added stuff

1 files changed, 147 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/SpyAuto.java b/roombacomm-client/src/com/hackingroomba/roombacomm/SpyAuto.java
new file mode 100644
index 0000000..d2d0b70
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/SpyAuto.java
@@ -0,0 +1,147 @@
+
+
+package com.hackingroomba.roombacomm;
+
+import java.io.*;
+
+/**
+   Spy on the Roomba as it goes about its normal business
+
+  <p>
+  Run it with something like: <pre>
+   java roombacomm.SpyAuto /dev/cu.KeySerial1
+  Usage: 
+  roombacomm.SpyAuto serialportname [protocol] [options]<br>
+  where: protocol (optional) is SCI or OI
+  [options] can be one or more of:
+   -pause n   -- pause n millseconds between sensor read
+   -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
+   -power       -- power on/off Roomba (if interface supports it)
+  </pre>
+ *
+ */
+public class SpyAuto {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.SpyAuto <serialportname> [protocol] [options]\n" +
+        "where: protocol (optional) is SCI or OI\n" +
+        "[options] can be one or more of:\n"+
+        " -pause <n>   -- pause n millseconds between sensor read\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"+
+        " -power       -- power on/off Roomba (if interface supports it)\n"+
+        "\n";
+
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+    static boolean power = false;
+    static int pausetime = 500;
+    
+    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(true, pausetime);
+
+        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("power") )
+                power = true;
+            else if( args[i].endsWith("nohwhandshake") )
+                roombacomm.setWaitForDSR(false);
+            else if( args[i].endsWith("hwhandshake") )
+                roombacomm.setWaitForDSR(true);
+            else if( args[i].endsWith("pause") ) {
+                i++;
+                int p = 0;
+                try { p = Integer.parseInt( args[i] ); }
+                catch( NumberFormatException nfe ) { }
+                if( p!=0 ) pausetime = p;
+            }
+        }
+        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();
+
+        System.out.println("Press return to exit.");
+        boolean running = true;
+        while( running ) { 
+
+            if( !roombacomm.sensorsValid ) {
+                System.out.println("No Roomba. :(  Is it turned on?");
+                continue;
+            }
+
+            System.out.println( roombacomm.sensorsAsString() );
+            
+            try { 
+                if( System.in.available() != 0 ) {
+                    System.out.println("key pressed");
+                    running = false;
+                }
+            } catch( IOException ioe ) { }
+            
+            roombacomm.pause( pausetime );
+        }
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+        System.exit(0);
+        
+    }
+    
+}
+    
+    /*
+    public static void purr() {
+        System.out.println("purr");
+        float millis = 200;
+        float millisTo64ths = (1000 / 64 );
+        int s64ths = (int)(millis / millisTo64ths);
+        roombacomm.playSong( 2 );
+        for( int i=72; i>60; i-- ) {
+            roombacomm.spinLeftAt( 1000 );
+            roombacomm.pause( s64ths/2 );
+            roombacomm.spinRightAt( 1000 );
+            roombacomm.pause( s64ths/2 );
+            roombacomm.stop();
+        }
+    }
+    
+    public static void createTribblePurrSong() {
+        byte cmd[] = {
+            (byte)RoombaComm.SONG, 2, 7,  // define song
+            68, 4,  67, 4,  66, 4,  65, 4,
+            64, 4,  63, 4,  62, 4  };
+        roombacomm.send( cmd );
+    }
+    
+   
+    public static void bark() {
+        System.out.println("bark");
+        roombacomm.vacuum(true);
+        roombacomm.playNote( 50, 5 );
+        roombacomm.pause(150);
+        roombacomm.vacuum(false);
+    }
+    */    
+