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

---
 .../hackingroomba/roombacomm/net/DumpMethods.java  |  70 +++++++++++
 .../roombacomm/net/RoombaCommTCPServer.java        |  94 +++++++++++++++
 .../hackingroomba/roombacomm/net/SimpleTest.java   | 131 +++++++++++++++++++++
 .../roombacomm/net/TextHttpServer.java             | 109 +++++++++++++++++
 4 files changed, 404 insertions(+)
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/net/DumpMethods.java
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/net/RoombaCommTCPServer.java
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/net/SimpleTest.java
 create mode 100644 roombacomm-client/src/com/hackingroomba/roombacomm/net/TextHttpServer.java

(limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/net')

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/net/DumpMethods.java b/roombacomm-client/src/com/hackingroomba/roombacomm/net/DumpMethods.java
new file mode 100644
index 0000000..962629e
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/net/DumpMethods.java
@@ -0,0 +1,70 @@
+
+package com.hackingroomba.roombacomm.net;
+
+import java.lang.reflect.*;
+
+import com.hackingroomba.roombacomm.*;
+
+
+public class DumpMethods {
+
+    RoombaCommSerial rcs;
+
+    public static void main(String[] args) {
+        new DumpMethods(args);
+    }
+
+    public DumpMethods(String[] args) {
+        rcs = new RoombaCommSerial();
+        
+        if( args.length == 0 ) {
+            dumpMethods(rcs);
+            return;
+        }
+        
+        String method_name = args[0];
+
+        /*
+        for( int i=1; i<args.length; i++ ) {
+            String s = args[i];
+            try { a0 = Integer.parseInt( s );
+            } catch( Exception e ) { }
+            
+        }
+        */
+    }
+
+    public void dumpMethods(Object obj) {
+        //Object result = method.invoke(obj, new Object[0]);
+        //Class c = Class.forName("roombacomm.RoombaComm");
+        try {
+            Method m[] = obj.getClass().getMethods();
+            for( int i=0; i< m.length; i++ )
+                System.out.println( m[i].getName() +" -- "+ m[i].toString() );
+        } catch( Exception e ) {
+            e.printStackTrace();
+        }
+    }
+
+    public void getMethod( String name, Object obj ) {
+        try {
+            String mname = name;
+            Class[] types = new Class[] {};
+            Method method = obj.getClass().getMethod(mname, types);
+            System.out.println("class: "+method.getDeclaringClass());
+            System.out.println("method: "+method.toString());
+        } catch( Exception e ) {
+            e.printStackTrace();
+        }
+    }
+
+}
+    /*
+    try {
+      serialEventMethod =
+        parent.getClass().getMethod("serialEvent",
+                                    new Class[] { Serial.class });
+    } catch (Exception e) {
+      // no such method, or an error.. which is fine, just ignore
+    }
+    */
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/net/RoombaCommTCPServer.java b/roombacomm-client/src/com/hackingroomba/roombacomm/net/RoombaCommTCPServer.java
new file mode 100644
index 0000000..d93ab2d
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/net/RoombaCommTCPServer.java
@@ -0,0 +1,94 @@
+/*
+ *  RoombaComm TCP Interface
+ *
+ *
+ *  Copyright (c) 2005 Tod E. Kurt, tod@todbot.com
+ *
+ *  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.net;
+
+import java.net.*;
+import java.io.*;
+
+public class RoombaCommTCPServer
+{
+    // default port
+    int port = 8765;
+
+    // the shutdown command received
+    private boolean shutdown = false;
+
+    public RoombaCommTCPServer() {
+    }
+    
+    public void await() {
+        ServerSocket serverSocket = null;
+      try {
+          serverSocket =  new ServerSocket(port, 1, null );
+          //                              InetAddress.getByName("127.0.0.1"));
+      }
+      catch (IOException e) {
+          e.printStackTrace();
+          System.exit(1);
+      }
+      /*      
+      // Loop waiting for a request
+      while (!shutdown) {
+          Socket socket = null;
+          InputStream input = null;
+          OutputStream output = null;
+          try {
+              socket = serverSocket.accept();
+              input = socket.getInputStream();
+              output = socket.getOutputStream();
+              
+              if( input.available() ) {
+              }
+              // create Request object and parse
+              Request request = new Request(input);
+              request.parse();
+              
+              // create Response object
+              Response response = new Response(output);
+              response.setRequest(request);
+              response.sendStaticResource();
+              
+              // Close the socket
+              socket.close();
+              
+              //check if the previous URI is a shutdown command
+              shutdown = request.getUri().equals(SHUTDOWN_COMMAND);
+          }
+          catch (Exception e) {
+              e.printStackTrace();
+              continue;
+          }
+      }
+      */
+    }
+      
+    public static void main(String[] args) {
+        RoombaCommTCPServer server = new RoombaCommTCPServer();
+        server.await();
+    }
+    
+}
+
+
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/net/SimpleTest.java b/roombacomm-client/src/com/hackingroomba/roombacomm/net/SimpleTest.java
new file mode 100644
index 0000000..7f45ad1
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/net/SimpleTest.java
@@ -0,0 +1,131 @@
+/*
+ * roombacomm.net.SimpleTest
+ *
+ *  Copyright (c) 2005 Tod E. Kurt, tod@todbot.com
+ *
+ *  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.net;
+
