From 53b947df484159f5934898ba6c0aa69a9c869007 Mon Sep 17 00:00:00 2001
From: Ido Hadanny <ido.hadanny@gmail.com>
Date: Thu, 22 Sep 2011 21:30:13 +0300
Subject: added stuff

---
 .../roombacomm/AudioLocalizerClient.java           | 258 +++++++++++++++++++++
 1 file changed, 258 insertions(+)
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java

(limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/AudioLocalizerClient.java')

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
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