diff options
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/ArduinoClient.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/ArduinoClient.java | 110 |
1 files changed, 110 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/ArduinoClient.java b/roombacomm-client/src/com/hackingroomba/roombacomm/ArduinoClient.java new file mode 100644 index 0000000..6ea2843 --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/ArduinoClient.java @@ -0,0 +1,110 @@ +/*
+ * roombacomm.ArduinoClient -- test out the Arduino 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.*;
+import java.net.Socket;
+import java.net.UnknownHostException;
+
+
+/**
+ * A test class for Arduino communications.
+ *
+ * <h2> Overview </h2>
+ * This class contains the communications layer-independent parts of
+ * how to communicate with an Arduino. It does assume a very serial port-like
+ * interaction.
+**/
+
+public class ArduinoClient {
+ private static final long serialVersionUID = 1L;
+ private static final int lumBufHeight = 32;
+
+ String usage =
+ "Usage: \n"+
+ " ArduinoClient {--arduinoServer|-s} <IP> [{--arduinoPortNum|-p} <port>] [options]\n" +
+ "where [options] can be one or more of:\n"+
+ " --debug|-X -- turn on debug output\n";
+
+ private RobotConnection arduinoConnection;
+ private String arduinoServer;
+ private Boolean debug;
+
+ public ArduinoClient() {
+ // constructor, mustn't throw exceptions. Do nothing for now
+ }
+
+ // main - it all starts here; when run as main class, ask Arduino for its compass reading
+ public static void main(String[] args) {
+ ArduinoClient l = new ArduinoClient();
+ l.testClient(args);
+ }
+
+ public void testClient(String[] args) {
+ parseCmd(args);
+ arduinoConnection = new RobotConnection(arduinoServer);
+ arduinoConnection.connect();
+ ArduinoBot arduinobot = new ArduinoBot(arduinoConnection);
+ arduinobot.printCompass();
+ arduinoConnection.disconnect();
+ }
+
+
+ public void parseCmd(String[] args){
+ //System.out.println("*** running ArduinoClient standalone WparseCmd");
+
+ CmdLineParser parser = new CmdLineParser();
+ CmdLineParser.Option debugOption = parser.addBooleanOption('X', "debug");
+ CmdLineParser.Option arduinoServerOption = parser.addStringOption('s', "arduinoServer");
+
+ 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 "192.168.1.1:5002"
+ arduinoServer = (((String)parser.getOptionValue(arduinoServerOption)));
+ Boolean debugBool = (Boolean)parser.getOptionValue(debugOption,new Boolean(false));
+ setDebug(debugBool.booleanValue());
+ //System.out.println("debug is ("+isDebug()+")");
+ //System.out.println("*** end of parseCmd");
+ }
+
+
+ public boolean isDebug() {
+ return debug;
+ }
+ public void setDebug(boolean debug_) {
+ debug = debug_;
+ }
+ /**
+ * @param arduuinoServer the localizerServer to set
+ */
+
+ }
+
+
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