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/*
* roombacomm.ArduinoClient -- test out the Arduino 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;
/**
* A test class for Arduino communications.
*
* <h2> Overview </h2>
* This class contains the communications layer-independent parts of
* how to communicate with an Arduino. It does assume a very serial port-like
* interaction.
**/
public class ArduinoClient {
private static final long serialVersionUID = 1L;
private static final int lumBufHeight = 32;
String usage =
"Usage: \n"+
" ArduinoClient {--arduinoServer|-s} <IP> [{--arduinoPortNum|-p} <port>] [options]\n" +
"where [options] can be one or more of:\n"+
" --debug|-X -- turn on debug output\n";
private RobotConnection arduinoConnection;
private String arduinoServer;
private Boolean debug;
public ArduinoClient() {
// constructor, mustn't throw exceptions. Do nothing for now
}
// main - it all starts here; when run as main class, ask Arduino for its compass reading
public static void main(String[] args) {
ArduinoClient l = new ArduinoClient();
l.testClient(args);
}
public void testClient(String[] args) {
parseCmd(args);
arduinoConnection = new RobotConnection(arduinoServer);
arduinoConnection.connect();
ArduinoBot arduinobot = new ArduinoBot(arduinoConnection);
arduinobot.printCompass();
arduinoConnection.disconnect();
}
public void parseCmd(String[] args){
//System.out.println("*** running ArduinoClient standalone WparseCmd");
CmdLineParser parser = new CmdLineParser();
CmdLineParser.Option debugOption = parser.addBooleanOption('X', "debug");
CmdLineParser.Option arduinoServerOption = parser.addStringOption('s', "arduinoServer");
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 "192.168.1.1:5002"
arduinoServer = (((String)parser.getOptionValue(arduinoServerOption)));
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_;
}
/**
* @param arduuinoServer the localizerServer to set
*/
}
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