added stuff

1 files changed, 255 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/watchVideo.java b/roombacomm-client/src/com/hackingroomba/roombacomm/watchVideo.java
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+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/watchVideo.java
@@ -0,0 +1,255 @@
+/*

+ * roombacomm.WatchVideo -- test out the video subsystem without robot motion

+ *

+ *  Copyright (c) 2009 Paul Bouchier, bouchier@at@classicnet.net

+ *

+ *  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 jargs.gnu.CmdLineParser;

+import java.io.*;

+

+

+/**	

+	    Run it with something like: <pre>

+	    java roombacomm.WatchVideo --videoServer 192.168.0.150 --videoPortNum 5005 -x 160 -y 120 --debug<br>

+     Usage:

+       roombacomm.WatchVideo --videoServer <IP> --videoPortNum <port> 

+         -x <image X size> -y <image Y size> [options]<br>

+     where 

+     [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

+	   </pre>

+*/	 

+	public class watchVideo {

+	    

+		private int height = 120;

+		private int width = 160;

+		String usage = 

+	        "Usage: \n"+

+	        "  roombacomm.Roborama --videoServer <IP> --videoPortNum <port> -x <image X size> -y <image Y size>[options]\n" +

+	        "where [options] can be one or more of:\n"+

+	        " -X | --debug       -- turn on debug output\n"+

+	        " -x <width> or --width <width>: set width\n" +

+	        " -y <height> or --height <height> -- set height\n" +

+	        " -c | --color -- use color mode, otherwise grayscale\n" +

+	        " --videoserver <IP> : set IP address of video server\n" +

+	        " --videoPortNum <port> : set port number on video server\n" +

+	        " -t | --threshold <threshold> : set quantization threshold\n" +

+	        " -R | --RoboRealm : connect to Roborealm & send image to it\n" +

+	        " -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n";

+

+	    boolean debug = false;

+		private int waittime;

+		private int thresholdOverride = 0;

+		private String videoServer = "";

+		private int videoPortNum = 5005 ;

+		private int videoRowStart = 50;

+		private int videoRowEnd = 54;

+    	private int pixelCnt;

+		private boolean color = false;		// when true, capture images in color

+		private boolean roborealm = false; 	// when true, connect & send images to RoboRealm

+		FrameProcessor fp;

+	    

+		public watchVideo() {

+			// constructor, mustn't throw exceptions. Do nothing for now

+		}

+		

+		// main - it all starts here

+		public static void main(String[] args) {

+			watchVideo b = new watchVideo();

+			b.parseCmd(args);

+        	b.initVideo();

+			b.displayVideo();

+		}

+		

+		public void displayVideo()

+		{

+        	

+        	while (true) {

+	        	getShowFrame();

+	        	if (roborealm) {

+	        		Boolean rv = fp.frame2Roborealm();	

+	        		if (rv == false)

+	        			System.out.println("error sending image to Roborealm");

+	        		//fp.getShapeData();

+	        	}

+        	}

+        	//frameSize = fp.readFrame();

+        	//System.out.println("getVideo read " + frameSize + " bytes");

+        	//fp.disconnect();

+		}

+

+		/**

+		 * Get a frame from the video server and display it

+		 */

+		public void getShowFrame() {

+			pixelCnt = fp.readFrame(getWidth(), getHeight(), color?1:0);

+			if (pixelCnt != (getWidth() * getHeight())) {

+				System.out.println("getVideo read " + pixelCnt + " bytes - abandoning frame");

+				return;

+			}

+

+			// output the frame to wherever it's wanted

+			fp.displayFrame();

+			return;

+		}

+

+		/**

+		 * Connect to the video server, and to RoboRealm if requested

+		 */

+		public FrameProcessor initVideo() {

+			if (getVideoServer() == null || getVideoServer().length() == 0) {

+        		System.err.println(" you must supply a --videoServer value to use the command \"getVideo\"");

+        		if (getVideoPortNum() <= 0) {

+	        		System.err.println(" you must supply a --videoPortNum value to use the command \"getVideo\"");

+        		}

+        		System.exit(6);

+        	}

+        	if (getVideoPortNum() <= 0) {

+        		System.err.println(" you must supply a --videoPortNum value to use the command \"getVideo\"");

+        		System.exit(7);

+        	}

+

+        	fp = new FrameProcessor(getVideoServer(),getVideoPortNum(), 0, 0, 0, 0, getThresholdOverride());

+        	//fp.testQuantization();

+        	fp.createAndShowGUI();

+        	fp.connect(roborealm);		// connect to the video server, and to Roborealm too if requested

+        	

+        	return fp;

