diff options
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java | 258 |
1 files changed, 258 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java b/roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java new file mode 100644 index 0000000..cb99e6a --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java @@ -0,0 +1,258 @@ +/*
+ * roombacomm.AudioLocalizerClient -- test out the audio localizer 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;
+
+
+/**
+ Run it with something like: <pre>
+ java roombacomm.AudioLocalizerClient --localizerServer 192.168.0.150 --localizerPortNum 5005 --debug<br>
+ Usage:
+ roombacomm.AudioLocalizerClient --localizerServer <IP> --localizerPortNum <port> [options]<br>
+ where
+ [options] can be one or more of:
+ -debug -- turn on debug output
+ </pre>
+*/
+ public class AudioLocalizerClient {
+ private static final long serialVersionUID = 1L;
+ private static final int lumBufHeight = 32;
+
+ String usage =
+ "Usage: \n"+
+ " AudioLocalizerClient --localizerServer <IP> --localizerPortNum <port> [options]\n" +
+ "where [options] can be one or more of:\n"+
+ " --debug -- turn on debug output\n";
+ boolean debug = false;
+ private int waittime;
+ private String localizerServer = "";
+ private int localizerPortNum = 5010 ;
+ private int locationStringSize = 200;
+ private byte[] locationBytes = new byte[locationStringSize];
+ private byte[] locationStringBuf = new byte[locationStringSize];
+ private double x, y;
+
+ // socket variables
+ Socket localizerSocket;
+ BufferedInputStream in;
+ BufferedOutputStream out;
+
+ public AudioLocalizerClient() {
+ // constructor, mustn't throw exceptions. Do nothing for now
+ }
+
+ // main - it all starts here
+ public static void main(String[] args) {
+ AudioLocalizerClient l = new AudioLocalizerClient();
+ l.parseCmd(args);
+ l.connectLocalizer();
+ l.printLocation();
+ }
+
+ public void connectLocalizer()
+ {
+ if (getLocalizerServer() == null || getLocalizerServer().length() == 0) {
+ System.err.println(" you must supply a --localizerServer value to use the command");
+ if (getLocalizerPortNum() <= 0) {
+ System.err.println(" you must supply a --localizerPortNum value to use the command");
+ }
+ System.exit(6);
+ }
+ if (getLocalizerPortNum() <= 0) {
+ System.err.println(" you must supply a --localizerPortNum value to use the command \"getVideo\"");
+ System.exit(7);
+ }
+
+ connect();
+ }
+
+ public void printLocation()
+ {
+ //while (true) {
+ int size = readLocation();
+ String locationString = new String(locationBytes, 0, size);
+ System.out.println("received string: " + locationString);
+ String [] splitLocationStrings = locationString.split("\\s");
+ if (splitLocationStrings[0].compareTo("Invalid") == 0) {
+ System.out.println("Location is invalid");
+ } else {
+ x = new Double(splitLocationStrings[1]);
+ y = new Double(splitLocationStrings[2]);
+ System.out.println("X: " + x + " Y: " + y);
+ }
+ //}
+ }
+ public int readLocation()
+ {
+ int readLength = 0;
+ int maxReadSize = locationStringSize;
+ locationBytes[0] = 'L'; // send the "localize" command
+ int locStringIx = 0;
+
+ try {
+ out.write(locationBytes, 0, 1);
+ out.flush();
+
+ // ACHTUNG - locationStringBuf gets overwritten at the beginning by multiple read buffers - use locationString
+ for (int i=0; i<5; i++) {
+ readLength = in.read(locationStringBuf, 0, maxReadSize);
+ maxReadSize -= readLength;
+ for (int j=0; j<readLength; j++, locStringIx++) {
+ locationBytes[locStringIx] = locationStringBuf[j];
+ }
+ if ((locationBytes[locStringIx-1] == '\0') || (locStringIx == locationStringSize))
+ break;
+
+ try {
+ Thread.sleep(10);
+ System.out.println("Have " + locStringIx + ", trying again");
+ } catch (Exception e) {
+ System.out.print(e);
+ }
+ }
+ } catch (IOException e) {
+ System.out.println("I/O exception");
+ e.printStackTrace();
+ System.exit(-1);
+ }
+
+ System.out.println("readLocation read " + locStringIx + " bytes");
+
+ return (locStringIx);
+ }
+
+ public void connect()
+ {
+ try {
+ localizerSocket = new Socket(localizerServer, localizerPortNum);
+ in = new BufferedInputStream(localizerSocket.getInputStream());
+ out = new BufferedOutputStream(localizerSocket.getOutputStream());
+ } catch (UnknownHostException e) {
+ System.out.println("Unknown host: " + localizerServer + ":" + localizerPortNum);
+ System.exit(-1);
+ } catch(IOException e) {
+ System.out.println("I/O exception");
+ e.printStackTrace();
+ System.exit(-1);
+ }
+ System.out.println("connected to localizer");
+ }
+
+ public void disconnect()
+ {
+ try {
+ // do io streams need to be closed first?
+ if (in != null) in.close();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ in = null;
+
+ try {
+ if (localizerSocket != null) localizerSocket.close();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ localizerSocket = null;
+ System.out.println("disconnected from Video");
+ }
+
+ public void parseCmd(String[] args){
+ //System.out.println("*** start of AudioLocalizerClient WparseCmd");
+
+ CmdLineParser parser = new CmdLineParser();
+ CmdLineParser.Option debugOption = parser.addBooleanOption('X', "debug");
+ CmdLineParser.Option localizerServerOption = parser.addStringOption('l', "localizerServer");
+ CmdLineParser.Option localizerPortNumOption = parser.addIntegerOption('p', "localizerPortNum");
+
+ 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"
+ setLocalizerServer(((String)parser.getOptionValue(localizerServerOption)));
+ setLocalizerPortNum(((Integer)parser.getOptionValue(localizerPortNumOption, getLocalizerPortNum())).intValue());
+ // String cmd = args[1+argOffset];
+
+ 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_;
+ }
+ public int getWaittime() {
+ return waittime;
+ }
+ public void setWaittime(int waittime_) {
+ waittime = waittime_;
+ }
+ /**
+ * @return the localizerServer
+ */
+ protected String getLocalizerServer() {
+ return localizerServer;
+ }
+ /**
+ * @param localizerServer the localizerServer to set
+ */
+ public void setLocalizerServer(String localizerServer) {
+ this.localizerServer = localizerServer;
+ }
+ /**
+ * @return the localizerPortNum
+ */
+ protected int getLocalizerPortNum() {
+ return localizerPortNum;
+ }
+ /**
+ * @param localizerPortNum the localizerPortNum to set
+ */
+ public void setLocalizerPortNum(int localizerPortNum) {
+ this.localizerPortNum = localizerPortNum;
+ }
+ public double getX() {
+ return x;
+ }
+
+
+ public double getY() {
+ return y;
+ }
+ }
+
+
\ No newline at end of file |