uraxisdaemon/src/main/java/at/acdp/urweb/rtde/packets/RtdeSetupOutputs.java

package at.acdp.urweb.rtde.packets;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

import static at.acdp.urweb.rtde.CommandType.RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS;

public class RtdeSetupOutputs implements IRtdeData {
    public int recipe;
    public List<String> variables=new ArrayList<>();
    public List<String> types=new ArrayList<>();
    public String typesText;

    public RtdeSetupOutputs() {
    }

    public RtdeSetupOutputs addVariable(String name) {
        variables.add(name);
        return this;
    }

    @Override
    public int getType() {
        return RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS;
    }

    @Override
    public RtdeSetupOutputs read(DataInputStream d, int length) throws IOException {
        recipe = d.readByte();
        byte[] text=new byte[length-3];
        d.readFully(text);
        typesText=new String(text);
        types.addAll(Arrays.asList(typesText.split(",")));
        return this;
    }

    @Override
    public RtdeSetupOutputs send(DataOutputStream dos) throws IOException {
        var payload = String.join(",", variables).getBytes();
        sendHeader(dos, payload.length+8);
        dos.writeDouble(1); //output frequency [1..125]
        dos.write(payload);
        dos.flush();
        return this;
    }
}