path: root/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaComm.java

/*
 *  RoombaComm Interface
 *
 *  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 gnu.io.SerialPort;

import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.Map;

/**
 * The abstract base for all Roomba communications.
 * 
 * <h2> Overview </h2>
 * This class contains the communications layer-independent parts of
 * how to communicate with a Roomba.  It does assume a very serial port-like
 * interaction.
 *
 * Standard lifecyle of this object (and its subclasses) <pre>
 *   RoombaComm roomba = new RoombaCommSubClass();  // (e.g. RoombaCommSerial)
 *   roomba.listports();               // if implemented
 *   roomba.connect("someportid");
 *   roomba.startup();
 *   roomba.updateSensors();
 *   while( ... ) {
 *      roomba.sensors();
 *      roomba.playNote( 53, 12 );
 *      roomba.goForward( 400 );
 *      roomba.spinRight( 45 );
 *      if( roomba.bump() ) roomba.goBackward( 100 );
 *   }    
 *   roomba.disconnect();
 * </pre>
 *
 * <h2> API levels </h2>
 * Describe different API levels
 *
 * <h2> Sensor Functions </h2>
 * Describe sensor functions
 *
 * <h2> Sublass behavior </h2>
 * Describe subclassing strategries
 *
 *
 * @author Tod E. Kurt
 * SVN id value is $Id: RoombaComm.java 182 2010-11-02 03:49:10Z bouchier $
 */
public abstract class RoombaComm
{
    /** version of the library */
    static public final String VERSION = "0.96.3";

	/**
	 * contains a list of all the ports
	 * keys are port names (e.g. "/dev/usbserial1")
	 * values are Boolean in-use indicator
	 */
	protected static Map ports = null;
	
    /** turns on/off various debugging messages */
    public boolean debug = false;
    
    public boolean isDebug() {
		return debug;
	}

	public void setDebug(boolean debug) {
		this.debug = debug;
	}

	/** distance between wheels on the roomba, in millimeters */
    public static final int wheelbase = 258; 
    /** mm/deg is circumference distance divided by 360 degrees */
    public static final float 
        millimetersPerDegree = (float)(wheelbase * Math.PI / 360.0);
    /** mm/rad is a circumference distance divied by two pi */
    public static final float 
        millimetersPerRadian = (float)(wheelbase/2);

    /** default speed for movement operations if speed isn't specified */
    public static final int defaultSpeed  =  200;

    /** default update time in ms for auto sensors update */
    public static final int defaultSensorsUpdateTime = 200;
       
    /** current mode, if known */
    int mode;

    /** current speed for movement operations that don't take a speed */
    public int speed = defaultSpeed;

    /** computed boolean for when Roomba is errored out of safe mode */
    boolean safetyFault = false;
    /** if sensor variables have been updated successfully */
    protected boolean sensorsValid = false;
    /** Set to true to make sensors auto-update (at expense of serial b/w) */
    boolean sensorsAutoUpdate = false;
    /** Time in milliseconds between sensor updates  */
    int sensorsUpdateTime = 200;
    /** last time (System.currentTimeMillis) that the sensors were updated */
    protected long sensorsLastUpdateTime;
    /** how many bytes we expect to read from the sensor command */
    protected int readRequestLength;

    /** internal storage for all roomba sensor data */
    protected byte[] sensor_bytes = new byte[1024];
  
    /** connected to a serial port or not, not necessarily to roomba */
    boolean connected = false;

    public boolean isConnected() {
    	String str = this.getSensorsAsString();
    	if (str != null && str.length() >=1){
    		if (debug){
    			logmsg("isConnected found sensorString as ("+str+")");
    		}
    		this.setConnected(true);
    		return true;
    	}else{
    		if (debug){
    			if (str != null){
    				logmsg("isConnected found sensorString ("+str+")");
    			}else{
    				logmsg("isConnected found sensorString (null)");
    			}
    		}
    	}
		return connected;
	}

	public void setConnected(boolean connected) {
		this.connected = connected;
	}

	/** set of flgs for the current state of the LEDs */
    /** note this is a superset of all protocol's supported */
    private boolean redOn = false;
    private boolean greenOn = false;
    private boolean toggleSpot = false;
    private boolean toggleClean = false;
    private boolean toggleMax = false;
    private boolean toggleDirt = false;
    private boolean toggleDock = false;
    private boolean toggleCheckRobot = false;
    private int power_color = 0;
    private int power_int = 0;
	
	/** default RoombaComm protocol to identify classes of API calls to be made */
	private String protocol = "SCI";
	/** default baud rate for the default protocol */
	protected int rate = 57600;
	
	protected String portname = null;
	/** connection object to use when appropriate */
    RobotConnection robotConnection;


	/** 
	 * Some "virtual" serial ports like Bluetooth serial on Windows
	 * return weird errors deep inside RXTX if an opened port is used
	 * before the virtual COM port is ready.  One way to check that it 
	 * is ready is to look for the DSR line going high.  
	 * However, most simple, real serial ports do not do hardware handshaking
	 * so never set DSR high.
	 * Thus, if using Bluetooth serial on Windows, do:
	 *  roombacomm.waitForDSR = true;
	 * before using it and see if it works.
	 */
	public boolean waitForDSR = false;

	/** The RXTX port object, normally you don't need access to this */
	public SerialPort serialPort = null;

	public RoombaComm() {
        connected = false;
        mode = MODE_UNKNOWN;
    }

    public RoombaComm(boolean autoUpdate) {
        this();
        if( autoUpdate )
            startAutoUpdate();
    }

    public RoombaComm(boolean autoUpdate, int updateTime) {
        this(autoUpdate);
        sensorsUpdateTime = updateTime;
    }
    
    public RoombaComm(RobotConnection rc) {
    	robotConnection = rc;
    }
    public void startAutoUpdate() {
        new Thread( new Runnable() {
                public void run() {
                    try { 
                        while( sensorsUpdateTime > 0 ) {
                            if( connected() ) sensors();
                            Thread.sleep( sensorsUpdateTime );
                        }
                    } catch(InterruptedException ex) {}
                }
            }).start();
    }

    /**
     * List available ports
     * @return a list available portids, if applicable
     * or empty set if no ports, 
     * or return null if list is not enumerable
     */
    public abstract String[] listPorts();

    /**
     * Connect to a port
     * (for serial, portid is serial port name, for net, portid is url?)
     * @return true on successful connect, false otherwise
     */
    public abstract  boolean connect(String portid);
    /**
     * Disconnect from a port, clean up any memory in use
     */
    public abstract  void disconnect();


    /**
     * Send given byte array to Roomba. 
     * @param bytes byte array of ROI commands to send
     * @return true on successful send
     */
    public abstract boolean send(byte[] bytes);

