com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace Maven / Gradle / Ivy

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A command line utility for accesing the bowler framework.

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package com.neuronrobotics.sdk.namespace.bcs.pid;

import com.neuronrobotics.sdk.common.BowlerDataType;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.common.MACAddress;
import com.neuronrobotics.sdk.common.RpcEncapsulation;
import com.neuronrobotics.sdk.common.device.server.BowlerAbstractDeviceServerNamespace;
import com.neuronrobotics.sdk.common.device.server.IBowlerCommandProcessor;
import com.neuronrobotics.sdk.pid.IPIDEventListener;
import com.neuronrobotics.sdk.pid.PDVelocityConfiguration;
import com.neuronrobotics.sdk.pid.PIDChannel;
import com.neuronrobotics.sdk.pid.PIDCommandException;
import com.neuronrobotics.sdk.pid.PIDConfiguration;


// TODO: Auto-generated Javadoc
/**
 * The Class PidDeviceServerNamespace.
 */
public class PidDeviceServerNamespace extends BowlerAbstractDeviceServerNamespace implements IPidControlNamespace {

	/** The device. */
	private IPidControlNamespace device;

	/**
	 * Instantiates a new pid device server namespace.
	 *
	 * @param addr the addr
	 * @param device the device
	 */
	public PidDeviceServerNamespace(MACAddress addr,IPidControlNamespace device ) {
		super(addr, "bcs.pid.*;1.0;;");
		this.device = device;
		rpc.add(new RpcEncapsulation(getNamespaceIndex(), 
				getNamespace() , 
				"apid", 
				BowlerMethod.GET, 
				new BowlerDataType[]{}, 
				BowlerMethod.POST, 
				new BowlerDataType[]{BowlerDataType.I32STR},
				new IBowlerCommandProcessor() {
					@Override
					public Object[] process(Object[] data) {
						int [] current = GetAllPIDPosition();
						Integer [] d = new Integer[current.length];
						for(int i=0;i