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package com.hackingroomba.roombacomm;
import java.io.BufferedReader;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.util.Enumeration;
import gnu.io.CommPortIdentifier;
import gnu.io.SerialPort;
import gnu.io.SerialPortEvent;
import gnu.io.SerialPortEventListener;
public class BetterRoomba implements SerialPortEventListener {
private static final String PORT = "/dev/ttyUSB0";
private static final int TIMEOUT = 2000;
private static final int RATE = 115200;
private static final int DATABITS = 8;
private static final int PARITY = SerialPort.PARITY_NONE;
private static final int STOPBITS = SerialPort.STOPBITS_1;
private SerialPort serialPort;
private InputStream input;
private OutputStream output;
private InputStreamReader isr;
public static void main(String[] args) throws Exception {
System.out.println("Starting...");
BetterRoomba br = new BetterRoomba();
br.startup();
br.send(new byte[] {(byte) 136, (byte) 8});
Thread.sleep(5000);
br.send(new byte[] {(byte) 148, (byte) 2, (byte) 19,(byte) 20});
Thread.sleep(5000);
br.send(new byte[] {(byte) 150, (byte) 0});
br.send(new byte[] {(byte) 136, (byte) 255});
br.shutdown();
System.out.println("-END-");
}
@Override
synchronized public void serialEvent(SerialPortEvent e) {
try {
System.out.print("Serial event " + e.getEventType() + ": ");
if (isr.ready()) {
int c = isr.read();
if (c == 18) {
for (int i=0; i<6; i++) {
System.out.print(isr.read() + " ");
}
}
if (c == 19) {
System.out.print(c + " ");
int bytes = isr.read();
for (int i=0; i<bytes; i++) {
System.out.print(isr.read() + " ");
}
System.out.print("[" + isr.read() + "] ");
}
}
else
System.out.println("For some weird reason the buffer ain't ready.");
System.out.println("--");
} catch (Exception ex) {
System.out.println("Exception: " + ex.getMessage());
}
}
public void startup() throws Exception {
serialConnect();
}
public void shutdown() throws Exception {
try {
if (input != null)
input.close();
if (output != null)
output.close();
} catch (Exception e) {
e.printStackTrace();
}
try {
if (serialPort != null)
serialPort.close();
} catch (Exception e) {
e.printStackTrace();
}
}
private void send(byte[] arr) throws Exception {
System.out.print("Sending: ");
for (byte b : arr) {
System.out.print(String.valueOf(b) + " ");
}
System.out.println("");
output.write(arr);
}
private void serialConnect() throws Exception {
try {
Enumeration portList = CommPortIdentifier.getPortIdentifiers();
while (portList.hasMoreElements()) {
CommPortIdentifier portId = (CommPortIdentifier) portList.nextElement();
if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
System.out.println("Found " + portId.getName());
if (portId.getName().equals(PORT)) {
System.out.println("Opening port: "+ portId.getName());
serialPort = (SerialPort) portId.open("roomba serial", TIMEOUT);
input = serialPort.getInputStream();
output = serialPort.getOutputStream();
isr = new InputStreamReader(input);
serialPort.setSerialPortParams(RATE, DATABITS, STOPBITS, PARITY);
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
System.out.println("Port opened successfully");
}
}
}
} catch (Exception e) {
System.out.println(e.getMessage());
throw e;
}
}
}
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