    /** 
     * Send a single byte to the Roomba 
     * (defined as int because of stupid java signed bytes)
     * @param b byte of an ROI command to send
     * @return true on successful send
     */
    public abstract boolean send(int b);

    /**
     * Query Roomba for sensor status and sync its state with this object's
     * Subclasses should query Roomba and fill up 'sensor_bytes' with the full
     * sensor data set
     * If a RooombaComm object is constructed with 'autoUpdate' true, 
     * calling this method is not required because a separate thread is created
     * to do sensor updating.
     *
     * @return true on successful sensor update, false otherwise
     */
    //public abstract boolean updateSensors();

    /**
     * Wake's Roomba up, if possible, thus optional
     * To wake up the Roomba requires twiddling its DD line, often
     * hooked up to the RS-232 DTR line, which may not be available in some 
     * implementations
     */
    public void wakeup() {
        logmsg("subclass has not implemented");
//        byte cmd[] = { (byte)POWER, (byte)v, (byte)power_color, (byte)power_intensity };
//        send(cmd);
//        MSComm1.Output = "+++" & Chr(13)
//        MSComm1.Output = "ATSW22,6,1,1" & Chr(13)
//        MSComm1.Output = "ATSW23,6,0,1" & Chr(13)
//        MSComm1.Output = "ATSW23,6,1,1" & Chr(13)
//        MSComm1.Output = "ATMD" & Chr(13)
        String str="+++\nATSW22,6,1,1\n,ATSW23,6,0,1\nATSW23,6,1,1\nATMD\n";
        send(str.getBytes());
//        byte bytes[] = str.getBytes();
//        for (int i = 0; i < bytes.length; i++) {
//        	
//		}
    }

    /**
     * Put Roomba in safe mode.
     * As opposed to full mode.  Safe mode is the preferred working state
     * when playing with the Roomba as it provides some measure of 
     * autonomous self-preservation if it encounters a cliff or is picked up
     * If that happens it goes into passive mode and must be 'reset()'.
     * @see #reset()
     */
    public void startup() {
        logmsg("startup");
        speed = defaultSpeed;
        start();
    }

    /** 
     * Reset Roomba after a fault.  This takes it out of whatever mode it was
     * in and puts it into safe mode.
     * This command also syncs the object's sensor state with the Roomba's
     * by calling updateSensors()
     * @see #startup()
     * @see #updateSensors()
     */
    public void reset() {
        logmsg("reset");
        stop();
        startup();
        control();
        updateSensors();
    }

    /**  Send START command  */
    public void start() { 
        logmsg("start");
        mode = MODE_PASSIVE;
        send( START );
    }
    /**  Send CONTROL command  */
    public void control() { 
        logmsg("control");
        mode = MODE_SAFE;
        send( CONTROL );
        // set blue dirt LED on so we know roomba is powered on & under control
        // (and we don't forget to turn it off, and run it's batteries flat)
        // FIXME: first time after a poweron, the lights flash then turn off
        setLEDs(false, false, false, false, false, true, 128, 255);
    }
    /**  Send SAFE command  */
    public void safe() { 
        logmsg("safe");
        mode = MODE_SAFE;
        send( SAFE );
    }
    /**  Send FULL command  */
    public void full() { 
        logmsg("full");
        mode = MODE_FULL;
        send( FULL );
    }

    /**
     * Power off the Roomba.  Once powered off, the only way to wake it
     * is via wakeup() (if implemented) or via a physically pressing
     * the Power button
     * @see #wakeup()
     */
    public void powerOff() {
        logmsg("powerOff");
        mode = MODE_UNKNOWN;
        send( POWER );
    }

    /** Send the SPOT command */
    public void spot() {
        logmsg("spot");
        mode = MODE_PASSIVE;
        send( SPOT );
    }
    /** Send the CLEAN command */
    public void clean() {
        logmsg("clean");
        mode = MODE_PASSIVE;
        send( CLEAN );
    }
    /** Send the max command */
    public void max() {
        logmsg("max");
        mode = MODE_PASSIVE;
        send( MAX );
    }
    /** Send the max command */
    public void dock() {
        logmsg("dock");
        mode = MODE_PASSIVE;
//        send( CLEAN );
        send( DOCK );
    }
    /** 
     * Send the SENSORS command 
     * with one of the SENSORS_ arguments
     * Typically, one does "sensors(SENSORS_ALL)" to get all sensor data
     * @param packetcode one of SENSORS_ALL, SENSORS_PHYSICAL, 
     *                   SENSORS_INTERNAL, or SENSORS_POWER, or for roomba 5xx, it
     *                   is the sensor packet number (from the spec)
     */
    public void sensors(int packetcode ) {
    	sensorsValid = false;
        logmsg("sensors:"+packetcode);
        switch (packetcode) {
        case 0: readRequestLength = 26; break;
        case 1: readRequestLength = 10; break;
        case 2: readRequestLength = 6; break;
        case 3: readRequestLength = 10; break;
        case 4: readRequestLength = 14; break;
        case 5: readRequestLength = 12; break;
        case 6: readRequestLength = 52; break;
        case 100: readRequestLength = 80; break;
        case 101: readRequestLength = 28; break;
        case 106: readRequestLength = 12; break;
        case 107: readRequestLength = 9; break;
        case 19:
        case 20:
        case 22:
        case 23:
        case 25:
        case 26:
        case 27:
        case 28:
        case 29:
        case 30:
        case 39:
        case 40:
        case 41:
        case 42:
        case 43:
        case 44:
        case 46:
        case 47:
        case 48:
        case 49:
        case 50:
        case 51:
        case 54:
        case 55:
        case 56:
        case 57: readRequestLength = 2; break;
        default: readRequestLength = 1; break;
        }
        
        byte cmd[] = { (byte)SENSORS, (byte)packetcode};
        send(cmd);
    }
    
    /** 
     * get all sensor data
     */
    public void sensors() {
    	readRequestLength = 26;
        sensors( SENSORS_ALL );
    }
	/**
	 * Read roomba 26-byte sensor record using robotConnection. Tries once to read valid data, allowing 100ms
	 * timeout on each attempt. 
	 * @return true if read 26 bytes of valid data. Data has been stored in sensor_bytes. False otherwise
	 */
 	public boolean updateSensors()
 	{
 		return updateSensors(SENSORS_ALL);
 	}
 	
 	public boolean updateSensors(int sensorGroup)
 	{
    	int sensorGroupSize;
    	
 		if (robotConnection == null) {
 	 		System.out.println("Error at ArduinoBot.updateSensors(): no connection object for robot");
 	 		return false; 			
 		}

 		switch(sensorGroup) {
 		case SENSORS_ALL: sensorGroupSize = 26; break;
 		case 100: sensorGroupSize = 80; break;
 		default:
 			System.err.println("Invalid sensor group in updateSensors(): " + sensorGroup);
 			return false;
 		}
    	sensors(sensorGroup);
 		return getSensorData(sensorGroupSize); 		
 	}

