/*
 * Copyright (C) 2008  Manish Pandya, [manish at meetamanish dot com]
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
 * 
 */
package org.hooliguns.ninja.telnet.phiPiMod;

import org.hooliguns.ninja.telnet.CommandExecutionUnit;
import org.hooliguns.ninja.telnet.ValueOutOfRangeException;

/**
 * Set the desired X (azimuth) value to the number following. For example X-900
 * sets X to -900. X can range from -1800 (far left) to 1800 (far right). Values
 * outside this range will saturate to these limits. The center (home) position
 * is zero. This value is persistent until changed with another X command,
 * except when the I (increment position) command is executed. Setting X (or Y)
 * doesn't cause any motion to occur. It just tells the Ninja where you will be
 * wanting to go when you eventually tell it to move.
 * 
 * @author Manish Pandya (July 1 2008)
 */
public class SetX extends CommandIntParam {

	/**
	 * 1800 (far right)
	 */
	public static final int XMAX = 1800;

	/**
	 * -1800 (far left)
	 */
	public static final int XMIN = -1800;

	/**
	 * Constructs an SetX command with desired azimuth
	 * 
	 * @param xVal
	 *          desired azimuth in integer
	 * @throws ValueOutOfRangeException
	 *           when desired azimuth is out of range
	 */
	public SetX(int xVal) throws ValueOutOfRangeException {
		if (xVal < XMIN || xVal > XMAX) {
			throw new ValueOutOfRangeException(
					"X (azimuth) must fall within the range of " + XMIN
							+ " (far left) to " + XMAX
							+ " (far right) as per PhiPi firmware; You requested " + xVal);
		}
		command = "x";
		this.paramVal = xVal;
	}

	/*
	 * (non-Javadoc)
	 * 
	 * @see org.hooliguns.ninja.telnet.Command#getHumanName()
	 */
	public String getHumanName() {
		return "SetX command";
	}

	@Override
	public byte[] execute(CommandExecutionUnit ceu) {
		ceu.setDestinationX(paramVal);
		return super.execute(ceu);
	}
}