/*
 * 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 Y (altitude) value to the number following. For example Y70
 * sets Y to 70. Y can range from -1200 (far down) to 550 (far up). Values
 * outside this range will saturate to these limits. The center (home) position
 * is zero (looking straight ahead). This value is persistent until changed with
 * another Y command, except when the I (increment position) command is
 * executed.
 * 
 * @author Manish Pandya (July 1 2008)
 */
public class SetY extends CommandIntParam {

	/**
	 * 550 (far up)
	 */
	public static final int YMAX = 550;

	/**
	 * -1200 (far down)
	 */
	public static final int YMIN = -1200;

	/**
	 * Constructs a SetY command with desired altitude
	 * 
	 * @param yVal
	 *          desired altitude in integer
	 * @throws ValueOutOfRangeException
	 *           when desired altitude is out of range
	 */
	public SetY(int yVal) throws ValueOutOfRangeException {
		if (yVal < YMIN || yVal > YMAX) {
			throw new ValueOutOfRangeException(
					"Y (altitude) must fall within the range of " + YMIN
							+ " (far down) to " + YMAX
							+ " (far up) as per PhiPi firmware; You requested " + yVal);
		}
		command = "y";
		this.paramVal = yVal;
	}

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

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