added stuff

1 files changed, 582 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaRecorderPanel.java b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaRecorderPanel.java
new file mode 100644
index 0000000..5508019
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaRecorderPanel.java
@@ -0,0 +1,582 @@
+/*
+ * RoombaRecorderPanel - 
+ * 
+ *  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 java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.event.*;
+import javax.swing.text.*;
+import java.util.*;
+
+/**
+ * A Panel containing controls for testing RoombaComm. 
+ * Normally put inside of a frame, for example see RoombaCommTest
+ *
+ */
+public class RoombaRecorderPanel extends JPanel implements ActionListener,Runnable {
+
+    JPanel ctrlPanel, selectPanel, buttonPanel, displayPanel;
+    JComboBox portChoices;
+    JCheckBox handshakeButton;
+    JTextArea displayText;
+    JButton  connectButton;
+    JSlider speedSlider;
+
+    RoombaCommSerial roombacomm;
+
+    Thread thread;
+    ArrayList events;
+    ArrayList eventTimes;
+    //ActionEvent[] events;
+    //long[] eventTimes;
+    int eventCount;
+    int eventIndex;
+    int eventMax = 1000;  // fixme:
+    long playStartTime;
+    long recStartTime;
+    boolean recording = false;
+    boolean playing = false;
+    boolean looping = false;
+
+    public RoombaRecorderPanel() {
+        super(new BorderLayout());
+
+        roombacomm = new RoombaCommSerial();
+
+        events     = new ArrayList();
+        eventTimes = new ArrayList();
+        eventIndex = 0;
+        eventCount = 0;
+
+        makeSelectPanel();
+        add(selectPanel, BorderLayout.NORTH);
+
+        makeCtrlPanel();
+        add(ctrlPanel, BorderLayout.EAST);
+
+        makeButtonPanel();
+        add(buttonPanel, BorderLayout.CENTER);
+
+        makeDisplayPanel();
+        add(displayPanel, BorderLayout.SOUTH);
+
+        updateDisplay("RoombaComm, version "+RoombaComm.VERSION+"\n");
+
+        //bindKeys();
+
+        thread = new Thread(this);
+        thread.start();
+    }
+    
+    /**
+     * Set to 'false' to hide the "h/w handshake" button, which seems to be
+     * only needed on Windows
+     */
+    public void setShowHardwareHandhake(boolean b) {
+        handshakeButton.setVisible(b);
+    }
+
+    /** */
+    public boolean connect() {
+        String portname = (String) portChoices.getSelectedItem();
+        roombacomm.debug=true;
+        roombacomm.waitForDSR = handshakeButton.isSelected();
+        
+        connectButton.setText("connecting");
+        if(!roombacomm.connect(portname)) {
+            updateDisplay("Couldn't connect to "+portname+"\n");
+            connectButton.setText("  connect  ");
+            roombacomm.debug=false;
+            return false;
+        }
+        updateDisplay("Roomba startup\n");
+
+        roombacomm.startup();
+        roombacomm.control();
+        roombacomm.pause(50);
+        roombacomm.playNote(72, 10);  // C , test note
+        roombacomm.pause(200);
+
+        connectButton.setText("disconnect");
+        connectButton.setActionCommand("disconnect");
+        updateDisplay("Roomba connected\n");
+        roombacomm.debug=true;
+        return true;
+    }
+
+    /** */
+    public void disconnect() {
+        roombacomm.disconnect();
+        connectButton.setText("  connect  ");
+        connectButton.setActionCommand("connect");
+    }
+    
+    public void stop() {
+        //thread.interrupt();
+        if(recording) 
+            eventCount = eventIndex;
+        recording = false;
+        playing = false; 
+        updateDisplay("Stopped\n");
+    }
+    public boolean play() {
+        if(eventCount==0) {
+            updateDisplay("nothing recorded\n");
+            return false;
+        }
+        if(recording)
+            eventCount = eventIndex;
+        playStartTime = millis();
+        playing = true;
+        recording = false;
+        eventIndex = 0;