    /**
     * Query a list of sensors. This is a roomba 5xx only command.
     * @param sensorList A byte array containing the sensor groups requested to be read
     * @param returnLen The number of bytes of data expected to be returned from roomba
     */
    public void queryList(byte[] sensorList, int returnLen)
    {
    	int i = 0;
    	int j;
    	
    	sensorsValid = false;
    	readRequestLength = returnLen;
    	byte cmd[] = new byte[2+sensorList.length];
    	cmd[i++] = (byte) QUERYLIST;
    	cmd[i++] = (byte)sensorList.length;
    	for (j=0; j<sensorList.length; j++)
    		cmd[i++] = sensorList[j];
    	send(cmd);
    }

	/**
	 * @param sensorGroupSize
	 */
	public boolean getSensorData(int sensorGroupSize) {
 		byte [] readData;
 		
		// try once to read valid sensor data before giving up
		//startTime = System.currentTimeMillis();
		try {
			readData = robotConnection.readBot(sensorGroupSize);
		} catch (Exception e) {
			e.printStackTrace();
			return false;
		}

		// readBot either read requested # of bytes or returned a null (indicating timeout. 
		// If null or invalid data and group 0 (26 bytes expected), try again
		if( readData != null ) { 
			if (((readData[1] > 1) || (readData[1] < 0)) && (sensorGroupSize == 26)) {
				sensorsValid = false;
				logmsg("updateSensors: received invalid data while attempting to read Roomba sensors!");
			} else {
				sensorsValid = true;
				System.arraycopy(readData, 0, sensor_bytes, 0, sensorGroupSize);
				logmsg("updateSensors: sensorsValid!");            		
				//elapsedTime = System.currentTimeMillis() - startTime;
				return true;
			}
        }
		System.out.println("Error: timeout on sensor read");
		return false;
	}
    //
    // basic functions
    //

    /** 
     * Alias to pause
     * @see #pause(int)
     */
    public void delay( int millis ) {  pause( millis );  }

    /** 
     * Just a simple pause function. 
     * Makes the thread block with Thread.sleep()
     * @param millis number of milliseconds to wait
     */
    public void pause( int millis ) {
        try { Thread.sleep(millis); } catch(Exception e) { }
    }


    //
    // higher-level functions
    //

    /**
     * Stop Rooomba's motion.
     * Sends drive(0,0)
     */
    public void stop() {
        logmsg("stop");
        drive( 0, 0 );
    }

    /** Set speed for movement commands */
    public void setSpeed( int s ) { speed = Math.abs(s); }
    /** Get speed for movement commands */
    public int  getSpeed() { return speed; }

    /**
     * Go straight at the current speed for a specified distance.
     * Positive distance moves forward, negative distance moves backward.
     * This method blocks until the action is finished.
     * @param distance distance in millimeters, positive or negative
     */
    public void goStraight( int distance ) {
        float pausetime = Math.abs(distance / speed);  // mm/(mm/sec) = sec
        if (distance > 0)
        	goStraightAt( speed );
        else
        	goStraightAt( -speed);
        pause( (int)(pausetime*1000) );
        stop();
    }

    /**
     * @param distance distance in millimeters, positive 
     */
    public void goForward( int distance ) {
        if( distance < 0 ) return;
        goStraight( distance );
    }

    /**
     * @param distance distance in millimeters, positive 
     */
    public void goBackward( int distance ) {
        if( distance < 0 ) return;
        goStraight( -distance );
    }

    /**
     *
     */
    public void turnLeft() {
        turn(129);
    }
    public void turnRight() {
        turn(-129);
    }
    public void turn( int radius ) {
        drive( speed, radius );
    }

    /**
     * Spin right or spin left a particular number of degrees
     * @param angle angle in degrees, 
     *              positive to spin left, negative to spin right
     */
    public void spin( int angle ) {
        if( angle > 0 )       spinLeft( angle );
        else if( angle < 0 )  spinRight( -angle );
    }

    /**
     * Spin right the current speed for a specified angle 
     * @param angle angle in degrees, positive
     */
    public void spinRight( int angle ) {
        if( angle < 0 ) return;
        float pausetime = Math.abs( millimetersPerDegree * angle / speed );
        spinRightAt( Math.abs(speed) );
        pause( (int)(pausetime*1000) );
        stop();
    }

    /**
     * Spin left a specified angle at a specified speed
     * @param angle angle in degrees, positive
     */
    public void spinLeft( int angle ) {
        if( angle<0 ) return;
        //float pausetime = 
        float pausetime = Math.abs( millimetersPerDegree * angle / speed );
        spinLeftAt( Math.abs(speed) );
        pause( (int)(pausetime*1000) );
        stop();
    }

    /** 
     * Spin in place anti-clockwise, at the current speed
     */
    public void spinLeft() {
        spinLeftAt( speed );  
    }
    /** 
     * Spin in place clockwise, at the current speed
     */
    public void spinRight() {
        spinRightAt( speed );  
    }

    /**
     * Spin in place anti-clockwise, at the current speed.
     * @param aspeed speed to spin at
     */
    public void spinLeftAt(int aspeed) {
        drive( aspeed, 1 ); 
    }

    /**
     * Spin in place clockwise, at the current speed.
     * @param aspeed speed to spin at, positive
     */
    public void spinRightAt(int aspeed) {
        drive( aspeed, -1 ); 
    }

    //
    // mid-level movement, no blocking, parameterized by speed, not distance
    //

    /** 
     * Go straight at a specified speed.  
     * Positive is forward, negative is backward
     * @param velocity velocity of motion in mm/sec
     */
    public void goStraightAt( int velocity ) {
        //System.out.println("goStraightAt: velocity:"+velocity);
        if( velocity > 500 ) velocity = 500;
        if( velocity < -500 ) velocity = -500;
        drive( velocity, 0x8000 );
    }

    /**
     * Go forward the current (positive) speed
     */
    public void goForward() {
        goStraightAt( Math.abs(speed) );
    }

    /**
     * Go backward at the current (negative) speed
     */
    public void goBackward() {
        goStraightAt( - Math.abs(speed) );
    }

    /**
     * Go forward at a specified speed
     */
    public void goForwardAt( int aspeed ) {
        if( aspeed < 0 ) return;
        goStraightAt( aspeed );
    }

    /**
     * Go backward at a specified speed
     */
    public void goBackwardAt( int aspeed ) {
        if( aspeed < 0 ) return;
        goStraightAt( -aspeed );
    }


