diff options
| author | Ido Hadanny <ido.hadanny@gmail.com> | 2011-09-22 21:30:13 +0300 |
|---|---|---|
| committer | Ido Hadanny <ido.hadanny@gmail.com> | 2011-09-22 21:30:13 +0300 |
| commit | 53b947df484159f5934898ba6c0aa69a9c869007 (patch) | |
| tree | 189d5903a67765c390de8f1e3423e6b80cde57d1 /roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java | |
| parent | 654ca6d59e99b5e72b05dfb917bc5888c4ba6b1b (diff) | |
added stuff
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java | 240 |
1 files changed, 240 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java b/roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java new file mode 100644 index 0000000..f38e736 --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/RoboRealmTest.java @@ -0,0 +1,240 @@ +package com.hackingroomba.roombacomm;
+
+import java.awt.*;
+import java.net.*;
+import java.util.*;
+import java.awt.image.*;
+import java.io.*;
+import java.net.URL;
+
+public class RoboRealmTest
+{
+ public static void sendImage(RoboRealmAPI rr, Image img)
+ {
+ int width = img.getWidth(null);
+ int height = img.getHeight(null);
+
+ // create your own copy of the data in case the parent goes away ...
+ int pixelInt[] = new int[width*height];
+ byte pixelByte[] = new byte[width*height*3];
+
+ // Get the image data
+ PixelGrabber grabber = new PixelGrabber(img, 0, 0, width, height, pixelInt, 0, width);
+
+ try
+ {
+ grabber.grabPixels();
+
+ int i,j;
+
+ for (j=i=0;i<width*height;)
+ {
+ int num = pixelInt[i++];
+ pixelByte[j++] = (byte)(num&255);
+ pixelByte[j++] = (byte)((num>>8)&255);
+ pixelByte[j++] = (byte)((num>>16)&255);
+ }
+
+ // send image to RR
+ rr.setImage(pixelByte, width, height);
+ }
+ catch (Exception e)
+ {
+ };
+ }
+
+
+ // This is where the program first starts
+ public static void main(String[] args)
+ {
+ byte image[] = new byte[1280*960];
+ RoboRealmAPI rr = new RoboRealmAPI();
+
+ if (!rr.connect("localhost"))
+ {
+ System.out.println("Could not connect to RoboRealm on localhost!");
+ return;
+ }
+
+ // load an image using Java awt
+
+ Dimension d = rr.getDimension();
+ if (d!=null)
+ {
+ System.out.println("Dimension "+d.width+"x"+d.height);
+ }
+
+ // VARIABLES
+
+ // set a custom variable to test
+ rr.setVariable("custom_var", "test");
+
+ // read back our custom variable ... should be equal to 'test'
+ String res = rr.getVariable("custom_var");
+ if (!res.equals("test"))
+ {
+ System.out.println("Error in custom_var");
+ return;
+ }
+
+ // delete our custom variable
+ if (!rr.deleteVariable("custom_var"))
+ {
+ System.out.println("Error in delete variable");
+ return;
+ }
+
+ // try to get it back again ... should be empty
+ res = rr.getVariable("custom_var");
+ if (res!=null)
+ {
+ System.out.println("Error in delete custom_var");
+ return;
+ }
+
+ // set multiple variables
+ String names[] = new String[2];
+ String values[] = new String[2];
+ names[0]="custom_var_1";
+ names[1]="custom_var_2";
+ values[0] = "test1";
+ values[1] = "test2";
+ rr.setVariables(names, values, 2);
+
+ // get multiple variables
+ Vector v = rr.getVariables("custom_var_1, custom_var_2");
+ if (v==null)
+ {
+ System.out.println("Error in GetVariables, did not return any results");
+ return;
+ }
+ else
+ {
+ if (!((String)v.elementAt(0)).equals("test1"))
+ {
+ System.out.println("Error in get/set multiple variables. Got "+(String)v.elementAt(0));
+ return;
+ }
+ if (!((String)v.elementAt(1)).equals("test2"))
+ {
+ System.out.println("Error in get/set multiple variables. Got "+(String)v.elementAt(1));
+ return;
+ }
+ }
+
+ // IMAGES
+
+ // ensure that the camera is on and processing images
+ rr.setCamera("on");
+ rr.run("on");
+
+ // execute a RGB filter on the loaded image
+ rr.execute("<head><version>1.50</version></head><RGB_Filter><min_value>40</min_value><channel>3</channel></RGB_Filter>");
+
+ // get the current processed image from RoboRealm and save as a PPM
+ d = rr.getImage(image, 1280*960);
+ if (d!=null)
+ {
+ rr.savePPM("c:\\temp\\test.ppm", image, d.width, d.height);
+ }
+
+ // get the current source image from RoboRealm and save as a PPM
+ d = rr.getImage("source", image, 1280*960);
+ if (d!=null)
+ {
+ rr.savePPM("c:\\temp\\test2.ppm", image, d.width, d.height);
+ }
+
+ // turn off live camera
+ rr.setCamera("off");
+
+ // load an image for experimentation
+ d = rr.loadPPM("c:\\Program Files\\RoboRealm\\remo.ppm", image, 320*240*3);
+
+ // change the current image
+ rr.setImage(image, d.width, d.height);
+
+ // load an image using Java awt
+ try
+ {
+ Image img = Toolkit.getDefaultToolkit().getImage(new URL("http://www.google.com/intl/en_ALL/images/logo.gif"));
+ sendImage(rr, img);
+ }
+ catch (Exception e)
+ {
+ };
+
+ // add a marker image called my_new_image
+ rr.setImage("my_new_image", image, d.width, d.height);
+
+ // run a .robo program
+ //rr.loadProgram("c:\\Program Files\\RoboRealm\\scripts\\red.robo");
+
+ // load an image from disk
+ rr.loadImage(null, "c:\\Program Files\\RoboRealm\\remo.gif");
+
+ // save that image back to disk .. note that we can switch extensions
+ rr.saveImage(null, "c:\\temp\\remo.jpg");
+
+ rr.setCamera("on");
+ // change the camera to another one
+ //rr.setCamera("CompUSA PC Camera");
+ try
+ {
+ Thread.sleep(2000);
+ }
+ catch (Exception e)
+ {
+ };
+ // now set it back
+ //rr.setCamera("Logitech");
+
+ // turn off processing
+ rr.run("off");
+ try
+ {
+ Thread.sleep(2000);
+ }
+ catch (Exception e)
+ {
+ };
+ // run once
+ rr.run("once");
+ try
+ {
+ Thread.sleep(2000);
+ }
+ catch (Exception e)
+ {
+ };
+ // run for 100 frames (~3.3 seconds) .. note that if your frame rate is different this
+ // may be longer than 4 seconds
+ System.out.println("running for 100 frames");
+ rr.run("100");
+ try
+ {
+ Thread.sleep(4000);
+ }
+ catch (Exception e)
+ {
+ };
+ // turn processing back on
+ rr.run("on");
+
+ // wait for the image count to exceed 1000 (assuming a 30 fps here)
+ System.out.println("waiting for image count to exceed 1000");
+ rr.waitVariable("image_count", "500", 100000);
+
+ // wait for a new image
+ System.out.println("waiting for a new image");
+ rr.waitImage(5000);
+
+ // close the RoboRealm application .. if you want too ... otherwise leave it running
+ //rr.close();
+
+ // disconnect from API Server
+ rr.disconnect();
+
+ System.out.println("Finished RoboRealmTest");
+ }
+}
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