getting ready to test first version of BetterRoomba

1 files changed, 80 insertions, 5 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/BetterRoomba.java b/roombacomm-client/src/com/hackingroomba/roombacomm/BetterRoomba.java
index 54ea19d..c9bad04 100644
--- a/roombacomm-client/src/com/hackingroomba/roombacomm/BetterRoomba.java
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/BetterRoomba.java
@@ -1,14 +1,38 @@
 package com.hackingroomba.roombacomm;
 
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.util.Enumeration;
+
+import gnu.io.CommPortIdentifier;
+import gnu.io.SerialPort;
 import gnu.io.SerialPortEvent;
 import gnu.io.SerialPortEventListener;
 
 public class BetterRoomba implements SerialPortEventListener {
 	
-	private static int RATE = 115200;
+	private static final String PORT = "/dev/ttyUSB0";
+	private static final int TIMEOUT = 2000;
+	
+	private static final int RATE = 115200;
+	private static final int DATABITS = 8;
+	private static final int PARITY = SerialPort.PARITY_NONE;
+	private static final int STOPBITS = SerialPort.STOPBITS_1;
 	
-	public static void main(String[] args) {
+	private SerialPort serialPort;
+	private InputStream input;
+	private OutputStream output;
+	
+	public static void main(String[] args) throws Exception {
 		System.out.println("Starting...");
+		BetterRoomba br = new BetterRoomba();
+		
+		br.startup();
+		br.send(new byte[] {(byte) 136, (byte) 8});
+		Thread.sleep(5000);
+		br.send(new byte[] {(byte) 136, (byte) 255});
+		br.shutdown();
+		
 		System.out.println("-END-");
 	}
 	
@@ -17,8 +41,59 @@ public class BetterRoomba implements SerialPortEventListener {
 		// do smthng with e
 	}
 	
-	public void startup() {
-		
+	public void startup() throws Exception {
+		serialConnect();
+	}
+	
+	public void shutdown() throws Exception {
+		try {
+            if (input != null)
+            	input.close();
+            if (output != null) 
+            	output.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    
+        try {
+            if (serialPort != null)
+            	serialPort.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+	}
+	
+	private void send(byte[] arr) throws Exception {
+		output.write(arr);
+	}
+	
+	private void serialConnect() throws Exception {
+		try {
+			Enumeration portList = CommPortIdentifier.getPortIdentifiers();
+	        while (portList.hasMoreElements()) {
+	            CommPortIdentifier portId = (CommPortIdentifier) portList.nextElement();
+	            
+	            if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
+	                System.out.println("Found " + portId.getName());
+	                
+	                if (portId.getName().equals(PORT)) {
+	                	System.out.println("Opening port: "+ portId.getName());
+	                    serialPort = (SerialPort) portId.open("roomba serial", TIMEOUT);
+	                    
+	                    input  = serialPort.getInputStream();
+	                    output = serialPort.getOutputStream();
+	                    
+	                    serialPort.setSerialPortParams(RATE, DATABITS, STOPBITS, PARITY);
+	                    serialPort.addEventListener(this);
+	                    serialPort.notifyOnDataAvailable(true);
+	                    
+	                    System.out.println("Port opened successfully");
+	                }
+	            }
+	        }
+	    } catch (Exception e) {
+	        System.out.println(e.getMessage());
+	        throw e;
+	    }
 	}
-
 }