    //
    // low-level movement and action
    //

    /**
     * Move the Roomba via the low-level velocity + radius method.
     * See the 'Drive' section of the Roomba ROI spec for more details.
     * Low-level command.
     * @param velocity  speed in millimeters/second, 
     *                  positive forward, negative backward
     * @param radius    radius of turn in millimeters
     */
    public void drive( int velocity, int radius ) {
        byte cmd[] = { (byte)DRIVE,(byte)(velocity>>>8),(byte)(velocity&0xff), 
                       (byte)(radius >>> 8), (byte)(radius & 0xff) };
        logmsg("drive: "+hex(cmd[0])+","+hex(cmd[1])+","+hex(cmd[2])+","+
               hex(cmd[3])+","+hex(cmd[4]));
        send( cmd );
    }

    /**
     * Play a musical note 
     * Does it via the hacky method of defining a one-note song & playing it
     * Uses up song slot 15.
     * If another note is played before one is finished, the new note cuts off
     * the old one.
     * @param note     a note number from 31 (G0) to 127 (G8)
     * @param duration duration of note in 1/64ths of a second
     */
    public void playNote( int note, int duration ) {
        logmsg("playnote: "+note+":"+duration);
        byte cmd[] = {
            (byte)SONG, 3, 1, (byte)note, (byte)duration,  // define song
            (byte)PLAY, 3 };                               // play it back
        send( cmd );
    }

    public void playSong( int songnum ) {
        byte cmd[] = { (byte)PLAY, (byte)songnum };
        send(cmd);
    }

    /**
     * Make a song
     * @param songnum number of song to define
     * @param song  array of songnotes, 
     *              even entries are notenums, odd are duration of 1/6ths
     */
    public void createSong( int songnum, int song[] ) {
        int len = song.length;
        int songlen = len/2;
        logmsg("createSong: songnum:"+songnum+", songlen:"+songlen);
        byte cmd[] = new byte[len+3]; 
        cmd[0] = (byte) SONG;
        cmd[1] = (byte) songnum;
        cmd[2] = (byte) songlen;
        for( int i=0; i < len; i++ ) {
            cmd[3+i] = (byte)song[i];
        }
        send(cmd);
    }
    /**
     * Make a song
     * @param songnum number of song to define
     * @param song  array of Notes
     */
    public void createSong( int songnum, Note song[] ) {
        int songlen = song.length;
        logmsg("createSong: songnum:"+songnum+", songlen:"+songlen);
        byte cmd[] = new byte[songlen+3]; 
        cmd[0] = (byte) SONG;
        cmd[1] = (byte) songnum;
        cmd[2] = (byte) songlen;
        int j=3;
        for( int i=0; i < songlen; i++ ) {
            cmd[j++] = (byte)song[i].notenum;
            cmd[j++] = (byte)song[i].toSec64ths();
        }
        send(cmd);
    }



    /**
     * Turns on/off the non-drive motors (main brush, vacuum, sidebrush).
     * Sort of low-level.
     * @param mainbrush  mainbrush motor on/off state
     * @param vacuum     vacuum motor on/off state
     * @param sidebrush  sidebrush motor on/off state
     */
    public void setMotors(boolean mainbrush,boolean vacuum,boolean sidebrush) {
        byte cmd[] = { 
            (byte)MOTORS, 
            (byte)((mainbrush?0x04:0) | (vacuum?0x02:0) | (sidebrush?0x01:0))};
        send( cmd );
    }

    /** 
     * Turns on/off the various LEDs.
     * Low-level command.
     * FIXME: this is too complex
     */
    public void setLEDs( boolean status_green, boolean status_red, 
                         boolean spot,boolean clean,boolean max,boolean dirt, 
                         int power_color, int power_intensity ) {
        int v = (status_green?0x20:0) | (status_red?0x10:0) | 
            (spot?0x08:0) | (clean?0x04:0) | (max?0x02:0) | (dirt?0x01:0);
        logmsg("setLEDS: "+binary(v));
        byte cmd[] = { (byte)LEDS, (byte)v,
                       (byte)power_color, (byte)power_intensity };
        send(cmd);
    }

    //500 series
    public void setLEDsOI( boolean checkRobot, boolean spot,boolean dock,boolean dirt, 
        int power_color, int power_intensity ) {
    	updateDisplay("setLEDsOI ("+checkRobot+")("+spot+")("+dock+")("+dirt+")("+power_color+")("+power_intensity+")", this.debug);
    	int v = (checkRobot?0x08:0) | (dock?0x04:0) | (spot?0x02:0) | (dirt?0x01:0);
    	logmsg("setLEDS: "+binary(v));
    	byte cmd[] = { (byte)LEDS, (byte)v,
    				   (byte)power_color, (byte)power_intensity };
    	// TODO: find a way to do an updateDisplay with a byte array
    	send(cmd);
}
    
    /**
     * Turn all vacuum motors on or off according to state
     * @param state true to turn on vacuum function, false to turn it off
     */
    public void vacuum(boolean state) {
        logmsg("vacuum: "+state);
        setMotors(state,state,state);
    }


    //
    // sensor functions
    //


    /**
     * Compute possible safety fault.
     * Called on every successful updateSensors().
     * In normal use, call updateSensors() then check safetyFault().
     * @return  true if indicates we had an event that took the Roomba out of
     *          safe mode
     * @see #updateSensors()
     */
    public boolean computeSafetyFault() {
        safetyFault = (sensor_bytes[BUMPSWHEELDROPS] & WHEELDROP_MASK) != 0 ||
            sensor_bytes[CLIFFLEFT]==1  || sensor_bytes[CLIFFFRONTLEFT]==1 ||
            sensor_bytes[CLIFFRIGHT]==1 || sensor_bytes[CLIFFFRONTRIGHT]==1;

        if( safetyFault && (mode == MODE_SAFE) ) mode = MODE_PASSIVE;

        return safetyFault;
    }

    /** 
     * Returns current connected state.  
     * It's up to subclasses to ensure this variable is correct.
     * @return current connected state
     */
    public boolean connected() { return connected; }

    /** current ROI mode RoombaComm thinks the Roomba is in */
    public int mode() { return mode; }
    /** mode as String */
    public String modeAsString() {
        String s=null;
        switch(mode) {
        case MODE_UNKNOWN: s = "unknown"; break;
        case MODE_PASSIVE: s = "passive"; break;
        case MODE_SAFE:    s = "safe"; break;
        case MODE_FULL:    s = "full"; break;
        }
        return s;
    }