+        updateDisplay("Playback...\n");
+        return true;
+    }
+    public void record() { 
+        recStartTime = millis();
+        playing = false;
+        recording = true;
+        eventIndex = 0;
+        updateDisplay("Recording...\n");
+    }
+    public void setLooping(boolean b) { looping = b; }
+    public boolean getLooping() { return looping; }
+
+    public HashMap cut() {
+        HashMap m = copy();
+        stop();
+        eventCount=0;
+        return m;
+    }
+    public HashMap copy() {
+        HashMap m = new HashMap();
+        m.put("events",events);
+        m.put("eventTimes",eventTimes);
+        m.put("portname", portChoices.getSelectedItem());
+        updateDisplay("Copied "+eventCount+" events\n");
+        return m;
+    }
+    public void paste(HashMap m) {
+        stop();
+        ArrayList al1 = (ArrayList) m.get("events");
+        ArrayList al2 = (ArrayList) m.get("eventTimes");
+        portChoices.setSelectedItem(m.get("portname"));
+        if(al1!= null && al2!=null) {
+            events = al1;
+            eventTimes = al2;
+            eventCount = events.size();
+            updateDisplay("Pasted "+eventCount+" events\n");
+        }
+    }
+
+    /** Implement Runnable */
+    public void run() {
+        boolean done = false;
+        while(!done) {
+            if(playing && eventCount !=0) {
+                long t = ((Long)eventTimes.get(eventIndex)).longValue();
+                //long t = eventTimes[eventIndex];
+                if(millis() - playStartTime > t) {
+                    ActionEvent event = (ActionEvent) events.get(eventIndex);
+                    actionPerformed(event);
+                    eventIndex++;
+                    if(eventIndex == eventCount) {
+                        if(!looping) {
+                            playing = false;
+                        } else {
+                            eventIndex = 0;
+                            playStartTime = millis();
+                        }
+                    }
+                }
+            }
+            try { 
+                Thread.sleep(10);
+            } catch(Exception e) {
+                done = true;
+            }
+        }
+    }
+
+    /** 
+     * Implement Actionlistener, also this is the locus for record & playback
+     *
+     */
+    public void actionPerformed(ActionEvent event) {
+        String action = event.getActionCommand();
+        String actstr = "";
+
+        if("comboBoxChanged".equals(action))
+            return;  // don't care about comboBox 
+
+        if(recording) {
+            long t = millis() - recStartTime;
+            actstr += t+":r#"+eventIndex+": ";
+            events.add(eventIndex, event);
+            eventTimes.add(eventIndex, new Long(millis()-recStartTime));
+            eventIndex++;
+        }
+        if(playing) {
+            long t = millis() - playStartTime;
+            actstr += t+":p#"+eventIndex+": ";
+        }
+        updateDisplay(actstr+action+"\n");  /// DEBUG
+
+        if("connect".equals(action)) {
+            updateDisplay("connecting...\n");
+            connect();
+            return;
+        }
+        else if("disconnect".equals(action)) {
+            updateDisplay("disconnecting.\n");
+            disconnect();
+            return;
+        }
+        else {
+            try { 
+                int speed = Integer.parseInt(action);
+                //updateDisplay("setting speed = "+speed+"\n");
+                roombacomm.setSpeed(speed);
+                return;
+            } catch(NumberFormatException e) { }
+        }
+        // stop right here if we're not connected
+        if(!roombacomm.connected()) {
+            updateDisplay("not connected!\n");
+            return;
+        }
+
+        //updateDisplay(action+"\n");
+        if("stop".equals(action)) {
+            roombacomm.stop();
+        }
+        else if("forward".equals(action)) {
