public int setUpBam() {
Enumeration<?> portIdentifiers = CommPortIdentifier.getPortIdentifiers();
CommPortIdentifier portId = null;
while (portIdentifiers.hasMoreElements()) {
CommPortIdentifier pid = (CommPortIdentifier) portIdentifiers.nextElement();
if (pid.getPortType() == CommPortIdentifier.PORT_SERIAL
&& pid.getName().equals(wantedPortName)) {
portId = pid;
System.out.println("Found port: " + pid.getName());
break;
}
}
try {
port = (SerialPort) portId.open("Driver", 10000);
} catch (PortInUseException e) {
System.err.println("Port already in use: " + e);
System.exit(1);
}
try {
port.setSerialPortParams(
57600, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (UnsupportedCommOperationException e) {
System.err.println("Failed to set up port: " + e);
}
System.out.println("Port should be open now");
return 0;
}
public static void main(String[] args) {
/*
* 不带参数的getPortIdentifiers方法获得一个枚举对象
* ，
* 该对象又包含了系统中管理每个端口的CommPortIdentifier对象
* 。
* 注意这里的端口不仅仅是指串口，也包括并口
* 。这个方法还可以带参数。
* getPortIdentifiers
* (CommPort)
* 获得与已经被应用程序打开的端口相对应的CommPortIdentifier对象
* 。
* getPortIdentifier
* (String
* portName)获取指定端口名
* （比如“COM1”）
* 的CommPortIdentifier对象
* 。
*/
portList = CommPortIdentifier.getPortIdentifiers();
while (portList.hasMoreElements()) {
portId = (CommPortIdentifier) portList.nextElement();
if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) /* getPortType方法返回端口类型 */ {
if (portId.getName().equals(CommPortUtil.getCommPortName())) /* 找Windows下的第一个串口*/ {
// if (portId.getName().equals("/dev/term/a"))/*
// * 找Unix-like系统下的第一个串口
// */{
@SuppressWarnings("unused")
SimpleRead reader = new SimpleRead();
}
}
}
}
public static void main(String[] args) {
portList = CommPortIdentifier.getPortIdentifiers();
// hasMoreElements()指的是，是否還有其它物件內容
while (portList.hasMoreElements()) {
portId = (CommPortIdentifier) portList.nextElement();
System.out.println(" " + portId.getName()); // 取得通訊埠的名稱，例如：COM1、COM2
}
}
/**
* Check that the port specified is in fact available;
*
* @return The portName specified, or, if not available, return first port found (to use as
* default)
*/
public static String checkPortAvailable(String portName) {
String firstPort = null;
Enumeration enumr = CommPortIdentifier.getPortIdentifiers();
int i = 1;
while (enumr.hasMoreElements()) {
CommPortIdentifier comId = (CommPortIdentifier) enumr.nextElement();
if (comId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
if (i == 1) {
firstPort = comId.getName();
}
i++;
if (portName.equalsIgnoreCase(comId.getName())) {
return portName;
}
}
}
return firstPort;
}
/**
* Check that the port specified is in fact available;
*
* @return true or false
*/
public static boolean isPortAvailable(String portName) {
Enumeration enumr = CommPortIdentifier.getPortIdentifiers();
while (enumr.hasMoreElements()) {
CommPortIdentifier comId = (CommPortIdentifier) enumr.nextElement();
if (comId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
if (portName.equalsIgnoreCase(comId.getName())) {
return true;
}
}
}
return false;
}
public static String getStatusOfPorts() {
Enumeration enumr = CommPortIdentifier.getPortIdentifiers();
StringBuffer s = new StringBuffer();
while (enumr.hasMoreElements()) {
CommPortIdentifier comId = (CommPortIdentifier) enumr.nextElement();
if (comId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
s.append(comId.getName() + ": ");
if (comId.isCurrentlyOwned()) {
s.append("owner: " + comId.getCurrentOwner() + " ");
} else {
s.append("no owner.");
}
s.append("\n");
}
}
return s.toString();
}
/**
* -------------------------------------------------------------------------- Get serial ports
*
* @return String array of ports on workstation (may return null)
*/
public static String[] getAvailablePorts() {
Enumeration enumr = CommPortIdentifier.getPortIdentifiers();
String[] retStr = null;
ArrayList list = new ArrayList();
while (enumr.hasMoreElements()) {
CommPortIdentifier comId = (CommPortIdentifier) enumr.nextElement();
if (comId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
list.add(comId.getName());
// System.out.println(comId.getName());
}
}
Object[] ports = list.toArray();
if (ports != null) {
retStr = new String[ports.length];
for (int i = 0; i < ports.length; i++) {
retStr[i] = (String) ports[i];
}
}
return retStr;
}
private void initialize() {
// ==========================================
/*
* get System porperties:
*/
String operatingSystem = null;
Properties p = System.getProperties();
Enumeration e = p.elements();
while (e.hasMoreElements()) {
operatingSystem = e.nextElement().toString();
// System.out.println(operatingSystem);
if (operatingSystem.equals("Linux")) {
logger.debug("found " + operatingSystem + " Operating System");
comPort = "/dev/ttyS0";
break;
}
if (operatingSystem.equals("Windows XP")) {
logger.debug("found " + operatingSystem + " Operating System");
comPort = "COM1";
break;
}
// if(operatingSystem.equals("Linux") || operatingSystem.equals("Windows")) {
// logger.debug("found "+operatingSystem+" Operating System");
// break;
// }
}
// ===============end===========================
Enumeration pList = CommPortIdentifier.getPortIdentifiers();
// logger.debug("(Khepera) initializeeeee()...");
while (pList.hasMoreElements()) {
CommPortIdentifier cpi = (CommPortIdentifier) pList.nextElement();
if (cpi.getName().equals(comPort)) {
try {
com = null;
com = (SerialPort) cpi.open("KHEPERA_" + comPort, 1000);
try {
// ========================================
/* under Linux this block is crucial to setSerialPortParams()
* - i have no idea why...
