link : controller wrapper

src/main/java/fr/ill/ics/n3d/link/Nomad3DController.java

+package fr.ill.ics.n3d.link;
+
+import java.util.ArrayList;
+import java.util.logging.Logger;
+
+import fr.ill.ics.bridge.Controller;
+import fr.ill.ics.core.property.Property;
+import fr.ill.ics.core.property.PropertyManager;
+
+/**
+ * Wrapper for Nomad controller
+ * @author dages
+ */
+public class Nomad3DController {
+	
+	public enum Type {
+		ROTATION {
+			@Override
+			public void init() {
+				this.unitValues = new ArrayList<String>();
+				this.unitValues.add("");
+				this.unitValues.add("deg");
+				this.unitValues.add("degree");
+			}
+		},
+		TRANSLATION {
+			@Override
+			public void init() {
+				this.unitValues = new ArrayList<String>();
+				this.unitValues.add("mm");
+				this.unitValues.add("cm");
+			}
+		},
+		STEP {
+			@Override
+			public void init() {
+				this.unitValues = new ArrayList<String>();
+				this.unitValues.add("step");
+			}
+		};
+		
+		protected ArrayList<String> unitValues;
+		
+		private Type() {
+			init();
+		}
+		
+		protected abstract void init();
+		
+		public static Type fromUnitValue(String unitValue) {
+			if (ROTATION.unitValues.contains(unitValue)) {
+				return Type.ROTATION;
+			} else if (TRANSLATION.unitValues.contains(unitValue)) {
+				return Type.TRANSLATION;
+			} else if (STEP.unitValues.contains(unitValue)) {
+				return Type.STEP;
+			} else {
+				Logger.getLogger("nomad-3d").severe("Unknown unit value \"" + unitValue + "\"");
+				return null;
+			}
+		}
+		
+		@Override
+		public String toString() {
+			return this.unitValues.get(0);
+		}
+	}
+
+	/** Wrapped controller. */
+	private Controller controller;
+	
+	/**
+	 * Constructor.
+	 * @param controller Controller to wrap
+	 */
+	public Nomad3DController(Controller controller) {
+		this.controller = controller;
+	}
+
+	public String getName() {
+		return controller.getName();
+	}
+	
+	public String getPropertyValue(String propertyName) {
+		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
+		return prop.getValue();
+	}
+	
+	public String getPropertyServerValue(String propertyName) {
+		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
+		return prop.getServerValue();
+	}
+	
+	public double getActualPosition() {
+		return Double.parseDouble(getPropertyServerValue("actual_position"));
+	}
+	
+	public double getWantedPosition() {
+		return Double.parseDouble(getPropertyServerValue("wanted_position"));
+	}
+	
+	public double getMinPosition() {
+		return Double.parseDouble(getPropertyServerValue("min_position"));
+	}
+	
+	public double getMaxPosition() {
+		return Double.parseDouble(getPropertyServerValue("max_position"));
+	}
+	
+	public Type getType() {
+		return Type.fromUnitValue(getPropertyServerValue("unit"));
+	}
+	
+	@Override
+	public String toString() {
+		return this.getName();
+	}
+}

src/main/java/fr/ill/ics/n3d/link/NomadLinker.java

@@ -34,7 +34,7 @@ public class NomadLinker {
 
 	private final static NomadLinker instance = new NomadLinker();
 	
-	private HashMap<String, ControllerServant> controllers;
+	private HashMap<String, Nomad3DController> controllers;
 	
 	/**
 	 * Default constructor.
@@ -69,12 +69,8 @@ public class NomadLinker {
 		
 		for (String controllerName : controllersNames) {
 			ControllerServant controller = ControllerManager.getInstance().getController(controllerName);
-			controllers.put(controllerName, controller);
-			// Property prop = PropertyManager.getInstance().getProperty(controller, "actual_position");
-			// System.out.println("server value : " + prop.getServerValue());
+			controllers.put(controllerName, new Nomad3DController(controller));
 		}
-		// System.out.println("Loaded controllers : \n" + controllers);
-		// displayActualPositions();
 
 		Logger.getLogger("nomad-3d").info("Nomad server connection initialized.");
 	}
@@ -83,35 +79,32 @@ public class NomadLinker {
 		return controllers.keySet();
 	}
 	
-	public String getServerValue(String controllerName, String propertyName) {
-		ControllerServant controller = controllers.get(controllerName);
-		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
-		return prop.getServerValue();
-	}
-	
-	public String getValue(String controllerName, String propertyName) {
-		ControllerServant controller = controllers.get(controllerName);
-		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
-		return prop.getValue();
-	}
-	
 	// TODO TEST
-	private void displayActualPositions() {
+	public void displayProperties() {
+		String msg = "";
 		String properties[] = {
 			"actual_position",
+			"offset_position",
 			"wanted_position",
 			"min_position",
 			"max_position",
 			"unit"
 		};
-		System.out.println("Controllers : ");
-		for (String controllerName : getAxisControllersNames()) {
-			System.out.println(controllerName + " :");
-			for (String propertyName : properties) {
-				String val = getServerValue(controllerName, propertyName);
-				System.out.println("\t" + propertyName + " : " + val);
-			}
+		msg += "Controllers : \n";
+		for (Nomad3DController controller : controllers.values()) {
+			msg += controller + " :\n";
+//			for (String propertyName : properties) {
+//				String val = controller.getPropertyServerValue(propertyName);
+//				msg += "\t" + propertyName + " : " + val + "\n";
+//			}
+			msg += "\tactual position : " + controller.getActualPosition() + "\n";
+			msg += "\toffset position : " + controller.getPropertyServerValue("offset_position") + "\n";
+			msg += "\twanted position : " + controller.getWantedPosition() + "\n";
+			msg += "\tmin position : " + controller.getMinPosition() + "\n";
+			msg += "\tmax position : " + controller.getMaxPosition() + "\n";
+			msg += "\tunit : " + controller.getType() + "\n";
 		}
+		Logger.getLogger("nomad-3d").info(msg);
 	}
 	
 	public void terminate() {