diff options
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommTestOld.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommTestOld.java | 387 |
1 files changed, 387 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommTestOld.java b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommTestOld.java new file mode 100644 index 0000000..00cc78b --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommTestOld.java @@ -0,0 +1,387 @@ +// +// RoombaCommtest -- small GUI to test out RoombaComm +// +// Tod E. Kurt, tod@todbot.com +// +// + +package com.hackingroomba.roombacomm; + +import java.awt.*; +import java.awt.event.*; +import javax.swing.*; +import javax.swing.event.*; +import javax.swing.text.*; + +public class RoombaCommTestOld extends JFrame implements ActionListener,ChangeListener,WindowListener { + static final String VERSION = "DO NOT USE"; + + JPanel ctrlPanel, selectPanel, buttonPanel, displayPanel; + JComboBox portChoices; + JTextArea displayText; + JButton connectButton; + JSlider speedSlider; + + RoombaComm roombacomm; + + public static void main(String[] args) { + new RoombaCommTestOld(); + } + + public RoombaCommTestOld() { + super("RoombaCommTestOld"); + setResizable(false); + //setNativeLookAndFeel(); + addWindowListener(this); + + roombacomm = new RoombaCommSerial(); + + Container content = getContentPane(); + content.setBackground(Color.lightGray); + + makeSelectPanel(); + content.add( selectPanel, BorderLayout.NORTH ); + + makeCtrlPanel(); + content.add( ctrlPanel, BorderLayout.EAST ); + + makeButtonPanel(); + content.add( buttonPanel, BorderLayout.CENTER ); + + makeDisplayPanel(); + content.add( displayPanel, BorderLayout.SOUTH ); + + pack(); + setVisible(true); + displayText.append("RoombaCommTestOld, version "+VERSION+"\n"); + } + + /** implement actionlistener */ + public void actionPerformed(ActionEvent event) { + String action = event.getActionCommand(); + if( "comboBoxChanged".equals(action) ) { + return; + } + displayText.append(action+"\n"); + if( "connect".equals(action) ) { + roombacomm.debug=true; + if( roombacomm.connected() ) { + roombacomm.disconnect(); // just in case + connectButton.setText(" connect "); + return; + } + else { + displayText.append("could not connect...darn\n"); + } + connectButton.setText("connecting"); + String portname = (String) portChoices.getSelectedItem(); + if( ! roombacomm.connect( portname ) ) { + displayText.append("Couldn't connect to "+portname+"\n"); + return; + } + displayText.append("Roomba startup\n"); + roombacomm.startup(); + roombacomm.control(); + roombacomm.playNote( 72, 10 ); // C + roombacomm.pause( 200 ); + connectButton.setText("disconnect"); + displayText.append("Roomba connected\n"); + return; + } + + // stop right here if we're not connected + if( !roombacomm.connected() ) { + displayText.append("not connected!\n"); + return; + } + + if( "stop".equals(action) ) { + roombacomm.stop(); + } + else if( "forward".equals(action) ) { + roombacomm.goForward(); + } + else if( "backward".equals(action) ) { + roombacomm.goBackward(); + } + else if( "spinleft".equals(action) ) { + roombacomm.spinLeft(); + } + else if( "spinright".equals(action) ) { + roombacomm.spinRight(); + } + else if( "test".equals(action) ) { + displayText.append("Playing some notes\n"); + roombacomm.playNote( 72, 10 ); // C + roombacomm.pause( 200 ); + roombacomm.playNote( 79, 10 ); // G + roombacomm.pause( 200 ); + roombacomm.playNote( 76, 10 ); // E + roombacomm.pause( 200 ); + + displayText.append("Spinning left, then right\n"); + roombacomm.spinLeft(); + roombacomm.pause(1000); + roombacomm.spinRight(); + roombacomm.pause(1000); + roombacomm.stop(); + + displayText.append("Going forward, then