public void serialEvent(SerialPortEvent e) {
// Determine type of event.
switch (e.getEventType()) {
case SerialPortEvent.BI:
case SerialPortEvent.OE:
case SerialPortEvent.FE:
case SerialPortEvent.PE:
case SerialPortEvent.CD:
case SerialPortEvent.CTS:
case SerialPortEvent.DSR:
case SerialPortEvent.RI:
case SerialPortEvent.OUTPUT_BUFFER_EMPTY:
break;
case SerialPortEvent.DATA_AVAILABLE:
try {
while (m_in.available() > 0) {
int b = m_in.read();
if (b == 0x000D) { // CR ASCII
// Fin de lectura
synchronized (this) {
m_iStatusScale = SCALE_READY;
notifyAll();
}
} else if ((b > 0x002F && b < 0x003A) || b == 0x002E) {
synchronized (this) {
if (m_iStatusScale == SCALE_READY) {
m_dWeightBuffer = 0.0; // se supone que esto debe estar ya garantizado
m_dWeightDecimals = 1.0;
m_iStatusScale = SCALE_READING;
}
if (b == 0x002E) {
m_iStatusScale = SCALE_READINGDECIMALS;
} else {
m_dWeightBuffer = m_dWeightBuffer * 10.0 + b - 0x0030;
if (m_iStatusScale == SCALE_READINGDECIMALS) {
m_dWeightDecimals *= 10.0;
}
}
}
} else {
// caracteres invalidos, reseteamos.
m_dWeightBuffer = 0.0; // se supone que esto debe estar ya garantizado
m_dWeightDecimals = 1.0;
m_iStatusScale = SCALE_READY;
}
}
} catch (IOException eIO) {
}
break;
}
}
/*
* Read a single pair of (X,Y) values from the ADXL202EVB board.
* TODO: Better return value, or declare as throwing exception for errs
*/
public static double[] chipRead() {
double[] retval = {0.0, 0.0};
byte[] rawBuf = {0, 0, 0, 0};
int[] vals = {0, 0};
try {
// Read is triggered by sending 'G' to board
outputStream.write('G');
// Wait for all 4 result bytes to arrive
// TODO: Finite wait w/error return if data never arrives
while (inputStream.available() < 4) {
Thread.sleep(1);
}
inputStream.read(rawBuf, 0, 4);
// Convert from raw bytes to 16-bit signed integers, carefully
Byte bTmp = new Byte(rawBuf[0]);
vals[0] = bTmp.intValue() * 256;
bTmp = new Byte(rawBuf[1]);
vals[0] += bTmp.intValue();
bTmp = new Byte(rawBuf[2]);
vals[1] = bTmp.intValue() * 256;
bTmp = new Byte(rawBuf[3]);
vals[1] += bTmp.intValue();
// See ADXL202EVB specs for details on conversion
retval[0] = (((vals[0] / 100.0) - 50.0) / 12.5);
retval[1] = (((vals[1] / 100.0) - 50.0) / 12.5);
System.out.println("X: " + retval[0] + " Y: " + retval[1]);
} catch (Exception ioe) {
System.out.println("Error on data transmission");
}
return (retval);
}
public synchronized void serialEvent(SerialPortEvent oEvent) {
if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
try {
int available = input.available();
if (count < BUF_SIZE) {
count =
count
+ input.read(
buf, count, (available > BUF_SIZE - count) ? BUF_SIZE - count : available);
}
start = newline;
for (int i = newline; i <= count; i++) {
if (buf[i] == 'U' || buf[i] == '$') { // start byte
start = i;
break;
}
}
for (int i = start; i <= count; i++) {
if (buf[i] == '\n') { // end byte
newline = i;
break;
}
}
if (newline <= start) {
if (count == BUF_SIZE) { // buf full an no valid datagram found, clear the buffer
// need to copy the stuff after the start byte to the beginning
if ((count - start) <= 128) {
System.arraycopy(buf, start, buf, 0, count - start);
count = count - start;
start = 0;
newline = 0;
} else { // buf full and last start byte is more than max packet size clear all of the
// buffer
count = 0; // no need to copy since the buf is grabage
start = 0;
newline = 0;
}
}
return;
}
if (buf[start] == '$') {
buf[newline] = '\0';
System.out.println(new String(buf, start + 1, newline - start));
}
// found valid datagram
// parse datagram comma delimited
buf[newline] = ',';
String newbuf = new String(buf, start, newline - start);
StringTokenizer st = new StringTokenizer(newbuf, ",");
int[] data = new int[5];
int i = 0;
while (st.hasMoreElements() && i < 5) {
String temp = st.nextToken();
try {
data[i] = Integer.parseInt(temp, 16);
} catch (NumberFormatException e) {
}
i++;
}
RobotEvent ev = new RobotEvent();
int checksum;
ev.setCommand(EventEnum.getEvent(data[1]));
ev.setIndex((short) data[2]);
ev.setValue((int) data[3]);
checksum = data[4];
int checksum2 =
(int)
(((int) (ev.getCommand().getValue() & 0x000000FF)
+ (int) (ev.getIndex() & 0x000000FF)
+ (int) (ev.getValue() & 0x000000FF)
+ (int) ((ev.getValue() & 0x0000FF00) >> 8))
% 256);
if (checksum2 == checksum) {
// log event received
recv.put(ev);
}
} catch (Exception e) {
}
}
}