+            roombacomm.goForward();
+        }
+        else if("backward".equals(action)) {
+            roombacomm.goBackward();
+        }
+        else if("spinleft".equals(action)) {
+            roombacomm.spinLeft();
+        }
+        else if("spinright".equals(action)) {
+            roombacomm.spinRight();
+        }
+        else if("turnleft".equals(action)) {
+            roombacomm.turnLeft();
+        }
+        else if("turnright".equals(action)) {
+            roombacomm.turnRight();
+        }
+        else if(action.matches("^turn[-+0-9]+$")) {
+            int turnval = Integer.parseInt(action.substring(4));
+            System.out.println("turnval="+turnval);
+            roombacomm.turn(turnval);
+        }
+        else if("test".equals(action)) {
+            updateDisplay("Playing some notes\n");
+            roombacomm.playNote(72, 10);  // C
+            roombacomm.pause(200);
+            roombacomm.playNote(79, 10);  // G
+            roombacomm.pause(200);
+            roombacomm.playNote(76, 10);  // E
+            roombacomm.pause(200);
+
+            updateDisplay("Spinning left, then right\n");
+            roombacomm.spinLeft();
+            roombacomm.pause(1000);
+            roombacomm.spinRight();
+            roombacomm.pause(1000);
+            roombacomm.stop();
+
+            updateDisplay("Going forward, then backward\n");
+            roombacomm.goForward();
+            roombacomm.pause(1000);
+            roombacomm.goBackward();
+            roombacomm.pause(1000);
+            roombacomm.stop();
+        }
+        else if("reset".equals(action)) {
+            roombacomm.stop();
+            roombacomm.startup();
+            roombacomm.control();
+        }
+        else if("power-off".equals(action)) {
+            roombacomm.powerOff();
+        }
+        else if("wakeup".equals(action)) {
+            roombacomm.wakeup();
+        }
+        else if("beep-lo".equals(action)) {
+            roombacomm.playNote(36, 10);  // C1
+            roombacomm.pause(200);
+        }
+        else if("beep-hi".equals(action)) {
+            roombacomm.playNote(120, 10);  // C7
+            roombacomm.pause(200);
+        }
+        else if("clean".equals(action)) {
+            roombacomm.clean();
+        }
+        else if("spot".equals(action)) {
+            roombacomm.spot();
+        }
+        else if("vacuum-on".equals(action)) {
+            roombacomm.vacuum(true);
+        }
+        else if("vacuum-off".equals(action)) {
+            roombacomm.vacuum(false);
+        }
+        else if("blink-leds".equals(action)) {
+            roombacomm.setLEDs(true,true,true, true,true,true, 255, 255);
+            roombacomm.pause(300);
+            roombacomm.setLEDs(false,false,false, false,false,false, 0, 128);
+        }        
+        else if("sensors".equals(action)) {
+            if(roombacomm.updateSensors())
+                updateDisplay(roombacomm.sensorsAsString()+"\n");
+            else 
+                updateDisplay("couldn't read Roomba. Is it connected?\n");
+        }
+    }
+
+    /**
+     *
+     */
+    void makeSelectPanel() {
+        selectPanel  = new JPanel();
+        //Create a combo box with choices.
+        String[] ports = roombacomm.listPorts();
+        portChoices = new JComboBox(ports);
+        portChoices.setSelectedIndex(0);
+        connectButton = new JButton();
+        connectButton.setText("  connect  ");
+        connectButton.setActionCommand("connect");
+        handshakeButton = new JCheckBox("<html>h/w<br>handshake</html>");
+        
+        //Add a border around the select panel.
+        selectPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Select Roomba Port"), BorderFactory.createEmptyBorder()));
+        
+        selectPanel.add(portChoices);
+        selectPanel.add(connectButton);
+        selectPanel.add(handshakeButton);
+
+        //Listen to events from the combo box.
