private void write(LongCommand command, long x) throws IOException {
this.lock.lock();
try {
FTDI.write(Socket.buildLongMessage(command, x), this.port);
} finally {
this.lock.unlock();
}
}
private String read() throws IOException {
this.lock.lock();
try {
return FTDI.read(this.port);
} finally {
this.lock.unlock();
}
}
// write sends a command to the actuator. read pops a response off the queue.
private void write(SimpleCommand command) throws IOException {
this.lock.lock();
try {
FTDI.write(Socket.buildSimpleMessage(command), this.port);
} finally {
this.lock.unlock();
}
}