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

package at.acdp.urweb.rtde.packets;

import at.acdp.urweb.rtde.RTDEClient;
import org.slf4j.LoggerFactory;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;

public interface IRtdeData<T> {
    final static org.slf4j.Logger logger = LoggerFactory.getLogger(RTDEClient.class);

    int getType();

    int getSize();

    void setReplySize(int i);


    T read(DataInputStream di) throws IOException;

    T send(DataOutputStream dos) throws IOException;

    default void sendHeader(DataOutputStream dos) throws IOException {
        dos.writeShort(getSize());
        dos.writeByte(getType());
    }

    default void readHeader(DataInputStream dis) throws IOException {
        setReplySize(dis.readShort());
        int cmd = dis.readByte();
        if(cmd==getType())
            return;
        if (cmd==77) {
            int mLength=dis.readByte();
            byte[] mText = new byte[mLength];
            dis.readFully(mText);
            String m=new String(mText);
            logger.info(m);
            int sLength=dis.readByte();
            byte[] sText = new byte[sLength];
            dis.readFully(sText);
            String s=new String(sText);
            logger.info(s);
            int warning=dis.readByte();
            String w=String.valueOf(warning);

        } else throw new IOException(String.format("Expected %d, got %d", getType(), cmd));
    }

}