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/*
* RoombaComm Interface Test
*
* Copyright (c) 2005 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;
/**
A fairly thorough test of the RoombaComm API.
<p>
Run it with something like: <pre>
java roombacomm.Test /dev/cu.KeySerial1
Usage:
roombacomm.Test 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
-flush -- flush on sends(), normally not needed
-power -- power on/off Roomba (if interface supports it)
* </pre>
* </p>
*/
public class Test {
static String usage =
"Usage: \n"+
" roombacomm.Test <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"+
" -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 boolean flush = false;
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();
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("flush") )
flush = true;
}
roombacomm.debug = debug;
roombacomm.flushOutput = flush;
String portlist[] = roombacomm.listPorts();
System.out.println("Available ports:");
for( int i=0; i<portlist.length; i++ )
System.out.println(" "+i+": "+portlist[i]);
if( ! roombacomm.connect( portname ) ) {
System.out.println("Couldn't connect to "+portname);
System.exit(1);
}
if( power ) {
System.out.println("waking up Roomba...");
roombacomm.wakeup();
}
System.out.println("Roomba startup");
roombacomm.startup();
roombacomm.control();
roombacomm.pause(30);
System.out.println("Checking for Roomba... ");
if( roombacomm.updateSensors() ) {
System.out.println("Roomba found!");
} else {
System.out.println("No Roomba. :(");
}
// must pause after every playNote to let to note sound
System.out.println("Playing some notes");
roombacomm.playNote( 72, 10 );
roombacomm.pause( 200 );
roombacomm.playNote( 79, 10 );
roombacomm.pause( 200 );
roombacomm.playNote( 76, 10 );
roombacomm.pause( 200 );
// test Logo-like functions (blocking)
// speed is in mm/s, go* is in mm, spin is in degrees
roombacomm.setSpeed( 100 ); // can be positive or negative
roombacomm.goStraight( 100 ); // can be positive or negative
roombacomm.goForward( 100 ); // negative numbers not allowed
roombacomm.goBackward( 200 ); // negative numbers not allowed
roombacomm.setSpeed( 150 );
roombacomm.spin( -360 ); // can be positive or negative
roombacomm.spinRight( 360 ); // negative numbers not allowed
roombacomm.spinLeft( 360 ); // negative numbers not allowed
// test non-blocking functions
roombacomm.goStraightAt(200); // speed argument
roombacomm.pause(1000);
roombacomm.goForwardAt(200); // speed argument
roombacomm.pause(1000);
roombacomm.goBackwardAt(400); // speed argument
roombacomm.pause(1000);
roombacomm.spinLeftAt( -15 ); // mm/s or degs/sec ?
roombacomm.pause(1000);
roombacomm.spinRightAt( 15 );
roombacomm.pause(1000);
roombacomm.stop();
//roombacomm.turn();
/*
// roombacomm.goStraight( 100, 100 );
roombacomm.spinLeft( 100, 360 );
roombacomm.spinRight( 200, 360 );
roombacomm.spinLeft( 300, 360 );
roombacomm.spinRight( 400, 360 );
roombacomm.spinLeft( 500, 360 );
roombacomm.spinRight( 600, 360 );
*/
if( power ) {
System.out.println("Powering off in 3 seconds.");
roombacomm.pause( 3000 );
roombacomm.powerOff();
}
System.out.println("Disconnecting");
roombacomm.disconnect();
System.out.println("Done");
}
}
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