Server() throws IOException {
if (useSerial) {
ServerThread.initSerial();
ServerThread.writeSerial(true);
try {
Thread.sleep(200);
} catch (InterruptedException e1) {
}
ServerThread.writeSerial(true);
try {
Thread.sleep(200);
} catch (InterruptedException e1) {
}
ServerThread.writeSerial(true);
}
int port = 10055;
ServerSocket serverSocket = null;
try {
serverSocket = new ServerSocket(port);
System.out.println("Soccer robots server active on port " + port + ".");
} catch (IOException e) {
System.err.println("Could not listen on port: " + port + ".");
System.exit(-1);
}
while (true) {
ServerThread tmp = new ServerThread(serverSocket.accept());
threads.add(tmp);
}
}
public TestSer(String port) {
try {
portId = CommPortIdentifier.getPortIdentifier(port);
serialPort = (SerialPort) portId.open("TestSer", 2000);
is = serialPort.getInputStream();
os = serialPort.getOutputStream();
/*
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
*/
serialPort.setSerialPortParams(
115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
serialPort.setFlowControlMode(
SerialPort.FLOWCONTROL_RTSCTS_OUT | SerialPort.FLOWCONTROL_RTSCTS_IN);
serialPort.enableReceiveTimeout(TIMEOUT);
// serialPort.enableReceiveThreshold(4);
} catch (Exception e) {
System.out.println(e.getMessage());
System.exit(-1);
}
}
public static Serial open(String defaultPort) {
boolean portFound = false;
final int mComPortIdentifier = CommPortIdentifier.PORT_SERIAL;
final Enumeration portList = CommPortIdentifier.getPortIdentifiers();
final int BAUD = 115200;
while (portList.hasMoreElements()) {
final CommPortIdentifier portId = (CommPortIdentifier) portList.nextElement();
System.out.println("Found port id: " + portId);
if (portId.getPortType() == mComPortIdentifier) {
System.out.println("Found CommPortIdentifier.");
if (portId.getName().equals(defaultPort)) {
System.out.println("Found port " + defaultPort);
SerialPort serialPort;
OutputStream outputStream = null;
try {
serialPort = (SerialPort) portId.open("SimpleWrite", 2000);
} catch (PortInUseException e) {
System.out.println("Port in use.");
continue;
}
try {
outputStream = serialPort.getOutputStream();
} catch (IOException e) {
e.printStackTrace();
}
try {
serialPort.setSerialPortParams(
BAUD, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
} catch (UnsupportedCommOperationException e) {
e.printStackTrace();
}
try {
serialPort.notifyOnOutputEmpty(true);
} catch (Exception e) {
System.out.println("Error setting event notification");
System.out.println(e.toString());
System.exit(-1);
}
return new Serial(serialPort, outputStream);
}
}
}
if (!portFound) {
System.out.println("port " + defaultPort + " not found.");
}
return null;
}
public static void main(String[] args) {
if (args.length != 1) {
System.out.println("usage java TestSer port");
System.exit(-1);
}
TestSer ts = new TestSer(args[0]);
byte[] buf = new byte[256];
ts.start();
start = System.currentTimeMillis();
new Thread() {
public void run() {
for (; ; ) {
try {
Thread.sleep(1000);
} catch (Exception e) {
}
long i = cntRcv;
long t = System.currentTimeMillis() - start;
if (t != 0) {
System.out.print(
(cntSend / 1024)
+ " KB sent "
+ (i / 1024)
+ " KB received "
+ (cntSend / 1024 * 1000 / t)
+ " KB/s "
+ (i / 1024 * 1000 / t)
+ " KB/s \r");
}
}
}
}.start();
for (; ; ) {
try {
os.write(buf);
} catch (Exception e) {
System.out.println(e);
}
cntSend += buf.length;
}
}
// The user has done something. respond to it.
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == buttonZoomIn) {
previewPane.ZoomIn();
return;
}
if (subject == buttonZoomOut) {
previewPane.ZoomOut();
return;
}
if (subject == buttonOpenFile) {
OpenFileDialog();
return;
}
if (subject == buttonStart) {
if (fileOpened) {
paused = false;
running = true;
UpdateMenuBar();
linesProcessed = 0;
previewPane.setRunning(running);
previewPane.setLinesProcessed(linesProcessed);
statusBar.Start();
SendFileCommand();
}
return;
}
if (subject == buttonPause) {
if (running) {
if (paused == true) {
buttonPause.setText("Pause");
paused = false;
// @TODO: if the robot is not ready to unpause, this might fail and the program would
// appear to hang.
SendFileCommand();
} else {
buttonPause.setText("Unpause");
paused = true;
}
}
return;
}
if (subject == buttonDrive) {
Drive();
return;
}
if (subject == buttonHalt) {
Halt();
return;
}
if (subject == buttonRescan) {
ListSerialPorts();
UpdateMenuBar();
return;
}
if (subject == buttonConfig) {
UpdateConfig();
return;
}
if (subject == buttonJogMotors) {
JogMotors();
return;
}
if (subject == buttonAbout) {
JOptionPane.showMessageDialog(
null,
"Created by Dan Royer ([email protected]).\n\n"
+ "Find out more at http://www.marginallyclever.com/\n"
+ "Get the latest version and read the documentation online @ http://github.com/i-make-robots/DrawBot/");
return;
}
if (subject == buttonCheckForUpdate) {
CheckForUpdate();
return;
}
if (subject == buttonExit) {
System.exit(0); // @TODO: be more graceful?
return;
}
int i;
for (i = 0; i < 10; ++i) {
if (subject == buttonRecent[i]) {
OpenFileOnDemand(recentFiles[i]);
return;
}
}
for (i = 0; i < portsDetected.length; ++i) {
if (subject == buttonPorts[i]) {
OpenPort(portsDetected[i]);
return;
}
}
}