+		}

+		

+		public void parseCmd(String[] args){

+			System.out.println("*** start of WatchVideo WparseCmd");

+

+	        CmdLineParser parser = new CmdLineParser();

+	        CmdLineParser.Option debugOption = parser.addBooleanOption('X', "debug");

+//	        CmdLineParser.Option verboseOption = parser.addBooleanOption('W', "Verbose");

+	        CmdLineParser.Option widthOption = parser.addIntegerOption('x', "width");

+	        CmdLineParser.Option heightOption = parser.addIntegerOption('y', "height");

+	        CmdLineParser.Option videoServerOption = parser.addStringOption("videoServer");

+	        CmdLineParser.Option videoPortNumOption = parser.addIntegerOption("videoPortNum");

+	        CmdLineParser.Option thresholdOption = parser.addIntegerOption('t', "threshold");

+	        CmdLineParser.Option hwHandShakeOption = parser.addBooleanOption("nohwhandshake");

+	        CmdLineParser.Option colorOption = parser.addBooleanOption('c', "color");

+	        CmdLineParser.Option roborealmOption = parser.addBooleanOption('R', "roborealm");

+	        try {

+	            parser.parse(args);

+	        }

+	        catch ( CmdLineParser.OptionException e ) {

+	            System.err.println(e.getMessage());

+	            System.out.println("parseCmd had an error\n"+ usage );

+	            System.exit(2);

+	        }	        

+	        

+	        //	        String portname = args[0];  // e.g. "/dev/cu.KeySerial1", or "COM5" or "192.168.1.1"

+	        setThresholdOverride(((Integer)parser.getOptionValue(thresholdOption, getThresholdOverride())).intValue());

+	        setWidth(((Integer)parser.getOptionValue(widthOption,getWidth())).intValue());

+	        setHeight(((Integer)parser.getOptionValue(heightOption,getHeight())).intValue());

+	        setVideoServer(((String)parser.getOptionValue(videoServerOption)));

+	        setVideoPortNum(((Integer)parser.getOptionValue(videoPortNumOption, getVideoPortNum())).intValue());

+			//	        String cmd = args[1+argOffset];

+

+	        Boolean debugBool = (Boolean)parser.getOptionValue(debugOption,new Boolean(false));

+	        setDebug(debugBool.booleanValue());

+	        System.out.println("debug is ("+isDebug()+")");

+	        Boolean hwHandShakeBool = (Boolean)parser.getOptionValue(hwHandShakeOption, new Boolean(false));

+	        setThresholdOverride((Integer)parser.getOptionValue(thresholdOption, new Integer(0)));

+	        System.out.println("thresholdOverride is " + getThresholdOverride());

+	        color = (Boolean)parser.getOptionValue(colorOption, new Boolean(false));

+	        roborealm = (Boolean)parser.getOptionValue(roborealmOption, new Boolean(false));

+	        System.out.println("color mode is " + color + ", roborealm mode is " + roborealm);

+	        System.out.println("*** end of parseCmd");

+	    }

+

+		public boolean isDebug() {

+			return debug;

+		}

+		public void setDebug(boolean debug_) {

+			debug = debug_;

+		}

+		public int getWaittime() {

+			return waittime;

+		}

+		public void setWaittime(int waittime_) {

+			waittime = waittime_;

+		}

+		public int getThresholdOverride() {

+			return thresholdOverride;

+		}

+		public void setThresholdOverride(int thresholdOverride) {

+			this.thresholdOverride = thresholdOverride;

+		}

+		protected int getHeight() {

+			return height;

+		}

+		protected void setHeight(int height) {

+			this.height = height;

+		}

+		protected int getWidth() {

+			return width;

+		}

+		protected void setWidth(int width) {

+			this.width = width;

+		}

+		/**

+		 * @return the videoServer

+		 */

+		protected String getVideoServer() {

+			return videoServer;

+		}

+		/**

+		 * @param videoServer the videoServer to set

+		 */

+		protected void setVideoServer(String videoServer) {

+			this.videoServer = videoServer;

+		}

+		/**

+		 * @return the videoPortNum

+		 */

+		protected int getVideoPortNum() {

+			return videoPortNum;

+		}

+		/**

+		 * @param videoPortNum the videoPortNum to set

+		 */

+		protected void setVideoPortNum(int videoPortNum) {

+			this.videoPortNum = videoPortNum;

+		}

+

+		public boolean isColor() {

+			return color;

+		}

+

+		public void setColor(boolean color) {

+			this.color = color;

+		}

+

+		public boolean isRoborealm() {

+			return roborealm;

+		}

+

+		public void setRoborealm(boolean roborealm) {

+			this.roborealm = roborealm;

+		}

+		

+	}

+	

+	
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