backward\n"); + roombacomm.goForward(); + roombacomm.pause(1000); + roombacomm.goBackward(); + roombacomm.pause(1000); + roombacomm.stop(); + } + else if( "reset".equals(action) ) { + roombacomm.stop(); + roombacomm.startup(); + roombacomm.control(); + } + else if( "power-off".equals(action) ) { + roombacomm.powerOff(); + } + else if( "wakeup".equals(action) ) { + roombacomm.wakeup(); + } + else if( "beep-lo".equals(action) ) { + roombacomm.playNote( 36, 10 ); // C0 + roombacomm.pause( 200 ); + } + else if( "beep-hi".equals(action) ) { + roombacomm.playNote( 120, 10 ); // C7 + roombacomm.pause( 200 ); + } + else if( "clean".equals(action) ) { + roombacomm.clean(); + } + else if( "spot".equals(action) ) { + roombacomm.spot(); + } + else if( "vacuum-on".equals(action) ) { + roombacomm.vacuum(true); + } + else if( "vacuum-off".equals(action) ) { + roombacomm.vacuum(false); + } + else if( "sensors".equals(action) ) { + if( roombacomm.updateSensors() ) + displayText.append( roombacomm.sensorsAsString()+"\n"); + else + displayText.append("couldn't read Roomba. Is it connected?\n"); + } + } + + /** implement ChangeListener, for the slider */ + public void stateChanged(ChangeEvent e) { + //System.err.println("stateChanged:"+e); + JSlider src = (JSlider)e.getSource(); + if (!src.getValueIsAdjusting()) { + int speed = (int)src.getValue(); + speed = (speed<1) ? 1 : speed; // don't allow zero speed + displayText.append("setting speed = "+speed+"\n"); + roombacomm.setSpeed(speed); + } + } + + /** + * + */ + void makeCtrlPanel() { + JPanel ctrlPanel1 = new JPanel(new GridLayout(3,3)); + + ctrlPanel1.add(new JLabel()); + JButton but_forward = + new JButton(createImageIcon("images/forward.png", "forward")); + ctrlPanel1.add( but_forward, BorderLayout.NORTH ); + ctrlPanel1.add(new JLabel()); + + JButton but_spinleft = + new JButton(createImageIcon("images/spinleft.png", "spinleft")); + ctrlPanel1.add( but_spinleft, BorderLayout.WEST ); + JButton but_stop = + new JButton(createImageIcon("images/stop.png", "stop")); + ctrlPanel1.add( but_stop, BorderLayout.CENTER ); + JButton but_spinright = + new JButton( createImageIcon("images/spinright.png", "spinright")); + ctrlPanel1.add( but_spinright, BorderLayout.EAST); + + ctrlPanel1.add(new JLabel()); + JButton but_backward = + new JButton(createImageIcon("images/backward.png", "backward")); + ctrlPanel1.add( but_backward, BorderLayout.SOUTH ); + ctrlPanel1.add(new JLabel()); + + JLabel sliderLabel = new JLabel("speed (mm/s)", JLabel.CENTER); + speedSlider = new JSlider(JSlider.HORIZONTAL, 0, 500, 200 ); + speedSlider.setPaintTicks(true); + speedSlider.setMajorTickSpacing(100); + speedSlider.setMinorTickSpacing(25); + speedSlider.setPaintLabels(true); + speedSlider.addChangeListener(this); + + ctrlPanel = new JPanel(); + ctrlPanel.setLayout( new BoxLayout(ctrlPanel, BoxLayout.Y_AXIS ) ); + + ctrlPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Movement"), BorderFactory.createEmptyBorder(5,5,5,5))); + ctrlPanel.add( ctrlPanel1 ); + ctrlPanel.add( speedSlider ); + ctrlPanel.add( sliderLabel ); + + but_spinleft.setActionCommand("spinleft"); + but_spinright.setActionCommand("spinright"); + but_forward.setActionCommand("forward"); + but_backward.setActionCommand("backward"); + but_stop.setActionCommand("stop"); + but_spinleft.addActionListener(this); + but_spinright.addActionListener(this); + but_forward.addActionListener(this); + but_backward.addActionListener(this); + but_stop.addActionListener(this); + } + + /** + * + */ + void makeSelectPanel() { + selectPanel = new JPanel(); + //Create a combo box with choices. + String[] ports = roombacomm.listPorts(); + portChoices = new JComboBox(ports); + portChoices.setSelectedIndex(0); + connectButton = new JButton(); + connectButton.setText(" connect "); + connectButton.setActionCommand("connect"); + + //Add