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package com.hackingroomba.roombacomm;
import java.io.*;
/**
Spy on the Roomba as it goes about its normal business
<p>
Run it with something like: <pre>
java roombacomm.SpyAuto /dev/cu.KeySerial1
Usage:
roombacomm.SpyAuto serialportname [protocol] [options]<br>
where: protocol (optional) is SCI or OI
[options] can be one or more of:
-pause n -- pause n millseconds between sensor read
-debug -- turn on debug output
-hwhandshake -- use hardware-handshaking, for Windows Bluetooth
-nohwhandshake -- don't use hardware-handshaking
-flush -- flush on sends(), normally not needed
-power -- power on/off Roomba (if interface supports it)
</pre>
*
*/
public class SpyAuto {
static String usage =
"Usage: \n"+
" roombacomm.SpyAuto <serialportname> [protocol] [options]\n" +
"where: protocol (optional) is SCI or OI\n" +
"[options] can be one or more of:\n"+
" -pause <n> -- pause n millseconds between sensor read\n"+
" -debug -- turn on debug output\n"+
" -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
" -nohwhandshake -- don't use hardware-handshaking\n"+
" -flush -- flush on sends(), normally not needed\n"+
" -power -- power on/off Roomba (if interface supports it)\n"+
"\n";
static boolean debug = false;
static boolean hwhandshake = false;
static boolean power = false;
static int pausetime = 500;
public static void main(String[] args) {
if( args.length == 0 ) {
System.out.println( usage );
System.exit(0);
}
String portname = args[0]; // e.g. "/dev/cu.KeySerial1"
RoombaCommSerial roombacomm = new RoombaCommSerial(true, pausetime);
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("power") )
power = true;
else if( args[i].endsWith("nohwhandshake") )
roombacomm.setWaitForDSR(false);
else if( args[i].endsWith("hwhandshake") )
roombacomm.setWaitForDSR(true);
else if( args[i].endsWith("pause") ) {
i++;
int p = 0;
try { p = Integer.parseInt( args[i] ); }
catch( NumberFormatException nfe ) { }
if( p!=0 ) pausetime = p;
}
}
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();
System.out.println("Press return to exit.");
boolean running = true;
while( running ) {
if( !roombacomm.sensorsValid ) {
System.out.println("No Roomba. :( Is it turned on?");
continue;
}
System.out.println( roombacomm.sensorsAsString() );
try {
if( System.in.available() != 0 ) {
System.out.println("key pressed");
running = false;
}
} catch( IOException ioe ) { }
roombacomm.pause( pausetime );
}
System.out.println("Disconnecting");
roombacomm.disconnect();
System.out.println("Done");
System.exit(0);
}
}
/*
public static void purr() {
System.out.println("purr");
float millis = 200;
float millisTo64ths = (1000 / 64 );
int s64ths = (int)(millis / millisTo64ths);
roombacomm.playSong( 2 );
for( int i=72; i>60; i-- ) {
roombacomm.spinLeftAt( 1000 );
roombacomm.pause( s64ths/2 );
roombacomm.spinRightAt( 1000 );
roombacomm.pause( s64ths/2 );
roombacomm.stop();
}
}
public static void createTribblePurrSong() {
byte cmd[] = {
(byte)RoombaComm.SONG, 2, 7, // define song
68, 4, 67, 4, 66, 4, 65, 4,
64, 4, 63, 4, 62, 4 };
roombacomm.send( cmd );
}
public static void bark() {
System.out.println("bark");
roombacomm.vacuum(true);
roombacomm.playNote( 50, 5 );
roombacomm.pause(150);
roombacomm.vacuum(false);
}
*/
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