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(); } }
public Enumeration<Object> elements() { return p.elements(); }
@Override public synchronized Enumeration<Object> elements() { // TODO: implement for GridField values too return ctx.elements(); }