    /** */
    public boolean sensorsAutoUpdate() { return sensorsAutoUpdate; }
    /** */
    public void setSensorsAutoUpdate(boolean b) { sensorsAutoUpdate=b; }
    /** */
    public int sensorsUpdateTime() { return sensorsUpdateTime; }
    /** */
    public void setSensorsUpdateTime(int i) { sensorsUpdateTime=i; }

    /**
     *
     */
    public boolean safetyFault() { return safetyFault; } 

    /**
     * 
     */
    public boolean sensorsValid() {
        // FIXME: 
//        if( sensorsValid ) {  // may be valid but stale
//            long difftime = System.currentTimeMillis() - sensorsLastUpdateTime;
//            if( difftime > 2*sensorsUpdateTime ) { // give it some space
//                return false;
//            }
//            else return true;
//        }
        return sensorsValid;
    }
    public String getSensorsAsString() {
    	return sensorsAsString();
    }
    public String convertByteArrayToString(byte[] byteArray) {                
        String value = new String(byteArray);        
        return value;
    }

    
    /** 
     * @return all sensor data as a string
     */
    //* this likely needs to know about protocal to know how to read the sensors */
    public String sensorsAsString() {
	String sd="";
    
	if( debug ) {
	    sd = "\n";
	    for( int i=0; i<26; i++ )
		sd += " "+hex(sensor_bytes[i]);
	}
        return
            "*****\n" +
            "bump:" + 
            (bumpLeft()?"l":"_") + 
            (bumpRight()?"r":"_") +
            " wheel:" +
            (wheelDropLeft()  ?"l":"_") +
            (wheelDropCenter()?"c":"_") +
            (wheelDropRight()  ?"r":"_") +
            " wall:" + (wall() ?"Y":"n") + 
            " cliff:" +
            (cliffLeft()       ?"l":"_") +
            (cliffFrontLeft()  ?"L":"_") +  
            (cliffFrontRight() ?"R":"_") +
            (cliffRight()      ?"r":"_") +
            " dirtL:"+dirtLeft()+
            " dirtR:"+dirtRight()+ "\n" +
            "vwal:" + virtual_wall() +
            " motr:" + motor_overcurrents() + 
            " dirt:" + dirt_left() + "," + dirt_right() +
            " remo:" + hex(remote_opcode()) +
            " butt:" + hex(buttons()) +
            " dist:" + distance() + 
            " angl:" + angle() + "\n" +
            "chst:" + charging_state() + 
            " volt:" + voltage() +
            " curr:" + current() +
            " temp:" + temperatureF() + "F" +
            " chrg:" + charge() +
            " capa:" + capacity() +
             sd ;
    }
    public String chargeDataAsString() {
    	String sd="";
    	if( debug ) {
    	    sd = "\n";
    	    for( int i=0; i<26; i++ )
    		sd += " "+hex(sensor_bytes[i]);
    	}
            return
            "Charging State: " + charging_state() + 
                " Temperature: " + temperatureF() + "F\n" +
                "Voltage:        " + voltage() +
                " Current:     " + current() + "\n" +
                "Capacity:       " + capacity() +
                "  Charge:      " + charge() +
                sd;
        }
    /** Did we bump into anything */
    public boolean bump() {
        return (sensor_bytes[BUMPSWHEELDROPS] & BUMP_MASK) !=0;
    }
    /** Left bump sensor */
    public boolean bumpLeft() {
        return (sensor_bytes[BUMPSWHEELDROPS] & BUMPLEFT_MASK) !=0;
    }
    /** Right bump sensor */
    public boolean bumpRight() {
        return (sensor_bytes[BUMPSWHEELDROPS] & BUMPRIGHT_MASK) !=0;
    }
    /** Left wheeldrop sensor */
    public boolean wheelDropLeft() {
        return (sensor_bytes[BUMPSWHEELDROPS] & WHEELDROPLEFT_MASK) !=0;
    }
    /** Right wheeldrop sensor */
    public boolean wheelDropRight() {
        return (sensor_bytes[BUMPSWHEELDROPS] & WHEELDROPRIGHT_MASK) !=0;
    }
    /** Center wheeldrop sensor */
    public boolean wheelDropCenter() {
        return (sensor_bytes[BUMPSWHEELDROPS] & WHEELDROPCENT_MASK) !=0;
    }
    /** Can we see a wall? */
    public boolean wall() {
        return sensor_bytes[WALL] != 0;
    }

    /**
     * @return true if dirt present
     */
    public boolean dirt() {
        int dl = sensor_bytes[DIRTLEFT] & 0xff;
        int dr = sensor_bytes[DIRTRIGHT] & 0xff;
        //if(debug) println("Roomba:dirt: dl,dr="+dl+","+dr);
        return (dl > 100) || (dr > 100);
    }
    /**
     * amount of dirt seen by left dirt sensor 
     */
    public int dirtLeft() {
        return dirt_left();  // yeah yeah
    }
    /**
     * amount of dirt seen by right dirt sensor 
     */
    public int dirtRight() {
        return dirt_right();
    }

    /** left cliff sensor */
    public boolean cliffLeft() {
        return (sensor_bytes[CLIFFLEFT] != 0);
    }  
    /** front left cliff sensor */
    public boolean cliffFrontLeft() {
        return (sensor_bytes[CLIFFFRONTLEFT] != 0);
    }  
    /** front right cliff sensor */
    public boolean cliffFrontRight() {
        return (sensor_bytes[CLIFFFRONTRIGHT] != 0);
    }  
    /** right cliff sensor */
    public boolean cliffRight() {
        return sensor_bytes[CLIFFRIGHT] != 0;
    }
  
    /** overcurrent on left drive wheel */
    public boolean motorOvercurrentDriveLeft() {
        return (sensor_bytes[MOTOROVERCURRENTS] & MOVERDRIVELEFT_MASK) != 0;
    }
    /** overcurrent on right drive wheel */
    public boolean motorOvercurrentDriveRight() {
        return (sensor_bytes[MOTOROVERCURRENTS] & MOVERDRIVERIGHT_MASK) != 0;
    }
    /** overcurrent on main brush */
    public boolean motorOvercurrentMainBrush() {
        return (sensor_bytes[MOTOROVERCURRENTS] & MOVERMAINBRUSH_MASK) != 0;
    }
    /** overcurrent on vacuum */
    public boolean motorOvercurrentVacuum() {
        return (sensor_bytes[MOTOROVERCURRENTS] & MOVERVACUUM_MASK) != 0;
    }
    /** overcurrent on side brush */
    public boolean motorOvercurrentSideBrush() {
        return (sensor_bytes[MOTOROVERCURRENTS] & MOVERSIDEBRUSH_MASK) !=0;
    }

