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) {
}
}
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) {
}
}
}