+import com.hackingroomba.roombacomm.*;
+
+/**
+ *  A simple test of RoombaComm and RoombaCommSerial functionality.
+ * <p>
+ *  Run it with something like: <pre>
+ *   java roombacomm.SimpleTest /dev/cu.KeySerial1
+ *  </pre>
+ *
+ */
+public class SimpleTest {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.net.SimpleTest <host:port> [options]\n" +
+        "where [options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        //" -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
+        //" -flush       -- flush on sends(), normally not needed\n"+
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = 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"
+
+        for( int i=1; i < args.length; i++ ) {
+            if( args[i].endsWith("debug") )
+                debug = true;
+            //else if( args[i].endsWith("hwhandshake") )
+            //    hwhandshake = true;
+            //else if( args[i].endsWith("flush") )
+            //    flush = true;
+        }
+        
+        RoombaComm roombacomm = new RoombaCommTCPClient();
+
+        roombacomm.debug = debug;
+        //roombacomm.waitForDSR = hwhandshake;
+        //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);
+        }      
+
+        System.out.println("Roomba startup on port "+portname);
+        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. :(  Is it turned on?");
+        
+        //roombacomm.updateSensors();
+        
+        System.out.println("Playing some notes");
+        roombacomm.playNote( 72, 10 );  // C
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 79, 10 );  // G
+        roombacomm.pause( 200 );
+        roombacomm.playNote( 76, 10 );  // E
+        roombacomm.pause( 200 );
+        
+        System.out.println("Spinning left, then right");
+        roombacomm.spinLeft();
+        roombacomm.pause(1000);
+        roombacomm.spinRight();
+        roombacomm.pause(1000);
+        roombacomm.stop();
+        
+        System.out.println("Going forward, then backward");
+        roombacomm.goForward();
+        roombacomm.pause(1000);
+        roombacomm.goBackward();
+        roombacomm.pause(1000);
+        roombacomm.stop();
+        
+
+        System.out.println("Moving via send()");
+        byte cmd[] = {(byte)RoombaComm.DRIVE, 
+                      (byte)0x00,(byte)0xfa, (byte)0x00,(byte)0x00};
+        roombacomm.send( cmd ) ;
+        roombacomm.pause(1000);
+        roombacomm.stop();
+
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+    }
+}
+
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/net/TextHttpServer.java b/roombacomm-client/src/com/hackingroomba/roombacomm/net/TextHttpServer.java
new file mode 100644
index 0000000..17450d3
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/net/TextHttpServer.java
@@ -0,0 +1,109 @@
+
+
+
+package com.hackingroomba.roombacomm.net;
+
+import java.net.*;
+import java.io.*;
+
+public class TextHttpServer {
+    
+    int port = 6767;
+    /*
+    String cmds[] =
+    {
+        "reset",     // zero args
+        "stop",      // zero args
+        "goforward", // one optional arg
+        "gobackward", // one optional arg
+        "spinleft",  // one optional arg
+        "spinright", // one optional arg
+        "beep",  // two args
+    };
+    */
+
+    // the shutdown command received
+    private boolean shutdown = false;
+    
+    public static void main(String[] args) {
+        TextHttpServer server = new TextHttpServer();
+        server.await();
+    }
+    
+    
+    public void await() {
+        System.out.println("awaiting connections on port "+port+"...");
+
+        ServerSocket serverSocket = null;
+        try {
+            serverSocket = new ServerSocket(port, 1, null);
+        }
+        catch (IOException e) {
+            e.printStackTrace();
+            System.exit(1);
+        }
+
+        // Loop waiting for a request
+        while (!shutdown) {
+            Socket socket = null;
+            InputStream input = null;
+            OutputStream output = null;
+            try {
+                socket = serverSocket.accept(); // this blocks
+
+                input = socket.getInputStream();
+                output = socket.getOutputStream();
+
+                StringBuffer request = parseRequest( input );
+                String uristr = parseUri( request.toString() );
+                System.out.println("uristr: "+uristr);
+
+                URI uri = new URI( uristr );
+                System.out.println("path:"+uri.getPath()+", query:"+uri.getQuery());
+                
+                // Close the socket
+                socket.close();
+
+            } catch (Exception e) {
+                e.printStackTrace();
+                //System.exit(1);
+            }
+        }
+
+    }
+
+
+
+    public StringBuffer parseRequest(InputStream input) {
+        // Read a set of characters from the socket
+        StringBuffer request = new StringBuffer(2048);
+        int i;
+        byte[] buffer = new byte[2048];
+        try {
+            i = input.read(buffer);
+        }
+        catch (IOException e) {
+            e.printStackTrace();
+            i = -1;
+        }
+        for (int j=0; j<i; j++) {
+            request.append((char) buffer[j]);
+        }
+        System.out.print(request.toString());
+        
+        return request;
+    }
+
+    private String parseUri(String requestString) {
+        int index1, index2;
+        index1 = requestString.indexOf(' ');
+        if (index1 != -1) {
+            index2 = requestString.indexOf(' ', index1 + 1);
+            if (index2 > index1)
+                return requestString.substring(index1 + 1, index2);
+        }
+        return null;
+    }
+
+    
+}
-- 
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