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

package at.acdp.urweb.rtde.packets;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;

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

public class RtdeDataPackage implements IRtdeData {
    private final RtdeSetupOutputs outputs;
    private HashMap<String, String> pdata=new HashMap<>();


    public RtdeDataPackage(RtdeSetupOutputs outputs) {
        this.outputs=outputs;
    }

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

    public HashMap<String, String> getPdata() {
        return pdata;
    }

    @Override
    public RtdeDataPackage read(DataInputStream di, int length) throws IOException {
        int recipeID=di.readByte();
        for(int i=0; i<outputs.variables.size(); i++) {
            String output=outputs.variables.get(i);
            String type=outputs.types.get(i);
            switch (type) {
                case "BOOL":
                    pdata.put(output, String.valueOf(di.readBoolean()));
                    break;
                case "UINT8":
                    pdata.put(output, String.valueOf(di.readByte()));
                    break;
                case "UINT32":
                case "INT32":
                    pdata.put(output, String.valueOf(di.readInt()));
                    break;
                case "UINT64":
                    pdata.put(output, String.valueOf(di.readLong()));
                    break;
                case "DOUBLE":
                    pdata.put(output, String.valueOf(di.readDouble()));
                    break;
                case "VECTOR3D":
                    pdata.put(output, String.format("%f %f %f",di.readDouble(), di.readDouble(), di.readDouble()));
                    break;
                case "VECTOR6D":
                    pdata.put(output, String.format("%f %f %f %f %f %f",di.readDouble(), di.readDouble(), di.readDouble(), di.readDouble(), di.readDouble(), di.readDouble()));
                    break;
                case "VECTOR6INT32":
                    pdata.put(output, String.format("%d %d %d",di.readInt(), di.readInt(), di.readInt()));
                    break;
                case "VECTOR6UINT32":
                    pdata.put(output, String.format("%d %d %d %d %d %d",di.readInt(), di.readInt(), di.readInt(), di.readInt(), di.readInt(), di.readInt()));
                    break;

                default:
                    throw new IllegalStateException("Unexpected value: " + type);
            }
        }

        return this;
    }

    @Override
    public RtdeDataPackage send(DataOutputStream dos) throws IOException {
        sendHeader(dos,0);
        return this;
    }
}