urweb/src/main/java/at/acdp/urweb/URBot.java

package at.acdp.urweb;

import at.acdp.urweb.sclient.data.MasterBoardData;
import at.acdp.urweb.sclient.data.ScReadThread;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class URBot {
    private ScReadThread sc;
    private static final Logger log = LoggerFactory.getLogger(URBot.class);

    public URBot(String ip) {
        sc=new ScReadThread(ip);
        Thread t=new Thread(sc);
        t.start();
    }

    public void sendProgram(String program) {
        String[] lines=program.split("[\\r\\n]+");
        String res="";
        for(String line:lines) {
            line=line.trim();
            if(line.startsWith("//"))
                continue;
            if(line.startsWith("#"))
                continue;
            if(!line.endsWith("\n"))
                line+="\n";

            res+=line;
        }
        if(!program.endsWith("\n"))
            program+="\n";
        sc.writeCmd(program);
    }

    public void sendFreedrive(int timeout) {
        sc.writeCmd(String.format("def myProg():\n\tfreedrive_mode()\n\tsleep(%d)\nend", timeout));
    }

    public void sendMessage(String message) {
        sc.writeCmd(String.format("textmsg(%s)", message));
    }

    public void setDigital(int which, boolean val) {
        String c=String.format("digital_out[%d]=%s", which, val?"True":"False");
        sc.writeCmd(c);
    }

    public boolean getDigital(int which) {
        MasterBoardData mb = sc.getRde().getLastMB();
        return ((mb.digitalOutputBits&(1<<which)) >0) ;
    }
}