added stuff

1 files changed, 173 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/DriveRealTime.java b/roombacomm-client/src/com/hackingroomba/roombacomm/DriveRealTime.java
new file mode 100644
index 0000000..b52fcf8
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/DriveRealTime.java
@@ -0,0 +1,173 @@
+/*
+ * roombacomm.Drive -- test out the DRIVE command
+ *
+ *  Copyright (c) 2006 Tod E. Kurt, tod@todbot.com, ThingM
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 2.1 of the License, or (at your option) any later version.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General
+ *  Public License along with this library; if not, write to the
+ *  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+ *  Boston, MA  02111-1307  USA
+ *
+ */
+
+package com.hackingroomba.roombacomm;
+
+import javax.swing.*;
+import java.awt.*;
+import java.awt.event.*;
+
+
+/**
+   Drive the Roomba with the arrow keys in real-time
+  <p>
+   Run it with something like: <pre>
+    java roombacomm.DriveRealTime /dev/cu.KeySerial1<br>
+   Usage: 
+   roombacomm.DriveRealTime serialportname [protocol] [options]<br>
+   where: 
+   protocol (optional) is SCI or OI 
+   [options] can be one or more of:
+   -debug       -- turn on debug output
+   -hwhandshake -- use hardware-handshaking, for Windows Bluetooth
+   -nohwhandshake -- don't use hardware-handshaking
+   </pre>
+*/ 
+public class DriveRealTime extends JFrame implements KeyListener {
+
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.DriveRealTime <serialportname> [protocol] [options] \n" +
+        "where: protocol (optional) is SCI or OI\n" +
+        "[options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        " -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
+        "-nohwhandshake -- don't use hardware-handshaking\n"+
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+    
+    RoombaCommSerial roombacomm;
+    JTextArea displayText;
+
+    public static void main(String[] args) {
+        if( args.length < 1 ) {
+            System.out.println( usage );
+            System.exit(0);
+        }
+        new DriveRealTime(args);
+    }
+    
+    public DriveRealTime(String[] args) {
+        super("DriveRealTime");
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        
+        String portname = args[0];
+        roombacomm = new RoombaCommSerial();
+        for( int i=1; i < args.length; i++ ) {
+        	if (args[i].equals("SCI") || (args[i].equals("OI"))) {
+        		roombacomm.setProtocol(args[i]);
+        	} else if( args[i].endsWith("debug") )
+                debug = true;
+            else if( args[i].endsWith("nohwhandshake") )
+                roombacomm.setWaitForDSR(false);
+            else if( args[i].endsWith("hwhandshake") )
+                roombacomm.setWaitForDSR(true);
+        }
+
+        roombacomm.debug = debug;
+
+        if( ! roombacomm.connect( portname ) ) {
+            System.out.println("Couldn't connect to "+portname);
+            System.exit(1);
+        }      
+        
+        System.out.println("Roomba startup");
+        roombacomm.startup();
+        roombacomm.control();
+        roombacomm.pause(50);
+
+        setupWindow();
+
+        updateDisplay("click on this window\nthen use arrow keys to drive Roomba around.\n");
+    }
+
+    /** Handle the key pressed event from the text field. */
+    public void keyPressed(KeyEvent e) {
+        int keyCode = e.getKeyCode();
+        if(      keyCode == KeyEvent.VK_SPACE ) {
+            updateDisplay("stop");
+            roombacomm.stop();
+        }
+        else if( keyCode == KeyEvent.VK_UP ) {
+            updateDisplay("forward");
+            roombacomm.goForward();
+        }
+        else if( keyCode == KeyEvent.VK_DOWN ) {
+            updateDisplay("backward");
+            roombacomm.goBackward();
+        }
+        else if( keyCode == KeyEvent.VK_LEFT ) {
+            updateDisplay("spinleft");
+            roombacomm.spinLeft();
+        }
+        else if( keyCode == KeyEvent.VK_RIGHT ) {
+            updateDisplay("spinright");
+            roombacomm.spinRight();
+        }
+        else if( keyCode == KeyEvent.VK_COMMA ) {
+            updateDisplay("speed down");
+            roombacomm.setSpeed( roombacomm.getSpeed() - 50 );
+        }
+        else if( keyCode == KeyEvent.VK_PERIOD ) {
+            updateDisplay("speed up");
+            roombacomm.setSpeed( roombacomm.getSpeed() + 50 );
+        }
+        else if( keyCode == KeyEvent.VK_R ) {
+            updateDisplay("reset");
+            roombacomm.reset();
+            roombacomm.control();
+        }
+    }
+
+    /** Handle the key released event from the text field. */
+    public void keyReleased(KeyEvent e) {
+    }
+
+    /** Handle the key typed event from the text field. */
+    public void keyTyped(KeyEvent e) {
+    }
+
+    /** a sort of gui equivalent to system.out.println */
+    public void updateDisplay( String s ) {
+        displayText.append( s+"\n" );
+        displayText.setCaretPosition(displayText.getDocument().getLength());
+    }
+    
+    /**
+     */
+    public void setupWindow() {
+        displayText = new JTextArea(20,30);
+        displayText.setLineWrap(true);
+        displayText.setEditable(false);
+        displayText.addKeyListener(this);
+        JScrollPane scrollPane = new JScrollPane(displayText, 
+                            JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
+                            JScrollPane.HORIZONTAL_SCROLLBAR_NEVER );
+        Container content = getContentPane();
+        content.add( scrollPane, BorderLayout.CENTER );
+        addKeyListener(this);
+        pack();
+        setResizable(false);
+        setVisible(true);
+    }
+}