@Override
public byte[] getAllBytes() {
byte[] command = getCommand();
int length = 2 + 2 + 1 + command.length;
ByteBuffer buffer =
ByteBuffer.allocate(length)
.order(ByteOrder.LITTLE_ENDIAN)
.putShort((short) (length - 2))
.putShort(counterSequence.next())
.put(getCommandType())
.put(getCommand());
if (buffer.remaining() != 0) {
throw new RuntimeException("Darn! Adding problem, bytes left: " + buffer.remaining());
}
return buffer.array();
}
public abstract class AbstractEV3Command implements EV3Command {
private CounterSequence counterSequence = CounterSequence.getDefault();
// todo change to enum
public static final byte SYSTEM_COMMAND_REPLY = 0x01; // System command, reply required
public static final byte SYSTEM_COMMAND_NO_REPLY =
(byte) 0x81; // System command, reply not required
public static final byte SYSTEM_REPLY = 0x03; // System command reply
public static final byte SYSTEM_REPLY_ERROR = 0x05; // System command reply error
public static final byte DIRECT_COMMAND_REPLY = 0x00; // Direct command, reply required
public static final byte DIRECT_COMMAND_NO_REPLY =
(byte) 0x80; // Direct command, reply not required
public static final byte DIRECT_REPLY = 0x02; // Direct command reply
public static final byte DIRECT_REPLY_ERROR = 0x04; // Direct command reply error
public abstract byte getCommandType();
public abstract byte[] getCommand();
@Override
public byte[] getAllBytes() {
byte[] command = getCommand();
int length = 2 + 2 + 1 + command.length;
ByteBuffer buffer =
ByteBuffer.allocate(length)
.order(ByteOrder.LITTLE_ENDIAN)
.putShort((short) (length - 2))
.putShort(counterSequence.next())
.put(getCommandType())
.put(getCommand());
if (buffer.remaining() != 0) {
throw new RuntimeException("Darn! Adding problem, bytes left: " + buffer.remaining());
}
return buffer.array();
}
}
