/**
* Ecriture sur le lien s�rie
*
* @param b
*/
@Override
public void write(final byte b[]) {
final String s = new String(b);
try {
final PrintWriter outputStream = new PrintWriter(serialPort.getOutputStream());
outputStream.write(s);
outputStream.close();
} catch (final Exception e) {
logger.error("Error while writing on serial port", e);
}
}
public static void main(String args[]) {
Display display = IntelliBrain.getLcdDisplay();
IBB ibb = new IBB();
try {
SerialPort comPort = IntelliBrain.getCom1();
// Serial Parameters
comPort.setSerialPortParams(
38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
InputStream inputStream = comPort.getInputStream();
OutputStream outputStream = comPort.getOutputStream();
// clear screen
display.print(0, "");
display.print(1, "");
// test the readLine routine
byte[] buf = new byte[128];
while (true) {
int len = readLine(inputStream, outputStream, display, true, buf, 128);
if (len == 0) continue;
switch (buf[0]) {
case 'B':
ibb.getVersion(outputStream, buf, len);
break;
case 'D':
ibb.setSpeed(outputStream, buf, len);
break;
case 'H':
ibb.sysBeep(outputStream, buf, len);
break;
case 'L':
ibb.setLedState(outputStream, buf, len);
break;
case 'N':
ibb.readProximitySensors(outputStream, buf, len);
break;
case 'O':
ibb.readLightSensors(outputStream, buf, len);
break;
case 'Z':
ibb.motorsOff(outputStream, buf, len);
break;
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
/*! This method initializes the input and output stream member
variables. It throws an exception if the COM port identifier
is not found.
*/
private void initSerial() throws Exception {
CommPortIdentifier portId =
CommPortIdentifier.getPortIdentifier(
comPort); // get the port ID for the port name received through command line
if (portId == null) {
throw new NullPointerException("no com port identifier");
}
serPort = (SerialPort) portId.open("Shake", 5000); // open the serial Port
outStream = serPort.getOutputStream(); // get output stream to the serial port
inStream = serPort.getInputStream(); // get input stram to the serial port
inBufReader = new BufferedReader(new InputStreamReader(inStream));
}
public void write(byte[] data) {
try {
os = port.getOutputStream();
} catch (IOException e) {
System.err.println("IOException: " + e);
}
try {
os.write(data);
} catch (IOException e) {
System.err.println("IOException: " + e);
}
}
public void open()
throws NoSuchPortException, PortInUseException, IOException,
UnsupportedCommOperationException {
portId = CommPortIdentifier.getPortIdentifier(portName);
port = (SerialPort) portId.open(CLASS_NAME, 0);
in = port.getInputStream();
out = port.getOutputStream();
port.setFlowControlMode(SerialPort.FLOWCONTROL_RTSCTS_IN);
port.setFlowControlMode(SerialPort.FLOWCONTROL_RTSCTS_OUT);
printPortStatus();
port.setSerialPortParams(
19200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
printPortStatus();
}
public void connection() {
try {
portId = CommPortIdentifier.getPortIdentifier("COM10");
sPort = (SerialPort) portId.open("COM10", 1000);
sPort.setSerialPortParams(9600, 8, 1, sPort.PARITY_NONE);
is = sPort.getInputStream();
os = sPort.getOutputStream();
dis = new DataInputStream(is);
dos = new DataOutputStream(os);
} catch (NoSuchPortException e) {
System.out.println("No Port\n" + e);
} catch (PortInUseException e) {
System.out.println("Port\n" + e);
} catch (UnsupportedCommOperationException e) {
System.out.println("Unsupported Problem\n" + e);
} catch (IOException e) {
System.out.println("IO Problem" + e);
} catch (Exception e) {
System.out.println("Unknown Problem" + e);
}
}
public static void main(String args[]) {
// Command to turn of GPS
int[] turn_off = new int[8];
turn_off[0] = DLE;
turn_off[1] = Pid_Command_Packet;
turn_off[2] = 2; // Length of data
turn_off[3] = Cmnd_Turn_Off_Pwr;
turn_off[4] = 0;
turn_off[6] = DLE;
turn_off[7] = ETX;
calcChecksum(turn_off);
System.out.println("Turn off checksum: " + turn_off[5]);
// Command to ask GPS for time data.
int[] transfer_time = new int[8];
transfer_time[0] = DLE;
transfer_time[1] = Pid_Command_Packet;
transfer_time[2] = 2;
transfer_time[3] = Cmnd_Transfer_Time;
transfer_time[4] = 0;
transfer_time[6] = DLE;
transfer_time[7] = ETX;
calcChecksum(transfer_time);
System.out.println("Transfer time" + transfer_time[5]);
// Command to make a product request to the GPS.
int[] product_request = new int[6];
product_request[0] = DLE;
product_request[1] = Pid_Product_Rqst;
product_request[2] = 0;
product_request[4] = DLE;
product_request[5] = ETX;
calcChecksum(product_request);
System.out.println("Product request:" + product_request[5]);
// Command to ask GPS for position data
int[] transfer_position = new int[8];
transfer_position[0] = DLE;
transfer_position[1] = Pid_Command_Packet;
transfer_position[2] = 2;
transfer_position[3] = Cmnd_Transfer_Posn;
transfer_position[4] = 0;
transfer_position[6] = DLE;
transfer_position[7] = ETX;
calcChecksum(transfer_position);
// Command to ask the GPS to start transmitting PVT data
int[] start_PVT = new int[8];
start_PVT[0] = DLE;
start_PVT[1] = Pid_Command_Packet;
start_PVT[2] = 2;
start_PVT[3] = Cmnd_Start_Pvt_Data;
start_PVT[4] = 0;
start_PVT[6] = DLE;
start_PVT[7] = ETX;
calcChecksum(start_PVT);
// Acknowledge-packet.
int[] ack = new int[8];
ack[0] = DLE;
ack[1] = Pid_Ack_Byte;
ack[2] = 2;
ack[4] = 0;
ack[6] = DLE;
ack[7] = ETX;
SerialPort port;
BufferedInputStream input;
BufferedOutputStream output;
System.out.println("Using COM1.");
// Open port.
try {
port =
(SerialPort) CommPortIdentifier.getPortIdentifier("COM1").open("dk.itu.haas.GPS", 3000);
} catch (NoSuchPortException e) {
System.out.println("No such port!\n" + e.getMessage());
return;
} catch (PortInUseException e) {
System.out.println("Port already in use! (??!)\n" + e.getMessage());
return;
}
try {
input = new BufferedInputStream(port.getInputStream());
output = new BufferedOutputStream(port.getOutputStream());
} catch (IOException e) {
System.out.println("IOException... ");
return;
}
System.out.println("Sending:");
printPacket(turn_off);
sendPacket(output, turn_off);
/*
printPacket(transfer_position);
sendPacket(output, transfer_position);
*/
/*
printPacket(start_PVT);
sendPacket(output, start_PVT);
*/
/*
printPacket(product_request);
sendPacket(output, product_request);
*/
System.out.println("--");
int[] packet;
try {
Thread.sleep(500);
} catch (InterruptedException e) {
}
try {
while (input.available() > 0) {
packet = readPacket(input);
if (packet != null) {
System.out.println("Received:");
printPacket(packet);
// Send acknowledge.
ack[3] = packet[1];
calcChecksum(ack);
sendPacket(output, ack);
System.out.println("--");
} else {
System.out.println("No packet received.");
}
try {
Thread.sleep(5000);
} catch (InterruptedException e) {
}
}
} catch (IOException e) {
System.out.println("IOError!");
return;
}
}
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();
}
}
