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package com.hackingroomba.roombacomm;
import java.awt.*;
import java.net.*;
import java.util.*;
import java.awt.image.*;
import java.io.*;
import java.net.URL;
public class RoboRealmTest
{
public static void sendImage(RoboRealmAPI rr, Image img)
{
int width = img.getWidth(null);
int height = img.getHeight(null);
// create your own copy of the data in case the parent goes away ...
int pixelInt[] = new int[width*height];
byte pixelByte[] = new byte[width*height*3];
// Get the image data
PixelGrabber grabber = new PixelGrabber(img, 0, 0, width, height, pixelInt, 0, width);
try
{
grabber.grabPixels();
int i,j;
for (j=i=0;i<width*height;)
{
int num = pixelInt[i++];
pixelByte[j++] = (byte)(num&255);
pixelByte[j++] = (byte)((num>>8)&255);
pixelByte[j++] = (byte)((num>>16)&255);
}
// send image to RR
rr.setImage(pixelByte, width, height);
}
catch (Exception e)
{
};
}
// This is where the program first starts
public static void main(String[] args)
{
byte image[] = new byte[1280*960];
RoboRealmAPI rr = new RoboRealmAPI();
if (!rr.connect("localhost"))
{
System.out.println("Could not connect to RoboRealm on localhost!");
return;
}
// load an image using Java awt
Dimension d = rr.getDimension();
if (d!=null)
{
System.out.println("Dimension "+d.width+"x"+d.height);
}
// VARIABLES
// set a custom variable to test
rr.setVariable("custom_var", "test");
// read back our custom variable ... should be equal to 'test'
String res = rr.getVariable("custom_var");
if (!res.equals("test"))
{
System.out.println("Error in custom_var");
return;
}
// delete our custom variable
if (!rr.deleteVariable("custom_var"))
{
System.out.println("Error in delete variable");
return;
}
// try to get it back again ... should be empty
res = rr.getVariable("custom_var");
if (res!=null)
{
System.out.println("Error in delete custom_var");
return;
}
// set multiple variables
String names[] = new String[2];
String values[] = new String[2];
names[0]="custom_var_1";
names[1]="custom_var_2";
values[0] = "test1";
values[1] = "test2";
rr.setVariables(names, values, 2);
// get multiple variables
Vector v = rr.getVariables("custom_var_1, custom_var_2");
if (v==null)
{
System.out.println("Error in GetVariables, did not return any results");
return;
}
else
{
if (!((String)v.elementAt(0)).equals("test1"))
{
System.out.println("Error in get/set multiple variables. Got "+(String)v.elementAt(0));
return;
}
if (!((String)v.elementAt(1)).equals("test2"))
{
System.out.println("Error in get/set multiple variables. Got "+(String)v.elementAt(1));
return;
}
}
// IMAGES
// ensure that the camera is on and processing images
rr.setCamera("on");
rr.run("on");
// execute a RGB filter on the loaded image
rr.execute("<head><version>1.50</version></head><RGB_Filter><min_value>40</min_value><channel>3</channel></RGB_Filter>");
// get the current processed image from RoboRealm and save as a PPM
d = rr.getImage(image, 1280*960);
if (d!=null)
{
rr.savePPM("c:\\temp\\test.ppm", image, d.width, d.height);
}
// get the current source image from RoboRealm and save as a PPM
d = rr.getImage("source", image, 1280*960);
if (d!=null)
{
rr.savePPM("c:\\temp\\test2.ppm", image, d.width, d.height);
}
// turn off live camera
rr.setCamera("off");
// load an image for experimentation
d = rr.loadPPM("c:\\Program Files\\RoboRealm\\remo.ppm", image, 320*240*3);
// change the current image
rr.setImage(image, d.width, d.height);
// load an image using Java awt
try
{
Image img = Toolkit.getDefaultToolkit().getImage(new URL("http://www.google.com/intl/en_ALL/images/logo.gif"));
sendImage(rr, img);
}
catch (Exception e)
{
};
// add a marker image called my_new_image
rr.setImage("my_new_image", image, d.width, d.height);
// run a .robo program
//rr.loadProgram("c:\\Program Files\\RoboRealm\\scripts\\red.robo");
// load an image from disk
rr.loadImage(null, "c:\\Program Files\\RoboRealm\\remo.gif");
// save that image back to disk .. note that we can switch extensions
rr.saveImage(null, "c:\\temp\\remo.jpg");
rr.setCamera("on");
// change the camera to another one
//rr.setCamera("CompUSA PC Camera");
try
{
Thread.sleep(2000);
}
catch (Exception e)
{
};
// now set it back
//rr.setCamera("Logitech");
// turn off processing
rr.run("off");
try
{
Thread.sleep(2000);
}
catch (Exception e)
{
};
// run once
rr.run("once");
try
{
Thread.sleep(2000);
}
catch (Exception e)
{
};
// run for 100 frames (~3.3 seconds) .. note that if your frame rate is different this
// may be longer than 4 seconds
System.out.println("running for 100 frames");
rr.run("100");
try
{
Thread.sleep(4000);
}
catch (Exception e)
{
};
// turn processing back on
rr.run("on");
// wait for the image count to exceed 1000 (assuming a 30 fps here)
System.out.println("waiting for image count to exceed 1000");
rr.waitVariable("image_count", "500", 100000);
// wait for a new image
System.out.println("waiting for a new image");
rr.waitImage(5000);
// close the RoboRealm application .. if you want too ... otherwise leave it running
//rr.close();
// disconnect from API Server
rr.disconnect();
System.out.println("Finished RoboRealmTest");
}
}
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