDsModeMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new RobSetLEDsModeMessage(bytes);
            }
        }
        );
    }

    private void registerSetLEDColorMessageBuilder() {
        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.SetLEDColorMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new SetLEDColorMessage(bytes);
            }
        }
        );
    }

    private void reguisterSetRobStatusPeriodMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.SetRobStatusPeriodMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new SetRobStatusPeriodMessage(bytes);
            }
        }
        );
    }

    private void registerRobStatusMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.RobStatusMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new RobStatusMessage(bytes);
            }
        }
        );
    }

    private void registerAckMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.AckMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new AckMessage(bytes);
            }
        }
        );

    }
    
    private void registerMaxValueMotorsBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MaxValueMotors.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new MaxValueMotors(bytes);
            }
        }
        );

    }
    
    
    private void registerInfraredConfigurationMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.InfraredConfigurationMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new InfraredConfigurationMessage(bytes);
            }
        }
        );

    }
    
    
    
    
    private void registerOperationModeMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

            @Override
            public byte type() {
                return MessageType.OperationModeMessage.commandType;
            }

            @Override
            public Command buildMessage(byte[] bytes) throws MessageFormatException {
                return new OperationModeMessage(bytes);
            }
        }
        );

    }

    private void registerStopWarningMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

                    @Override
                    public byte type() {
                        return MessageType.StopWarning.commandType;
                    }

                    @Override
                    public Command buildMessage(byte[] bytes) throws MessageFormatException {
                        return new StopWarningMessage(bytes);
                    }
                }
        );

    }
    private void registerControlValuesMessageBuilder() {

        registerMessageBuilder(
                new IMessageBuilder() {

                    @Override
                    public byte type() {
                        return MessageType.ControlValues.commandType;
                    }

                    @Override
                    public Command buildMessage(byte[] bytes) throws MessageFormatException {
                        return new ControlValuesMessage(bytes);
                    }
                }
        );

    }

    

}