+        portChoices.addActionListener(this);
+        connectButton.addActionListener(this);
+    }
+    
+    /** 
+     * 
+     */
+    void makeCtrlPanel() {
+        JPanel ctrlPanel1 = new JPanel(new GridLayout(3,3));
+
+        JButton but_turnleft =
+            new JButton(createImageIcon("images/but_turnleft.png","turnleft"));
+        ctrlPanel1.add(but_turnleft);
+        JButton but_forward =
+            new JButton(createImageIcon("images/but_forward.png","forward"));
+        ctrlPanel1.add(but_forward);
+        JButton but_turnright =
+            new JButton(createImageIcon("images/but_turnright.png","turnright"));
+        ctrlPanel1.add(but_turnright);
+
+        JButton but_spinleft =
+            new JButton(createImageIcon("images/but_spinleft.png","spinleft"));
+        ctrlPanel1.add(but_spinleft);
+        JButton but_stop =
+            new JButton(createImageIcon("images/but_stop.png", "stop"));
+        ctrlPanel1.add(but_stop);
+        JButton but_spinright =
+            new JButton(createImageIcon("images/but_spinright.png","spinright"));
+        ctrlPanel1.add(but_spinright);
+
+        ctrlPanel1.add(new JLabel());
+        JButton but_backward =
+            new JButton(createImageIcon("images/but_backward.png","backward"));
+        ctrlPanel1.add(but_backward);
+        ctrlPanel1.add(new JLabel());
+
+        JLabel speedLabel = new JLabel("speed (mm/s)", JLabel.CENTER);
+        JRadioButton speed050button = new JRadioButton("50");
+        JRadioButton speed100button = new JRadioButton("100");
+        JRadioButton speed150button = new JRadioButton("150");
+        JRadioButton speed250button = new JRadioButton("250");
+        JRadioButton speed400button = new JRadioButton("400");
+        JRadioButton speed500button = new JRadioButton("500");
+        speed050button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed050button.setHorizontalTextPosition(SwingConstants.CENTER);
+        speed100button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed100button.setHorizontalTextPosition(SwingConstants.CENTER);
+        speed150button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed150button.setHorizontalTextPosition(SwingConstants.CENTER);
+        speed250button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed250button.setHorizontalTextPosition(SwingConstants.CENTER);
+        speed400button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed400button.setHorizontalTextPosition(SwingConstants.CENTER);
+        speed500button.setVerticalTextPosition(SwingConstants.BOTTOM);
+        speed500button.setHorizontalTextPosition(SwingConstants.CENTER);
+
+        speed250button.setSelected(true);
+
+        speed050button.addActionListener(this);
+        speed100button.addActionListener(this);
+        speed150button.addActionListener(this);
+        speed250button.addActionListener(this);
+        speed400button.addActionListener(this);
+        speed500button.addActionListener(this);
+
+        ButtonGroup speedGroup = new ButtonGroup();
+        speedGroup.add(speed050button);
+        speedGroup.add(speed100button);
+        speedGroup.add(speed150button);
+        speedGroup.add(speed250button);
+        speedGroup.add(speed400button);
+        speedGroup.add(speed500button);
+
+        JPanel ctrlPanel2 = new JPanel();
+        ctrlPanel2.add(speed050button);
+        ctrlPanel2.add(speed100button);
+        ctrlPanel2.add(speed150button);
+        ctrlPanel2.add(speed250button);
+        ctrlPanel2.add(speed400button);
+        ctrlPanel2.add(speed500button);
+
+        ctrlPanel = new JPanel();
+        ctrlPanel.setLayout(new BoxLayout(ctrlPanel, BoxLayout.Y_AXIS));
+        ctrlPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Movement"), BorderFactory.createEmptyBorder()));//5,5,5,5)));
+        ctrlPanel.add(ctrlPanel1);
+        ctrlPanel.add(ctrlPanel2);
+        ctrlPanel.add(speedLabel);
+
+        but_turnleft.setActionCommand("turnleft");
+        but_turnright.setActionCommand("turnright");
+        but_spinleft.setActionCommand("spinleft");
