org.goko.controller.tinyg.controller.TinyGControllerUtility.java Source code

Introduction

Here is the source code for org.goko.controller.tinyg.controller.TinyGControllerUtility.java

Source

/*
 *
 *   Goko
 *   Copyright (C) 2013  PsyKo
 *
 *   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 3 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, see <http://www.gnu.org/licenses/>.
 *
 */
package org.goko.controller.tinyg.controller;

import java.util.List;

import org.apache.commons.lang3.ObjectUtils;
import org.apache.commons.lang3.StringUtils;
import org.goko.controller.tinyg.controller.configuration.TinyGConfiguration;
import org.goko.controller.tinyg.controller.configuration.TinyGGroupSettings;
import org.goko.controller.tinyg.controller.configuration.TinyGSetting;
import org.goko.controller.tinyg.json.TinyGJsonUtils;
import org.goko.core.common.exception.GkException;
import org.goko.core.common.measure.quantity.Angle;
import org.goko.core.common.measure.quantity.Length;
import org.goko.core.controller.bean.MachineState;
import org.goko.core.math.Tuple6b;

import com.eclipsesource.json.JsonObject;
import com.eclipsesource.json.JsonValue;

public class TinyGControllerUtility {

    public TinyGControllerUtility() {

    }
    //
    //   public final static TinyGConfiguration getConfigurationCopy(final TinyGConfiguration baseCfg) throws GkException{
    //      TinyGConfiguration copy = new TinyGConfiguration();
    //      for(TinyGGroupSettings group : baseCfg.getGroups()){
    //         for(TinyGSetting<?> setting : group.getSettings()){
    //            copy.setSetting(group.getGroupIdentifier(), setting.getIdentifier(), setting.getValue());
    //         }
    //      }
    //      return copy;
    //   }

    /**
     * Handling configuration response from TinyG
     * @return {@link JsonValue}
     */
    protected static void handleConfigurationModification(TinyGConfiguration configuration,
            JsonObject responseEnvelope) throws GkException {
        TinyGJsonUtils.buildConfigurationFromJson(configuration, responseEnvelope);
    }

    /**
     * Transform a GCode command to a JsonValue
     * @param command the command to transform
     * @return {@link JsonValue}
     */
    protected static JsonValue toJson(String command) {
        JsonObject value = new JsonObject();
        value.add(TinyGJsonUtils.GCODE_COMMAND, StringUtils.lowerCase(command));
        return value;
    }

    /**
     * Update the 
     * @param lastKnownPosition
     * @param statusReport
     * @return
     */
    protected static Tuple6b updatePosition(Tuple6b lastKnownPosition, JsonObject statusReport) {
        Tuple6b newPosition = new Tuple6b(lastKnownPosition);
        JsonValue newPositionX = statusReport.get(TinyGJsonUtils.STATUS_REPORT_POSITION_X);
        JsonValue newPositionY = statusReport.get(TinyGJsonUtils.STATUS_REPORT_POSITION_Y);
        JsonValue newPositionZ = statusReport.get(TinyGJsonUtils.STATUS_REPORT_POSITION_Z);
        JsonValue newPositionA = statusReport.get(TinyGJsonUtils.STATUS_REPORT_POSITION_A);
        if (newPositionX != null) {
            newPosition.setX(Length.valueOf(newPositionX.asBigDecimal(), lastKnownPosition.getX().getUnit()));
        }
        if (newPositionY != null) {
            newPosition.setY(Length.valueOf(newPositionY.asBigDecimal(), lastKnownPosition.getY().getUnit()));
        }
        if (newPositionZ != null) {
            newPosition.setZ(Length.valueOf(newPositionZ.asBigDecimal(), lastKnownPosition.getZ().getUnit()));
        }
        if (newPositionA != null) {
            newPosition.setA(Angle.valueOf(newPositionA.asBigDecimal(), lastKnownPosition.getA().getUnit()));
        }
        return newPosition;
    }

    /**
     * Convert Integer value to Machine State
     * @param stateCode the int value
     * @return {@link MachineState} object
     */
    protected static MachineState getState(Integer stateCode) {
        switch (stateCode) {
        case 0:
            return MachineState.INITIALIZING;
        case 1:
            return MachineState.READY;
        case 2:
            return MachineState.ALARM;
        case 3:
            return MachineState.PROGRAM_STOP;
        case 4:
            return MachineState.PROGRAM_END;
        case 5:
            return MachineState.MOTION_RUNNING;
        case 6:
            return MachineState.MOTION_HOLDING;
        case 7:
            return MachineState.PROBE_CYCLE;
        case 8:
            return MachineState.RUNNING;
        case 9:
            return MachineState.HOMING;
        default:
            return MachineState.INITIALIZING;
        }
    }

    /**
     * Returns a configuration containing only the values that differ from the base configuration. Other values are null
     * @param baseConfig the base configuration
     * @param newConfig the new configuration
     * @return a differential configuration
     * @throws GkException GkException
     */
    protected static TinyGConfiguration getDifferentialConfiguration(TinyGConfiguration baseConfig,
            TinyGConfiguration newConfig) throws GkException {
        TinyGConfiguration diffConfig = new TinyGConfiguration();

        for (TinyGGroupSettings group : baseConfig.getGroups()) {
            List<TinyGSetting> settings = group.getSettings();
            for (TinyGSetting tinyGSetting : settings) {
                Object baseValue = tinyGSetting.getValue();
                Object newValue = newConfig.getSetting(group.getGroupIdentifier(), tinyGSetting.getIdentifier(),
                        tinyGSetting.getType());
                if (!ObjectUtils.equals(baseValue, newValue)) {
                    diffConfig.setSetting(group.getGroupIdentifier(), tinyGSetting.getIdentifier(), newValue);
                } else {
                    diffConfig.setSetting(group.getGroupIdentifier(), tinyGSetting.getIdentifier(), null);
                }
            }
        }
        return diffConfig;
    }
}