    /** 'Power' button pressed state */
    public boolean powerButton() {
        return (sensor_bytes[BUTTONS] & POWERBUTTON_MASK) != 0;
    }
    /** 'Spot' button pressed state */
    public boolean spotButton() {
        return (sensor_bytes[BUTTONS] & SPOTBUTTON_MASK) != 0;
    }
    /** 'Clean' button pressed state */
    public boolean cleanButton() {
        return (sensor_bytes[BUTTONS] & CLEANBUTTON_MASK) != 0;
    }
    /** 'Max' button pressed state */
    public boolean maxButton() {
        return (sensor_bytes[BUTTONS] & MAXBUTTON_MASK) != 0;
    }


    //
    // lower-level sensor access
    //
    /** lower-level func, returns raw byte */
    public int bumps_wheeldrops() {
        return sensor_bytes[BUMPSWHEELDROPS];
    }
    /** lower-level func, returns raw byte */
    public int cliff_left() {
        return sensor_bytes[CLIFFLEFT];
    }
    /** lower-level func, returns raw byte */
    public int cliff_frontleft() {
        return sensor_bytes[CLIFFFRONTLEFT];
    }
    /** lower-level func, returns raw byte */
    public int cliff_frontright() {
        return sensor_bytes[CLIFFFRONTRIGHT];
    }
    /** lower-level func, returns raw byte */
    public int cliff_right() {
        return sensor_bytes[CLIFFRIGHT];
    }
    /** lower-level func, returns raw byte */
    public int virtual_wall() {
        return sensor_bytes[VIRTUALWALL];
    }
    /** lower-level func, returns raw byte */
    public int motor_overcurrents() {
        return sensor_bytes[MOTOROVERCURRENTS];
    }
    /**  */
    public int dirt_left() {
        return sensor_bytes[DIRTLEFT] & 0xff;
    }
    /** */
    public int dirt_right() {
        return sensor_bytes[DIRTRIGHT] & 0xff;
    }
    /** lower-level func, returns raw byte */
    public int remote_opcode() {
        return sensor_bytes[REMOTEOPCODE];
    }
    /** lower-level func, returns raw byte */
    public int buttons() {
        return sensor_bytes[BUTTONS];
    }

    /** 
     * Distance traveled since last requested
     * units: mm
     * range: -32768 - 32767
     */
    public short distance() {
        return toShort(sensor_bytes[DISTANCE_HI],
                       sensor_bytes[DISTANCE_LO]);
    }
    /** 
     * Angle traveled since last requested
     * units: mm, diff in distance traveled by two drive wheels
     * range: -32768 - 32767
     */
    public short angle() {
        return toShort(sensor_bytes[ANGLE_HI],
                       sensor_bytes[ANGLE_LO]);
    }  
    /**
     * angle since last read, but in degrees
     */
    // FIXME I think this should be (360 * angle())/(258 * PI)
    public float angleInDegrees() {
        return (float) angle() / millimetersPerDegree;
    }
    /**
     * angle since last read, but in radians
     */
 // FIXME I think this should be (2 * angle())/258
    public float angleInRadians() {
        return (float) angle() / millimetersPerRadian;
    }

    /** 
     * Charging state
     * units: enumeration
     * range: 
     */
    public int charging_state() {
        return sensor_bytes[CHARGINGSTATE] & 0xff;
    }
    /** 
     * Voltage of battery
     * units: mV
     * range: 0 - 65535
     */
    public int voltage() {
        return toUnsignedShort(sensor_bytes[VOLTAGE_HI],
                               sensor_bytes[VOLTAGE_LO]);
    } 
    /**
     * Current flowing in or out of battery
     * units: mA
     * range: -332768 - 32767
     */
    public short current() {
        return toShort(sensor_bytes[CURRENT_HI],
                       sensor_bytes[CURRENT_LO]);
    }
    /**
     * temperature of battery
     * units: degrees Celcius
     * range: -128 - 127
     */
    public byte temperature() {
        return sensor_bytes[TEMPERATURE];
    }
    public byte temperatureF() {
        int c = sensor_bytes[TEMPERATURE];
        return (byte) ((9.0/5.0)*c + 32);
    }    
    /**
     * Current charge of battery
     * units: mAh 
     * range: 0-65535
     */
    public int charge() {
        return toUnsignedShort(sensor_bytes[CHARGE_HI],
                               sensor_bytes[CHARGE_LO]);
    }
    /**
     * Estimated charge capacity of battery
     * units: mAh
     * range: 0-65535
     */
    public int capacity() {
        return toUnsignedShort(sensor_bytes[CAPACITY_HI],
                               sensor_bytes[CAPACITY_LO]);
    }

    // possible modes
    public static final int MODE_UNKNOWN = 0;
    public static final int MODE_PASSIVE = 1;
    public static final int MODE_SAFE    = 2;
    public static final int MODE_FULL    = 3;

    // Roomba ROI opcodes
    // these should all be bytes, but Java bytes are signed, sucka
    public static final int START   =  128;  // 0
    public static final int BAUD    =  129;  // 1
    public static final int CONTROL =  130;  // 0
    public static final int SAFE    =  131;  // 0
    public static final int FULL    =  132;  // 0
    public static final int POWER   =  133;  // 0
    public static final int SPOT    =  134;  // 0
    public static final int CLEAN   =  135;  // 0
    public static final int MAX     =  136;  // 0
    public static final int DRIVE   =  137;  // 4
    public static final int MOTORS  =  138;  // 1
    public static final int LEDS    =  139;  // 3
    public static final int SONG    =  140;  // 2N+2
    public static final int PLAY    =  141;  // 1
    public static final int SENSORS =  142;  // 1
    public static final int DOCK    =  143;  // 0
    public static final int PWMMOTORS = 144; // 3
    public static final int DRIVEWHEELS = 145; 	// 4
    public static final int DRIVEPWM = 146;  // 4
    public static final int STREAM  =  148;  // N+1
    public static final int QUERYLIST = 149; // N+1
    public static final int STOPSTARTSTREAM = 150;  // 1
    public static final int SCHEDULINGLEDS = 162; 	// 2
    public static final int DIGITLEDSRAW = 163; 	// 4
    public static final int DIGITLEDSASCII = 164;	// 4
    public static final int BUTTONSCMD  =  165; // 1
    public static final int SCHEDULE =  167;  // n
    public static final int SETDAYTIME = 168; // 3

