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/*
* roombacomm.Drive -- test out the DRIVE command
*
* Copyright (c) 2006 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;
import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
/**
Drive the Roomba with the arrow keys in real-time
<p>
Run it with something like: <pre>
java roombacomm.DriveRealTime /dev/cu.KeySerial1<br>
Usage:
roombacomm.DriveRealTime 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
</pre>
*/
public class DriveRealTime extends JFrame implements KeyListener {
static String usage =
"Usage: \n"+
" roombacomm.DriveRealTime <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"+
"\n";
static boolean debug = false;
static boolean hwhandshake = false;
RoombaCommSerial roombacomm;
JTextArea displayText;
public static void main(String[] args) {
if( args.length < 1 ) {
System.out.println( usage );
System.exit(0);
}
new DriveRealTime(args);
}
public DriveRealTime(String[] args) {
super("DriveRealTime");
setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
String portname = args[0];
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("nohwhandshake") )
roombacomm.setWaitForDSR(false);
else if( args[i].endsWith("hwhandshake") )
roombacomm.setWaitForDSR(true);
}
roombacomm.debug = debug;
if( ! roombacomm.connect( portname ) ) {
System.out.println("Couldn't connect to "+portname);
System.exit(1);
}
System.out.println("Roomba startup");
roombacomm.startup();
roombacomm.control();
roombacomm.pause(50);
setupWindow();
updateDisplay("click on this window\nthen use arrow keys to drive Roomba around.\n");
}
/** Handle the key pressed event from the text field. */
public void keyPressed(KeyEvent e) {
int keyCode = e.getKeyCode();
if( keyCode == KeyEvent.VK_SPACE ) {
updateDisplay("stop");
roombacomm.stop();
}
else if( keyCode == KeyEvent.VK_UP ) {
updateDisplay("forward");
roombacomm.goForward();
}
else if( keyCode == KeyEvent.VK_DOWN ) {
updateDisplay("backward");
roombacomm.goBackward();
}
else if( keyCode == KeyEvent.VK_LEFT ) {
updateDisplay("spinleft");
roombacomm.spinLeft();
}
else if( keyCode == KeyEvent.VK_RIGHT ) {
updateDisplay("spinright");
roombacomm.spinRight();
}
else if( keyCode == KeyEvent.VK_COMMA ) {
updateDisplay("speed down");
roombacomm.setSpeed( roombacomm.getSpeed() - 50 );
}
else if( keyCode == KeyEvent.VK_PERIOD ) {
updateDisplay("speed up");
roombacomm.setSpeed( roombacomm.getSpeed() + 50 );
}
else if( keyCode == KeyEvent.VK_R ) {
updateDisplay("reset");
roombacomm.reset();
roombacomm.control();
}
}
/** Handle the key released event from the text field. */
public void keyReleased(KeyEvent e) {
}
/** Handle the key typed event from the text field. */
public void keyTyped(KeyEvent e) {
}
/** a sort of gui equivalent to system.out.println */
public void updateDisplay( String s ) {
displayText.append( s+"\n" );
displayText.setCaretPosition(displayText.getDocument().getLength());
}
/**
*/
public void setupWindow() {
displayText = new JTextArea(20,30);
displayText.setLineWrap(true);
displayText.setEditable(false);
displayText.addKeyListener(this);
JScrollPane scrollPane = new JScrollPane(displayText,
JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
JScrollPane.HORIZONTAL_SCROLLBAR_NEVER );
Container content = getContentPane();
content.add( scrollPane, BorderLayout.CENTER );
addKeyListener(this);
pack();
setResizable(false);
setVisible(true);
}
}
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