+        but_spinright.setActionCommand("spinright");
+        but_forward.setActionCommand("forward");
+        but_backward.setActionCommand("backward");
+        but_stop.setActionCommand("stop");
+        but_turnleft.addActionListener(this);
+        but_turnright.addActionListener(this);
+        but_spinleft.addActionListener(this);
+        but_spinright.addActionListener(this);
+        but_forward.addActionListener(this);
+        but_backward.addActionListener(this);
+        but_stop.addActionListener(this);
+    }
+
+    /**
+     *
+     */
+    void makeButtonPanel() {
+        buttonPanel = new JPanel(new GridLayout(8,2));
+        buttonPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Commands"), BorderFactory.createEmptyBorder()));//5,5,5,5)));
+
+        JButton but_reset = new JButton("reset");
+        JButton but_test = new JButton("test");
+        JButton but_power = new JButton("power-off");
+        JButton but_wakeup = new JButton("wakeup");
+        JButton but_beeplo = new JButton("beep-lo");
+        JButton but_beephi = new JButton("beep-hi");
+        JButton but_clean = new JButton("clean");
+        JButton but_spot = new JButton("spot");
+        JButton but_vacon = new JButton("vacuum-on");
+        JButton but_vacoff = new JButton("vacuum-off");
+        JButton but_blinkleds = new JButton("blink-leds");
+        JButton but_sensors = new JButton("sensors");
+
+        buttonPanel.add(but_reset);
+        buttonPanel.add(but_test);
+        buttonPanel.add(but_power);
+        buttonPanel.add(but_wakeup);
+        buttonPanel.add(but_beeplo);
+        buttonPanel.add(but_beephi);
+        buttonPanel.add(but_clean);
+        buttonPanel.add(but_spot);
+        buttonPanel.add(but_vacon);
+        buttonPanel.add(but_vacoff);
+        buttonPanel.add(but_blinkleds);
+        buttonPanel.add(but_sensors);
+
+        but_reset.addActionListener(this);
+        but_test.addActionListener(this);
+        but_power.addActionListener(this);
+        but_wakeup.addActionListener(this);
+        but_beeplo.addActionListener(this);
+        but_beephi.addActionListener(this);
+        but_clean.addActionListener(this);
+        but_spot.addActionListener(this);
+        but_vacon.addActionListener(this);
+        but_vacoff.addActionListener(this);
+        but_blinkleds.addActionListener(this);
+        but_sensors.addActionListener(this);
+    }
+
+    /**
+     *
+     */
+    void makeDisplayPanel() {
+        displayPanel = new JPanel();
+        displayPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Display"), BorderFactory.createEmptyBorder()));//1,1,1,1)));
+
+        displayText = new JTextArea(5,30);
+        displayText.setEditable(false);
+        displayText.setLineWrap(true);
+        DefaultCaret dc = new DefaultCaret();
+        // only works on Java 1.5+
+        //dc.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
+        displayText.setCaret(dc);
+        JScrollPane scrollPane = 
+            new JScrollPane(displayText, 
+                            JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
+                            JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
+        displayPanel.add(scrollPane);
+    }
+    
+    public void updateDisplay(String s) {
+        displayText.append(s);
+        displayText.setCaretPosition(displayText.getDocument().getLength());
+    }
+
+    /** Returns an ImageIcon, or null if the path was invalid. */
+    protected static ImageIcon createImageIcon(String path,
+                                               String description) {
+        // yes, this is supposed to say "RoombaCommTest"
+        java.net.URL imgURL = RoombaCommPanel.class.getResource(path);
+        if (imgURL != null) {
+            return new ImageIcon(imgURL, description);
+        } else {
+            System.err.println("Couldn't find file: " + path);
+            return null;
+        }
+    }
+
+    public int millis() {
+        int millisOffset = 0;
+        return (int) (System.currentTimeMillis() - millisOffset);
+    }
+
+}