    // offsets into sensor_bytes data
    public static final int BUMPSWHEELDROPS     = 0;
    public static final int WALL                = 1;
    public static final int CLIFFLEFT           = 2;
    public static final int CLIFFFRONTLEFT      = 3;
    public static final int CLIFFFRONTRIGHT     = 4;
    public static final int CLIFFRIGHT          = 5;
    public static final int VIRTUALWALL         = 6;
    public static final int MOTOROVERCURRENTS   = 7;
    public static final int DIRTLEFT            = 8;
    public static final int DIRTRIGHT           = 9;
    public static final int REMOTEOPCODE        = 10;
    public static final int BUTTONS             = 11;
    public static final int DISTANCE_HI         = 12;
    public static final int DISTANCE_LO         = 13;  
    public static final int ANGLE_HI            = 14;
    public static final int ANGLE_LO            = 15;
    public static final int CHARGINGSTATE       = 16;
    public static final int VOLTAGE_HI          = 17;
    public static final int VOLTAGE_LO          = 18;  
    public static final int CURRENT_HI          = 19;
    public static final int CURRENT_LO          = 20;
    public static final int TEMPERATURE         = 21;
    public static final int CHARGE_HI           = 22;
    public static final int CHARGE_LO           = 23;
    public static final int CAPACITY_HI         = 24;
    public static final int CAPACITY_LO         = 25;

    // bitmasks for various thingems
    public static final int WHEELDROP_MASK      = 0x1C;
    public static final int BUMP_MASK           = 0x03;
    public static final int BUMPRIGHT_MASK      = 0x01;
    public static final int BUMPLEFT_MASK       = 0x02;
    public static final int WHEELDROPRIGHT_MASK = 0x04;
    public static final int WHEELDROPLEFT_MASK  = 0x08;
    public static final int WHEELDROPCENT_MASK  = 0x10;

    public static final int MOVERDRIVELEFT_MASK = 0x10;
    public static final int MOVERDRIVERIGHT_MASK= 0x08;
    public static final int MOVERMAINBRUSH_MASK = 0x04;
    public static final int MOVERVACUUM_MASK    = 0x02;
    public static final int MOVERSIDEBRUSH_MASK = 0x01;

    public static final int POWERBUTTON_MASK    = 0x08;  
    public static final int SPOTBUTTON_MASK     = 0x04;  
    public static final int CLEANBUTTON_MASK    = 0x02;  
    public static final int MAXBUTTON_MASK      = 0x01;  

    // which sensor packet, argument for sensors(int)
    public static final int SENSORS_ALL         = 0;
    public static final int SENSORS_PHYSICAL    = 1;
    public static final int SENSORS_INTERNAL    = 2;
    public static final int SENSORS_POWER       = 3;

    public static final int REMOTE_NONE         = 0xff;
    public static final int REMOTE_POWER        = 0x8a;
    public static final int REMOTE_PAUSE        = 0x89;
    public static final int REMOTE_CLEAN        = 0x88;
    public static final int REMOTE_MAX          = 0x85;
    public static final int REMOTE_SPOT         = 0x84;
    public static final int REMOTE_SPINLEFT     = 0x83;
    public static final int REMOTE_FORWARD      = 0x82;
    public static final int REMOTE_SPINRIGHT    = 0x81;

        /*
no button = -1
power = -118 8a 
pause = -119 89
clean = -120 88
max = -123 85
spot = -124 84
spinleft = -125 81  (8d keyup?)
forward = -126  82   (8c?)
spinright = -127 83
        */

    //
    // utility methods
    //

    /**
     *
     */
    static public final short toShort(byte hi, byte lo) {
        return (short)((hi << 8) | (lo & 0xff));
    }
    /**
     *
     */
    static public final int toUnsignedShort(byte hi, byte lo) {
        return (int)(hi & 0xff) << 8 | lo & 0xff;
    }
    
    public void println(String s) {
        System.out.println(s);
    }
    
    public String hex(byte b) {
        return Integer.toHexString(b&0xff);
    }

    public String hex(int i) {
        return Integer.toHexString(i);
    }
    
    
    public String binary(int i) {
        return Integer.toBinaryString(i);
    }

    /**
     * just a little debug 
     */
    public void logmsg(String msg) {
        if(debug)
        {
            System.err.println("RoombaComm ("+System.currentTimeMillis()+"):"+msg);
        	System.err.flush();
        }
    }

    /**
     * General error reporting, all corraled here just in case
     * I think of something slightly more intelligent to do.
     */
    public void errorMessage(String where, Throwable e) {
        e.printStackTrace();
        throw new RuntimeException("Error inside Serial." + where + "()");
    }

	public String getProtocol() {
		return protocol;
	}

	public void setProtocol(String protocol) {
		if (protocol.equals("SCI")) {
			rate = 57600;
		} else if (protocol.equals("OI")) {
			rate = 115200;
		}
		this.protocol = protocol;
		logmsg("Protocol: " + protocol +" , rate: "+rate);
		writeConfigFile(portname, protocol, waitForDSR?'Y':'N');
	}

	/**
	 * Write a config file with current settings
	 */
	protected void writeConfigFile(String port, String protocol, char waitForDSR) {
		try {
			FileWriter f = new FileWriter(".roomba_config", false);
	    	BufferedWriter w = new BufferedWriter(f); // create file
	    	if (port != null){
	    		w.write(port);
	    	}else{
	    		w.newLine();
	    	}
	    	w.newLine();
	    	if (protocol != null){
	    		w.write(protocol);
	    	}else{
	    		w.newLine();
	    	}
	    	w.newLine();
	    	w.write(waitForDSR);
	    	w.newLine();
	    	w.close();
	    	f.close();
		} catch (IOException e) {
			logmsg("unable to write .roomba_config " + e);
		}
	}

	protected void readConfigFile() {
		try {
			FileReader f = new FileReader(".roomba_config");
			BufferedReader r = new BufferedReader(f);
			portname = r.readLine();
			setProtocol(r.readLine());
			if (getProtocol().equals("SCI")) {
				rate = 57600;
			}else if (getProtocol().equals("OI")) {
				rate = 115200;
			}
			waitForDSR = r.readLine().equals("Y")?true:false;
			logmsg("read config port: " + serialPort + " protocol: " + getProtocol() + " waitDSR: " + waitForDSR);    		
		} catch (IOException e) {
			logmsg("unable to read .roomba_config " + e);
		}
	}

	public void setLEDs(RoombaComm roombacomm) {
		if( !roombacomm.connected() ){
			updateDisplay("not-connected", this.debug);
			return;
		}
		updateDisplay("setLEDs protocal is ("+this.protocol+")", this.debug);
		if (this.protocol.equalsIgnoreCase("SCI")){
		roombacomm.setLEDs(this.greenOn, this.redOn, this.toggleSpot, this.toggleClean, this.toggleMax, this.toggleDirt, 
				this.power_color, this.power_int);
		}
		if (this.protocol.equalsIgnoreCase("OI")){
			roombacomm.setLEDsOI(this.toggleCheckRobot, this.toggleSpot, this.toggleDock, this.toggleDirt, this.power_color, this.power_int);
			updateDisplay("Checkrobot("+this.toggleCheckRobot +"),Spot("+ this.toggleSpot +"),Dock("+ this.toggleDock +"),Dirt("+ this.toggleDirt +"),Pcolor("+ this.power_color +"),Pint("+ this.power_int+")",true);
		}
	}

