cleanup

src/main/java/at/acdp/urweb/sclient/SecondaryClient.java

@@ -29,7 +29,7 @@ public class SecondaryClient {
         this.os = rt.getOutputStream();
         this.in = new DataInputStream(rt.getInputStream());
         VersionMessage vm = new VersionMessage();
-        vm.readVersionMessage(in);
+        vm.read(in, -1);
         return vm;
     }
 
@@ -86,7 +86,7 @@ public class SecondaryClient {
 
     private ToolCommInfo readToolCommInfo(DataInputStream di, int size) throws IOException {
         ToolCommInfo tci=new ToolCommInfo();
-        tci.read(di);
+        tci.read(di, size);
         return tci;
     }
 
@@ -144,7 +144,7 @@ public class SecondaryClient {
 
     CartesianInfo readCartesianInfo(DataInputStream di, int size) throws IOException {
         CartesianInfo ci = new CartesianInfo();
-        ci.read(di);
+        ci.read(di, size);
         return ci;
     }
 
@@ -182,7 +182,7 @@ public class SecondaryClient {
         JointData[] jds = new JointData[size];
         for (int i = 0; i < joints; i++) {
             JointData jd = new JointData();
-            jd.read(di);
+            jd.read(di, size);
             jds[i] = jd;
         }
         return jds;

src/main/java/at/acdp/urweb/sclient/data/AdditionalInfo.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class AdditionalInfo {
+public class AdditionalInfo implements IRead{
     public boolean freeDriveButtonPressed;
     public boolean freeDriveButtonEnabled;
     public boolean ioEnabledFreeDrive;
@@ -11,9 +11,9 @@ public class AdditionalInfo {
 
 
     public void read(DataInputStream di, int size) throws IOException {
-        freeDriveButtonPressed=di.readBoolean();
-        freeDriveButtonEnabled=di.readBoolean();
-        ioEnabledFreeDrive=di.readBoolean();
+        freeDriveButtonPressed = di.readBoolean();
+        freeDriveButtonEnabled = di.readBoolean();
+        ioEnabledFreeDrive = di.readBoolean();
 
     }
 }

src/main/java/at/acdp/urweb/sclient/data/CartesianInfo.java

@@ -3,14 +3,14 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class CartesianInfo {
+public class CartesianInfo implements IRead {
     public double x,y,z;
     public double rx,ry,rz;
     public double tcpOffsetX,tcpOffsetY, tcpOffsetZ;
     public double tcpOffsetRX,tcpOffsetRY, tcpOffsetRZ;
 
 
-    public void read(DataInputStream di) throws IOException {
+    public void read(DataInputStream di, int size) throws IOException {
         x=di.readDouble();
         y=di.readDouble();
         z=di.readDouble();

src/main/java/at/acdp/urweb/sclient/data/ConfigurationData.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class ConfigurationData {
+public class ConfigurationData implements IRead {
 
     double jointMinLimit;
     double jointMaxLimit;

src/main/java/at/acdp/urweb/sclient/data/ForceModeData.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class ForceModeData {
+public class ForceModeData implements IRead{
     public double x,y,z;
     public double rx, ry, rz;
     public double robotDexterity;

src/main/java/at/acdp/urweb/sclient/data/IRead.java

@@ -0,0 +1,8 @@
+package at.acdp.urweb.sclient.data;
+
+import java.io.DataInputStream;
+import java.io.IOException;
+
+public interface IRead {
+    public void read(DataInputStream di, int size) throws IOException;
+}

src/main/java/at/acdp/urweb/sclient/data/JointData.java

@@ -4,7 +4,7 @@ import java.io.DataInputStream;
 import java.io.IOException;
 
 //49 byte
-public class JointData {
+public class JointData implements IRead{
     double qActual;
     double qTarget;
     double qdActual;
@@ -16,7 +16,7 @@ public class JointData {
 
     //TODO: float/double propably wrong
     //total length 41 bytes
-    public void read(DataInputStream di) throws IOException {
+    public void read(DataInputStream di, int size) throws IOException {
         qActual=di.readDouble();
         qTarget=di.readDouble();
         qdActual=di.readDouble();

src/main/java/at/acdp/urweb/sclient/data/KinematicsInfo.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class KinematicsInfo {
+public class KinematicsInfo implements IRead{
 
     public byte[] internalData;
     public void read(DataInputStream di, int size) throws IOException {

src/main/java/at/acdp/urweb/sclient/data/ToolCommInfo.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class ToolCommInfo {
+public class ToolCommInfo implements IRead {
     public boolean toolCommunicationEnabled;
     public int baudrate;
     public int parity;
@@ -11,7 +11,7 @@ public class ToolCommInfo {
     public float txIdleChars;
 
 
-    public void read(DataInputStream di) throws IOException {
+    public void read(DataInputStream di, int size) throws IOException {
         baudrate=di.readInt();
         parity=di.readInt();
         rxIdleChars=di.readFloat();

src/main/java/at/acdp/urweb/sclient/data/VersionMessage.java

@@ -3,7 +3,7 @@ package at.acdp.urweb.sclient.data;
 import java.io.DataInputStream;
 import java.io.IOException;
 
-public class VersionMessage {
+public class VersionMessage implements IRead {
 
 
     public int msgType;
@@ -17,7 +17,7 @@ public class VersionMessage {
     public int buildNumber;
     public String buildDate;
 
-    public void readVersionMessage(DataInputStream in) throws IOException {
+    public void read(DataInputStream in, int size) throws IOException {
         int msgSize = in.readInt();
         msgType = in.readByte() & 0xff;
         tstamp = in.readLong();