public synchronized void sendEvent(RobotEvent ev) {
try {
output.write(ev.toStringSend().getBytes()); // write needs a byte array instead of a string
long milli = (long) (1.0 / ((float) serialPort.getBaudRate() / (8.0 * 16.0)) * 1000.0);
long nano =
(long) (1.0 / ((float) serialPort.getBaudRate() / (8.0 * 16.0)) * 1000000000.0)
- milli * 1000000;
Thread.sleep((int) milli, (int) nano);
} catch (Exception e) {
}
}
public String openPort(String portName, String appName) {
// open the port, check ability to set moderators
try {
// get and open the primary port
CommPortIdentifier portID = CommPortIdentifier.getPortIdentifier(portName);
try {
activeSerialPort = (SerialPort) portID.open(appName, 2000); // name of program, msec to wait
} catch (PortInUseException p) {
return handlePortBusy(p, portName, log);
}
// try to set it for communication via SerialDriver
try {
activeSerialPort.setSerialPortParams(
9600, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (gnu.io.UnsupportedCommOperationException e) {
log.error("Cannot set serial parameters on port " + portName + ": " + e.getMessage());
return "Cannot set serial parameters on port " + portName + ": " + e.getMessage();
}
// set RTS high, DTR high
activeSerialPort.setRTS(true); // not connected in some serial ports and adapters
activeSerialPort.setDTR(true); // pin 1 in DIN8; on main connector, this is DTR
// disable flow control; hardware lines used for signaling, XON/XOFF might appear in data
activeSerialPort.setFlowControlMode(0);
activeSerialPort.enableReceiveTimeout(50); // 50 mSec timeout before sending chars
// set timeout
// activeSerialPort.enableReceiveTimeout(1000);
log.debug(
"Serial timeout was observed as: "
+ activeSerialPort.getReceiveTimeout()
+ " "
+ activeSerialPort.isReceiveTimeoutEnabled());
// get and save stream
serialStream = activeSerialPort.getInputStream();
// purge contents, if any
purgeStream(serialStream);
// report status
if (log.isInfoEnabled()) {
log.info(
"Wangrow " + portName + " port opened at " + activeSerialPort.getBaudRate() + " baud");
}
opened = true;
} catch (gnu.io.NoSuchPortException p) {
return handlePortNotFound(p, portName, log);
} catch (Exception ex) {
log.error("Unexpected exception while opening port " + portName + " trace follows: " + ex);
ex.printStackTrace();
return "Unexpected error while opening port " + portName + ": " + ex;
}
return null; // indicates OK return
}
public SerialSettings getSettings() {
return new SerialSettings(
mSerialPort.getBaudRate(),
mSerialPort.getDataBits(),
mSerialPort.getStopBits(),
mSerialPort.getParity(),
mSerialPort.getFlowControlMode());
}
/**
* Sets the connection parameters to the setting in the parameters object. If set fails return the
* parameters object to origional settings and throw exception.
*
* @throws Exception if the configured parameters cannot be set properly on the port.
*/
public void setConnectionParameters() throws Exception {
// Save state of parameters before trying a set.
int oldBaudRate = m_SerialPort.getBaudRate();
int oldDatabits = m_SerialPort.getDataBits();
int oldStopbits = m_SerialPort.getStopBits();
int oldParity = m_SerialPort.getParity();
int oldFlowControl = m_SerialPort.getFlowControlMode();
// Set connection parameters, if set fails return parameters object
// to original state.
try {
m_SerialPort.setSerialPortParams(
m_Parameters.getBaudRate(),
m_Parameters.getDatabits(),
m_Parameters.getStopbits(),
m_Parameters.getParity());
} catch (UnsupportedCommOperationException e) {
m_Parameters.setBaudRate(oldBaudRate);
m_Parameters.setDatabits(oldDatabits);
m_Parameters.setStopbits(oldStopbits);
m_Parameters.setParity(oldParity);
final String errMsg = "Unsupported parameter";
logger.debug(
"{} failed to set up one of [baudRate, dataBits, stopBits, parity]: {}",
errMsg,
e.getMessage());
throw new Exception(errMsg);
}
// Set flow control.
try {
m_SerialPort.setFlowControlMode(
m_Parameters.getFlowControlIn() | m_Parameters.getFlowControlOut());
} catch (UnsupportedCommOperationException e) {
final String errMsg = "Unsupported flow control";
logger.debug("{}: {}", errMsg, e.getMessage());
throw new Exception(errMsg);
}
} // setConnectionParameters
public synchronized String openPort(String portName, String appName) {
// open the port, check ability to set moderators
try {
// get and open the primary port
CommPortIdentifier portID = CommPortIdentifier.getPortIdentifier(portName);
try {
activeSerialPort = (SerialPort) portID.open(appName, 2000); // name of program, msec to wait
} catch (PortInUseException p) {
handlePortBusy(p, portName);
return "Port " + p + " in use already";
}
// try to set it for communication via SerialDriver
try {
// Doc says 7 bits, but 8 seems needed
activeSerialPort.setSerialPortParams(
38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (gnu.io.UnsupportedCommOperationException e) {
log.error("Cannot set serial parameters on port " + portName + ": " + e.getMessage());
return "Cannot set serial parameters on port " + portName + ": " + e.getMessage();
}
// set RTS high, DTR high
activeSerialPort.setRTS(true); // not connected in some serial ports and adapters
activeSerialPort.setDTR(true); // pin 1 in DIN8; on main connector, this is DTR
// disable flow control; hardware lines used for signaling, XON/XOFF might appear in data
activeSerialPort.setFlowControlMode(0);
// set timeout
log.debug(
"Serial timeout was observed as: "
+ activeSerialPort.getReceiveTimeout()
+ " "
+ activeSerialPort.isReceiveTimeoutEnabled());
// get and save stream
serialStream = new DataInputStream(activeSerialPort.getInputStream());
ostream = activeSerialPort.getOutputStream();
// make less verbose
sendBytes(new byte[] {(byte) 'L', (byte) '-', 10, 13});
// purge contents, if any
int count = serialStream.available();
log.debug("input stream shows " + count + " bytes available");
while (count > 0) {
serialStream.skip(count);
count = serialStream.available();
}
// report status?
if (log.isInfoEnabled()) {
log.info(
portName
+ " port opened at "
+ activeSerialPort.getBaudRate()
+ " baud, sees "
+ " DTR: "
+ activeSerialPort.isDTR()
+ " RTS: "
+ activeSerialPort.isRTS()
+ " DSR: "
+ activeSerialPort.isDSR()
+ " CTS: "
+ activeSerialPort.isCTS()
+ " CD: "
+ activeSerialPort.isCD());
}
} catch (java.io.IOException ex) {
log.error("IO error while opening port " + portName, ex);
return "IO error while opening port " + portName + ": " + ex;
} catch (gnu.io.UnsupportedCommOperationException ex) {
log.error("Unsupported communications operation while opening port " + portName, ex);
return "Unsupported communications operation while opening port " + portName + ": " + ex;
} catch (gnu.io.NoSuchPortException ex) {
log.error("No such port: " + portName, ex);
return "No such port: " + portName + ": " + ex;
}
return null; // indicates OK return
}