	public void setChgGreenLED(RoombaComm roombacomm, boolean green) {
		this.greenOn=green;
		updateDisplay("setChgGreenLED", true);
		this.setLEDs(roombacomm);
	}

	public void setChgRedLED(RoombaComm roombacomm, boolean red) {
		this.redOn=red;
		updateDisplay("setChgRedLED", true);
		this.setLEDs(roombacomm);
	}

	public void setChgSpotLED(RoombaComm roombacomm, boolean spot) {
		this.toggleSpot=spot;
		updateDisplay("setChgSpotLED value("+spot+")", true);
		this.setLEDs(roombacomm);
	}

	public void setChgCleanLED(RoombaComm roombacomm, boolean clean) {
		updateDisplay("setChgCleanLED",true);
		this.toggleClean=clean;
		this.setLEDs(roombacomm);
	}

	public void setChgMaxLED(RoombaComm roombacomm, boolean max) {
		updateDisplay("setChgMaxLED",true);
		this.toggleMax=max;
		this.setLEDs(roombacomm);
	}

	public void setChgDirtLED(RoombaComm roombacomm, boolean dirt) {
		updateDisplay("setChgDirtLED",true);
		this.toggleDirt=dirt;
		this.setLEDs(roombacomm);
	}

	public void setChgPowerColorLED(RoombaComm roombacomm, int power_color) {
		updateDisplay("setChgPowerColorLED",true);
		this.power_color=power_color;
		this.setLEDs(roombacomm);
	}

	public void setChgPowerIntensityLED(RoombaComm roombacomm, int power_intensity) {
		updateDisplay("setChgPowerIntensityLED",true);
		this.power_int=power_intensity;
		this.setLEDs(roombacomm);
	}
	public void setChgCheckRobotLED(RoombaComm roombacomm, boolean toggleCheckRobot) {
		this.toggleCheckRobot = toggleCheckRobot;
		this.setLEDs(roombacomm);
	}

	public void setChgDockLED(RoombaComm roombacomm, boolean toggleDock) {
		this.toggleDock = toggleDock;
		this.setLEDs(roombacomm);
	}
	protected void updateDisplay(String s, boolean onlyDebug) {
	    if (onlyDebug && debug){
	    	updateDisplay(s);
	    	System.out.println(s);
	    }
	}

	protected void updateDisplay(String s) {
	//      displayText.append( s );
	//      displayText.setCaretPosition(displayText.getDocument().getLength());
	  }

	public boolean isRedOn() {
		return redOn;
	}

	public boolean isGreenOn() {
		return greenOn;
	}

	public boolean isToggleSpot() {
		return toggleSpot;
	}

	public boolean isToggleClean() {
		return toggleClean;
	}

	public boolean isToggleMax() {
		return toggleMax;
	}

	public boolean isToggleDirt() {
		return toggleDirt;
	}

	public boolean isToggleCheckRobot() {
		return toggleCheckRobot;
	}


	public boolean isToggleDock() {
		return toggleDock;
	}


	/**
	 * Returns the number of bytes that have been read from serial
	 * and are waiting to be dealt with by the user.
	 * (from processing.serial.Serial)
	 *
	private int available() {
	    return (bufferLast - bufferIndex);
	}
	
	/**
	 * Return a byte array of anything that's in the serial buffer.
	 * Not particularly memory/speed efficient, because it creates
	 * a byte array on each read, but it's easier to use than
	 * readBytes(byte b[]) (see below).
	 * (from processing.serial.Serial)
	 *
	private byte[] readBytes() {
	    if (bufferIndex == bufferLast) return null;
	
	    synchronized (buffer) {
	        int length = bufferLast - bufferIndex;
	        byte outgoing[] = new byte[length];
	        System.arraycopy(buffer, bufferIndex, outgoing, 0, length);
	
	        bufferIndex = 0;  // rewind
	        bufferLast = 0;
	        return outgoing;
	    }
	}
	  
	/**
	 * Grab whatever is in the serial buffer, and stuff it into a
	 * byte buffer passed in by the user. This is more memory/time
	 * efficient than readBytes() returning a byte[] array.
	 *
	 * Returns an int for how many bytes were read. If more bytes
	 * are available than can fit into the byte array, only those
	 * that will fit are read.
	 * (from processing.serial.Serial)
	 *
	public int readBytes(byte outgoing[]) {
	    if (bufferIndex == bufferLast) return 0;
	
	    synchronized (buffer) {
	        int length = bufferLast - bufferIndex;
	        if (length > outgoing.length) length = outgoing.length;
	        System.arraycopy(buffer, bufferIndex, outgoing, 0, length);
	
	        bufferIndex += length;
	        if (bufferIndex == bufferLast) {
	            bufferIndex = 0;  // rewind
	            bufferLast = 0;
	        }
	        return length;
	    }
	}
	*/
	public void powerOn() {
	        logmsg("powerOn");
	        mode = MODE_PASSIVE;
	//        MSComm1.Output = "+++" & Chr(13)
	//        MSComm1.Output = "ATSW22,6,1,1" & Chr(13)
	//        MSComm1.Output = "ATSW23,6,0,1" & Chr(13)
	//        MSComm1.Output = "ATSW23,6,1,1" & Chr(13)
	//        MSComm1.Output = "ATMD" & Chr(13
	        send( ("+++"+(char)13).getBytes());
	        send( ("ATSW22,6,1,1"+(char)13).getBytes());
	        send( ("ATSW23,6,0,1"+(char)13).getBytes());
	        send( ("ATSW23,6,1,1"+(char)13).getBytes());
	        send( ("ATMD"+(char)13).getBytes());
	//: TYPE : ATSW22,6,0,1<cr> ; First change it to high
	//REPLY: <cr_lf>OK<cr_lf>
	//TYPE : ATSW22,6,0,0<cr> ; Change it to low
	//REPLY: <cr_lf>OK<cr_lf>
	//TYPE : ATSW22,6,0,1<cr>
	//REPLY: <cr_lf>OK<cr_lf> ; Change it to high
	//        send( "+++\n".getBytes());
	//        send( "ATSW22,6,0,1\n".getBytes());
	//        send( "ATSW22,6,0,0\n".getBytes());
	//        send( "ATSW22,6,0,1\n".getBytes());
	//        send( "ATMD\n".getBytes());
	        
	}

	public byte[] getSensor_bytes() {
		return sensor_bytes;
	}
}