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

---
 .../src/com/hackingroomba/roombacomm/Test.java     | 177 +++++++++++++++++++++
 1 file changed, 177 insertions(+)
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/Test.java

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

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/Test.java b/roombacomm-client/src/com/hackingroomba/roombacomm/Test.java
new file mode 100644
index 0000000..914685f
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/Test.java
@@ -0,0 +1,177 @@
+/*
+ *  RoombaComm Interface Test
+ *
+ *  Copyright (c) 2005 Tod E. Kurt, tod@todbot.com, ThingM
+ *
+ *  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;
+
+
+/**
+  A fairly thorough test of the RoombaComm API.
+  <p>
+  Run it with something like: <pre>
+    java roombacomm.Test /dev/cu.KeySerial1
+  Usage: 
+  roombacomm.Test serialportname [protocol] [options]<br>
+  where: protocol (optional) is SCI or OI
+  [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 
+   -flush -- flush on sends(), normally not needed
+   -power       -- power on/off Roomba (if interface supports it)
+ * </pre>
+ * </p>
+ */
+public class Test {
+
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.Test <serialportname> [protocol] [options]\n" +
+        "where: protocol (optional) is SCI or OI\n" +
+        "[options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        " -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
+        " -nohwhandshake -- don't use hardware-handshaking\n"+
+        " -flush       -- flush on sends(), normally not needed\n"+
+        " -power       -- power on/off Roomba (if interface supports it)\n"+
+        "\n";
+        
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+    static boolean power = false;
+    static boolean flush = false;
+    
+    public static void main(String[] args) {
+        if( args.length == 0 ) {
+            System.out.println(usage);
+            System.exit(0);
+        }
+        
+        String portname = args[0];  // e.g. "/dev/cu.KeySerial1"
+        RoombaCommSerial roombacomm = new RoombaCommSerial();
+
+        for( int i=1; i<args.length; i++ ) {
+        	if (args[i].equals("SCI") || (args[i].equals("OI"))) {
+        		roombacomm.setProtocol(args[i]);
+        	} else if( args[i].endsWith("debug") ) 
+                debug = true;
+            else if( args[i].endsWith("power") )
+                power = true;
+            else if( args[i].endsWith("nohwhandshake") )
+                roombacomm.setWaitForDSR(false);
+            else if( args[i].endsWith("hwhandshake") )
+                roombacomm.setWaitForDSR(true);
+            else if( args[i].endsWith("flush") )
+                flush = true;
+        }
+        roombacomm.debug = debug;
+        roombacomm.flushOutput = flush;
+        
+        String portlist[] = roombacomm.listPorts();
+        System.out.println("Available ports:");
+        for( int i=0; i<portlist.length; i++ )
+            System.out.println("  "+i+": "+portlist[i]);
+        
+        if( ! roombacomm.connect( portname ) ) {
+            System.out.println("Couldn't connect to "+portname);
+            System.exit(1);
+        }
+        
+        if( power ) {
+            System.out.println("waking up Roomba...");
+            roombacomm.wakeup();
+        }
+
+        System.out.println("Roomba startup");
+        roombacomm.startup();
+        roombacomm.control();
+        roombacomm.pause(30);
+        
+        System.out.println("Checking for Roomba... ");
+        if( roombacomm.updateSensors() ) {
+            System.out.println("Roomba found!");
+        } else {
+            System.out.println("No Roomba. :(");
+        }
+        
+        // must pause after every playNote to let to note sound
+        System.out.println("Playing some notes");
+        roombacomm.playNote( 72, 10 );
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 79, 10 );
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 76, 10 );
+        roombacomm.pause( 200 );
+        
+        // test Logo-like functions (blocking)
+        // speed is in mm/s, go* is in mm, spin is in degrees
+        roombacomm.setSpeed( 100 );     // can be positive or negative
+        roombacomm.goStraight( 100 );   // can be positive or negative
+        roombacomm.goForward( 100 );    // negative numbers not allowed
+        roombacomm.goBackward( 200 );   // negative numbers not allowed
+        
+        roombacomm.setSpeed( 150 );
+        roombacomm.spin( -360 );        // can be positive or negative
+        roombacomm.spinRight( 360 );    // negative numbers not allowed
+        roombacomm.spinLeft( 360 );     // negative numbers not allowed
+        
+        // test non-blocking functions
+        roombacomm.goStraightAt(200);   // speed argument
+        roombacomm.pause(1000);
+        roombacomm.goForwardAt(200);   // speed argument
+        roombacomm.pause(1000);
+        roombacomm.goBackwardAt(400);   // speed argument
+        roombacomm.pause(1000);
+        
+        roombacomm.spinLeftAt( -15 );    // mm/s or degs/sec ?
+        roombacomm.pause(1000);
+        roombacomm.spinRightAt( 15 );
+        roombacomm.pause(1000);
+        
+        roombacomm.stop();
+        
+        //roombacomm.turn();
+        
+        /*
+        //    roombacomm.goStraight( 100, 100 );
+        roombacomm.spinLeft(  100, 360 );
+        roombacomm.spinRight( 200, 360 );
+        roombacomm.spinLeft(  300, 360 );
+        roombacomm.spinRight( 400, 360 );
+        roombacomm.spinLeft(  500, 360 );
+        roombacomm.spinRight( 600, 360 );
+        */
+        
+        if( power ) {
+            System.out.println("Powering off in 3 seconds.");
+            roombacomm.pause( 3000 );
+            roombacomm.powerOff();
+        }
+        
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+    }
+    
+
+}
-- 
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