com.iamcontent.robot.arm.edge.RoboticEdgeArmCommandLineDriver.java Source code

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Here is the source code for com.iamcontent.robot.arm.edge.RoboticEdgeArmCommandLineDriver.java

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/**
  IAmContent Public Libraries.
  Copyright (C) 2015 Greg Elderfield
  @author Greg Elderfield, support@jarchitect.co.uk
     
  This program is free software; you can redistribute it and/or modify it under the terms of the
  GNU General Public License as published by the Free Software Foundation; either version 2 of 
  the License, or (at your option) any later version.
    
  This program 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 General Public License for more details.
    
  You should have received a copy of the GNU General Public License along with this program;
  if not, write to the Free Software Foundation, Inc., 
  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */
package com.iamcontent.robot.arm.edge;

import com.google.common.base.Function;
import com.google.common.collect.Iterables;
import com.iamcontent.io.cli.CommandLineDriver;
import com.iamcontent.io.cli.UnknownCommandException;
import com.iamcontent.robot.arm.edge.RoboticEdgeArm.Command;

/**
 * An example driver for the {@link RoboticEdgeArm}. Useful for manual testing.
 * @author Greg Elderfield
 */
public class RoboticEdgeArmCommandLineDriver extends CommandLineDriver implements Runnable {
    private static final Command TURN_OFF_EVERYTHING = null;

    private final RoboticEdgeArm arm = new RoboticEdgeArm();

    public static void main(String[] args) {
        final RoboticEdgeArmCommandLineDriver driver = new RoboticEdgeArmCommandLineDriver();
        driver.run();
    }

    @Override
    public void run() {
        for (Command c : commands())
            execute(c);
        turnOffEverything();
    }

    @Override
    protected void onQuit() {
        turnOffEverything();
    }

    private Iterable<Command> commands() {
        return Iterables.transform(commandStrings(), parsingFunction);
    }

    private void execute(Command c) {
        if (c == TURN_OFF_EVERYTHING)
            turnOffEverything();
        else
            arm.execute(c);
    }

    private void turnOffEverything() {
        arm.turnOffEverything();
    }

    private final Function<String, Command> parsingFunction = new ParseStringIntoCommandFunction() {
        @Override
        public Command apply(String command) {
            try {
                return super.apply(command);
            } catch (UnknownCommandException e) {
                System.out.println(e.getMessage());
                return TURN_OFF_EVERYTHING;
            }
        }
    };
}