*/
String s =
"default settings: "
+ com.getBaudRate()
+ " "
+ com.getDataBits()
+ " "
+ com.getParity()
+ " "
+ com.getStopBits();
System.out.println(s);
// ===============end=========================
com.setSerialPortParams(
57600, SerialPort.DATABITS_8, SerialPort.STOPBITS_2, SerialPort.PARITY_NONE);
System.out.println(
"Current settings: "
+ com.getBaudRate()
+ " "
+ com.getDataBits()
+ " "
+ com.getParity()
+ " "
+ com.getStopBits());
} catch (UnsupportedCommOperationException e1) {
logger.debug("(Khepera) UnsupportedCommOperation: " + e1);
e1.printStackTrace();
}
// try {
// com.setSerialPortParams(BAUDRATE,
// com.DATABITS_8,
// com.STOPBITS_2,
// com.PARITY_NONE);
// com.setFlowControlMode(com.FLOWCONTROL_NONE);
// } catch (UnsupportedCommOperationException e1) {
// logger.debug("(Khepera) UnsupportedCommOperation: "+e1);
// e1.printStackTrace();
// }
logger.debug("[Khepera.initialize()] established " + comPort);
out = null;
out = com.getOutputStream();
inStream = null;
inStream = com.getInputStream();
byte[] readBuffer2 = new byte[1000];
if (inStream.available() > 0) {
int numBytes2 = inStream.read(readBuffer2);
String result2 = new String(readBuffer2, 0, numBytes2);
logger.debug("result2: " + result2);
}
// in = null;
in = new BufferedReader(new InputStreamReader(inStream));
bufferedKheperaAnswer =
new BufferedKheperaAnswer(logger, inStream, this, writelock, debug, operatingSystem);
try {
com.addEventListener(bufferedKheperaAnswer);
com.notifyOnOutputEmpty(true);
com.notifyOnDataAvailable(true);
com.notifyOnOverrunError(true);
com.notifyOnBreakInterrupt(true);
com.notifyOnCarrierDetect(true);
com.notifyOnCTS(true);
com.notifyOnDSR(true);
com.notifyOnFramingError(true);
com.notifyOnParityError(true);
com.notifyOnRingIndicator(false);
} catch (TooManyListenersException e1) {
logger.debug(
"[Khepera.initialize()] can not add further eventListeners to serialPort object"
+ e);
e1.printStackTrace();
}
} catch (PortInUseException e2) {
logger.debug("[Khepera.initialize()] Port in use: " + e2);
e2.printStackTrace();
} catch (IOException e3) {
logger.debug(
"[Khepera.initialize()] IOException while initialising COMport: <"
+ comPort
+ ">"
+ e);
e3.printStackTrace();
}
break;
}
}
if (com == null)
logger.error(
"[Khepera.initialize()] unable to find specified COMport "
+ comPort
+ ". giving up! (the robot is not connected yet.)");
else {
logger.debug("[Khepera.initialize()] starting bufferedKheperaAnswer.start()");
bufferedKheperaAnswer.start();
if (debug) logger.debug("[Khepera.initialize()] initialize() finished");
update = new KheperaUpdateManager(this, logger, debug);
logger.debug("[Khepera.initialize()] starting KheperaUpdateManager update.start()");
update.start();
}
}