/** {@inheritDoc} */
public String RPC(String Name, String Method, String[] Args) {
// write to serial port and receive result
String Response;
String Arguments = "";
if (Args != null) {
int s = Args.length;
for (int i = 0; i < s; i++) {
Arguments = Arguments + " " + Args[i];
}
}
try {
to_mbed.println("/" + Name + "/" + Method + Arguments);
mbedSerialPort.notifyOnDataAvailable(false);
} catch (NullPointerException e) {
}
boolean valid = true;
try {
while (reader.ready() == false) {}
;
do {
Response = reader.readLine();
if (Response.length() >= 1) {
valid = Response.charAt(0) != '!';
}
} while (valid == false);
} catch (IOException e) {
System.err.println("IOException, error reading from port");
Response = "error";
}
mbedSerialPort.notifyOnDataAvailable(true);
return (Response);
}
/**
* This creates an mbed object for an mbed connected over Serial. <br>
* Using this class requires the Sun Communications API to be installed
*
* @param PortName The Serial Port mbed is connected to eg "COM5" on Windows.
* @param Baud The baud rate
*/
public SerialRPC(String PortName, int Baud) {
// open serial port
try {
mbedPortID = CommPortIdentifier.getPortIdentifier(PortName);
mbedPort = mbedPortID.open("mbed", 100000);
mbedSerialPort = (SerialPort) mbedPort;
mbedSerialPort.setSerialPortParams(
Baud, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
inputStream = new DataInputStream(mbedPort.getInputStream());
outputStream = new PrintStream(mbedPort.getOutputStream(), true);
reader = new BufferedReader(new InputStreamReader(inputStream));
to_mbed = new PrintWriter(outputStream, true);
mbedSerialPort.addEventListener(this);
// Important to set this regardless of whether interrupts are in use to keep the buffer clear
mbedSerialPort.notifyOnDataAvailable(true);
} catch (TooManyListenersException e) {
// Error adding event listener
System.out.println("Too many Event Listeners");
} catch (NoSuchPortException e) {
System.out.println("No Such Port");
} catch (PortInUseException e) {
System.out.println("Port Already In Use");
} catch (UnsupportedCommOperationException e) {
System.out.println("Unsupported Comm Operation");
} catch (IOException e) {
System.out.println("Serial Port IOException");
}
}
public SimpleRead() {
try {
/*
* open方法打开通讯端口
* ，
* 获得一个CommPort对象
* 。
* 它使程序独占端口
* 。
* 如果端口正被其他应用程序占用
* ，将使用
* CommPortOwnershipListener事件机制
* ，
* 传递一个PORT_OWNERSHIP_REQUESTED事件
* 。
* 每个端口都关联一个
* InputStream
* 何一个OutputStream
* 。
* 如果端口是用open方法打开的
* ，
* 那么任何的getInputStream都将返回相同的数据流对象
* ，
* 除非有close
* 被调用
* 。有两个参数
* ，
* 第一个为应用程序名
* ；
* 第二个参数是在端口打开时阻塞等待的毫秒数
* 。
*/
serialPort = (SerialPort) portId.open("packinglinesmanage", 2000);
} catch (PortInUseException e) {
}
try {
inputStream = serialPort.getInputStream(); /* 获取端口的输入流对象 */
} catch (IOException e) {
}
try {
serialPort.addEventListener(this); /* 注册一个SerialPortEventListener事件来监听串口事件 */
} catch (TooManyListenersException e) {
}
serialPort.notifyOnDataAvailable(true); /* 数据可用 */
try {
serialPort.setSerialPortParams(
9600, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE); /*
* 设置串口初始化参数，
* 依次是波特率
* ，数据位
* ，停止位和校验
*/
} catch (UnsupportedCommOperationException e) {
}
readThread = new Thread(this);
readThread.start();
}
@Override
public void open() {
// r�cup�ration de l'identifiant du port
try {
logger.info("Liste des ports : " + CommPortIdentifier.getPortIdentifiers());
final Enumeration identifiers = CommPortIdentifier.getPortIdentifiers();
while (identifiers.hasMoreElements()) {
logger.info(((CommPortIdentifier) identifiers.nextElement()).getName());
}
portId = CommPortIdentifier.getPortIdentifier(connectionDescriptor.getPortName());
} catch (final NoSuchPortException e) {
throw new RuntimeException(
"Rs232Connector (" + connectionDescriptor.getPortName() + ") : " + e.toString());
}
// ouverture du port
try {
serialPort = (SerialPort) portId.open("driver", 2000);
} catch (final PortInUseException e) {
throw new RuntimeException(
"Rs232Connector (" + connectionDescriptor.getPortName() + ") : " + e.toString());
}
// param�trage du port
// hmmmmmmmmmmmm cf :
// http://forum.java.sun.com/thread.jspa?threadID=673793&start=15&tstart=0
boolean result = false;
while (!result) {
try {
serialPort.setSerialPortParams(
connectionDescriptor.getBaudRate(),
connectionDescriptor.getDataBits(),
connectionDescriptor.getStopBits(),
connectionDescriptor.getParity());
result = true;
} catch (final Exception ex) {
logger.error("Unable to set serial ports parameters", ex);
result = false;
try {
Thread.sleep(200);
} catch (final InterruptedException exc) {
logger.error("Error while sleeping", exc);
}
}
}
/** @todo : test */
// Suppression
try {
serialPort.enableReceiveTimeout(5000); // timeout de 1 ms
} catch (final UnsupportedCommOperationException ex) {
logger.warn(
"Warning : impossible to set timeout for port " + connectionDescriptor.getPortName(), ex);
}
try {
// inputStream = new BufferedReader(new
// InputStreamReader(serialPort.getInputStream()));
inputStream = serialPort.getInputStream();
} catch (final IOException e) {
serialPort.close();
throw new RuntimeException(
"Rs232Connector (" + connectionDescriptor.getPortName() + ") : " + e.toString());
}
try {
serialPort.addEventListener(
new SerialPortEventListener() {
@Override
public void serialEvent(final SerialPortEvent evt) {
if (evt.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
synchronized (bufferMonitor) {
if (writeIndex >= BUFFER_LENGTH - 1) {
flushBuffer();
}
try {
byte newData = 0;
while (newData != -1) {
newData = (byte) inputStream.read();
if (newData == -1) {
break;
}
if (writeIndex >= BUFFER_LENGTH - 1) {
flushBuffer();
}
buffer[writeIndex++] = newData;
}
} catch (final Exception exc) {
logger.error("Error reading input stream from serial port", exc);
}
bufferMonitor.notify();
}
}
}
});
serialPort.notifyOnDataAvailable(true);
serialPort.enableReceiveTimeout(20);
} catch (final TooManyListenersException exc) {
logger.error("", exc);
} catch (final UnsupportedCommOperationException exc) {
logger.error("", exc);
}
final Thread threadParse =
new Thread("Rs232Connector_" + connectionDescriptor.getPortName() + "_dispatch_thread") {
@Override
public void run() {
try {
parseThread();
} catch (final Exception e) {
logger.error("Error while parsing thread", e);
}
}
};
threadParse.start();
}
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();
}
}
