added stuff

1 files changed, 136 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/SpySimple.java b/roombacomm-client/src/com/hackingroomba/roombacomm/SpySimple.java
new file mode 100644
index 0000000..0ef24bc
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/SpySimple.java
@@ -0,0 +1,136 @@
+/*
+ * roombacomm.SpySimple
+ *
+ *  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.io.*;
+
+/**
+  Spy on the Roomba as it goes about its normal business
+
+  <p>
+  Run it with something like: <pre>
+    java roombacomm.SpySimple /dev/cu.KeySerial1
+  Usage: 
+  roombacomm.SpySimple 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 *  </pre>
+ *
+ */
+public class SpySimple {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.SpySimple <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"+
+        "\n";
+
+    static boolean debug = false;
+    static boolean hwhandshake = 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();
+
+        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);
+            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();
+        
+        boolean done = false;
+        while( !done ) {
+            roombacomm.updateSensors();
+            printSensors(roombacomm);
+            roombacomm.pause( pausetime );
+            done = keyIsPressed();
+        }
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+        
+    }
+    
+    public static void printSensors(RoombaCommSerial rc) {
+        System.out.println( System.currentTimeMillis() + ":"+ 
+                            "bump:" + 
+                            (rc.bumpLeft()?"l":"_") + 
+                            (rc.bumpRight()?"r":"_") +
+                            " wheel:" +
+                            (rc.wheelDropLeft()  ?"l":"_") +
+                            (rc.wheelDropCenter()?"c":"_") +
+                            (rc.wheelDropLeft()  ?"r":"_") 
+                            );
+    }
+
+    /** check for keypress, return true if so */
+    public static boolean keyIsPressed() {
+        boolean press = false;
+        try { 
+            if( System.in.available() != 0 ) {
+                System.out.println("key pressed");
+                press = true;
+            }
+        } catch( IOException ioe ) { }
+        return press;
+    }
+
+}