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) {
}
}
/**
* 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
private void printPortStatus() {
System.out.println("baud rate: " + port.getBaudRate());
System.out.println("data bits: " + port.getDataBits());
System.out.println("stop bits: " + port.getStopBits());
System.out.println("parity: " + port.getParity());
}