a border around the select panel. + selectPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Select Roomba Port"), BorderFactory.createEmptyBorder(5,5,5,5))); + + selectPanel.add(portChoices); + selectPanel.add(connectButton); + + //Listen to events from the combo box. + portChoices.addActionListener(this); + connectButton.addActionListener(this); + } + + /** + * + */ + void makeButtonPanel() { + //buttonPanel = new JPanel(); + //buttonPanel.setLayout( new BoxLayout(buttonPanel, BoxLayout.Y_AXIS)); + buttonPanel = new JPanel( new GridLayout( 8,2 ) ); + buttonPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Commands"), BorderFactory.createEmptyBorder(5,5,5,5))); + + JButton but_reset = new JButton("reset"); + buttonPanel.add( but_reset ); + but_reset.addActionListener(this); + + JButton but_test = new JButton("test"); + buttonPanel.add( but_test ); + but_test.addActionListener(this); + + JButton but_power = new JButton("power-off"); + buttonPanel.add( but_power ); + but_power.addActionListener(this); + + JButton but_wakeup = new JButton("wakeup"); + buttonPanel.add( but_wakeup ); + but_wakeup.addActionListener(this); + + JButton but_beeplo = new JButton("beep-lo"); + buttonPanel.add( but_beeplo ); + but_beeplo.addActionListener(this); + + JButton but_beephi = new JButton("beep-hi"); + buttonPanel.add( but_beephi ); + but_beephi.addActionListener(this); + + JButton but_clean = new JButton("clean"); + buttonPanel.add( but_clean ); + but_clean.addActionListener(this); + + JButton but_spot = new JButton("spot"); + buttonPanel.add( but_spot ); + but_spot.addActionListener(this); + + JButton but_vacon = new JButton("vacuum-on"); + buttonPanel.add( but_vacon ); + but_vacon.addActionListener(this); + + JButton but_vacoff = new JButton("vacuum-off"); + buttonPanel.add( but_vacoff ); + but_vacoff.addActionListener(this); + + JButton but_sensors = new JButton("sensors"); + buttonPanel.add( but_sensors ); + but_sensors.addActionListener(this); + } + + /** + * + */ + void makeDisplayPanel() { + displayPanel = new JPanel(); + displayPanel.setBorder(BorderFactory.createCompoundBorder( BorderFactory.createTitledBorder("Display"), BorderFactory.createEmptyBorder(1,1,1,1))); + + displayText = new JTextArea(5,30); + displayText.setLineWrap(true); + DefaultCaret dc = new DefaultCaret(); + // only works on Java 1.5+ + // dc.setUpdatePolicy( DefaultCaret.ALWAYS_UPDATE ); + displayText.setCaret(dc); + JScrollPane scrollPane = + new JScrollPane(displayText, + JScrollPane.VERTICAL_SCROLLBAR_ALWAYS, + JScrollPane.HORIZONTAL_SCROLLBAR_NEVER ); + displayPanel.add( scrollPane ); + + } + + /** implement windowlistener */ + public void windowClosing(WindowEvent event) { + if( roombacomm.connected() ) + roombacomm.disconnect(); + System.exit(0); + } + /** implement windowlistener */ + public void windowClosed(WindowEvent event) { + // do nothing + } + /** implement windowlistener */ + public void windowOpened(WindowEvent event) { + // do nothing + } + /** implement windowlistener */ + public void windowActivated(WindowEvent event) { + // do nothing + } + /** implement windowlistener */ + public void windowDeactivated(WindowEvent event) { + // do nothing + } + /** implement windowlistener */ + public void windowIconified(WindowEvent event) { + // do nothing + } + /** implement windowlistener */ + public void windowDeiconified(WindowEvent event) { + // do nothing + } + + + /** Returns an ImageIcon, or null if the path was invalid. */ + protected static ImageIcon createImageIcon(String path, + String description) { + java.net.URL imgURL = RoombaCommTestOld.class.getResource(path); + if (imgURL != null) { + return new ImageIcon(imgURL, description); + } else { + System.err.println("Couldn't find file: " + path); + return null; + } + } + + +} |