added stuff

1 files changed, 148 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/SimpleTest.java b/roombacomm-client/src/com/hackingroomba/roombacomm/SimpleTest.java
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+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/SimpleTest.java
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+/*
+ * roombacomm.SimpleTest
+ *
+ *  Copyright (c) 2005 Tod E. Kurt, tod@todbot.com
+ *
+ *  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;
+
+/**
+   A simple test of RoombaComm and RoombaCommSerial functionality.
+  <p>
+   Run it with something like: <pre>
+    java roombacomm.SimpleTest /dev/cu.KeySerial1<br>
+    Usage:
+      roombacomm.SimpleTest 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
+     -flush       -- flush on sends(), normally not needed
+ *  </pre>
+ *
+ */
+public class SimpleTest {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.SimpleTest <serialportname> [protocol] [options]\n" +
+        "where:\n"+
+        "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"+
+        " -flush       -- flush on sends(), normally not needed\n"+
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+    static boolean flush = false;
+
+    public static void main(String[] args) {
+        if( args.length == 0 ) {
+            System.out.println( usage );
+            System.exit(0);
+        }
+
+        String portname = args[0];  // e.g. "/dev/cu.KeySerial1"
+        RoombaCommSerial roombacomm = new RoombaCommSerial();
+        for( int i=1; i < args.length; i++ ) {
+        	if (args[i].equals("SCI") || (args[1].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);
+            else if( args[i].endsWith("flush") )
+                flush = true;
+        }
+        
+
+        roombacomm.debug = debug;
+        roombacomm.flushOutput = flush;
+        
+        String portlist[] = roombacomm.listPorts();
+        System.out.println("Available ports:");
+        for(int i=0;i<portlist.length;i++)
+            System.out.println("  "+i+": "+portlist[i]);
+        
+        if( ! roombacomm.connect( portname ) ) {
+            System.out.println("Couldn't connect to "+portname);
+            System.exit(1);
+        }      
+
+        System.out.println("Roomba startup on port "+portname);
+        roombacomm.startup();
+        roombacomm.control();
+        roombacomm.pause(30);
+
+        System.out.println("Checking for Roomba... ");
+        if( roombacomm.updateSensors() )
+            System.out.println("Roomba found!");
+        else
+            System.out.println("No Roomba. :(  Is it turned on?");
+        
+        //roombacomm.updateSensors();
+        
+        System.out.println("Playing some notes");
+        roombacomm.playNote( 72, 10 );  // C
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 79, 10 );  // G
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 76, 10 );  // E
+        roombacomm.pause( 200 );
+        
+        System.out.println("Spinning left, then right");
+        roombacomm.spinLeft();
+        roombacomm.pause(1000);
+        roombacomm.spinRight();
+        roombacomm.pause(1000);
+        roombacomm.stop();
+        
+        System.out.println("Going forward, then backward");
+        roombacomm.goForward();
+        roombacomm.pause(1000);
+        roombacomm.goBackward();
+        roombacomm.pause(1000);
+        roombacomm.stop();
+        
+
+        System.out.println("Moving via send()");
+        byte cmd[] = {(byte)RoombaComm.DRIVE, 
+                      (byte)0x00,(byte)0xfa, (byte)0x00,(byte)0x00};
+        roombacomm.send( cmd ) ;
+        roombacomm.pause(1000);
+        roombacomm.stop();
+        cmd[1] = (byte)0xff;
+        cmd[2] = (byte)0x05;
+        roombacomm.send( cmd ) ;
+        roombacomm.pause(1000);
+        roombacomm.stop();
+
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+    }
+}
+