/* * control_test.java * * Created on May 10, 2004, 1:00 PM */ /** * * @author craighea */ import javax.comm.*; import java.io.*; import java.util.*; public class control_test { private static SerialPortControl spc; private static control_packet_coder cpc; private static BufferedReader inBufReader; private static InputStreamReader inStreamReader = new InputStreamReader(System.in); /** Creates a new instance of control_test */ public control_test() { } /** * @param args the command line arguments */ public static void main(String[] args) { CommPortIdentifier portId; Enumeration portList; portList = CommPortIdentifier.getPortIdentifiers(); boolean portFound = false; byte[] sendPacket; portId = (CommPortIdentifier) portList.nextElement(); System.out.println("Got Port " + portId.getName()); while(portList.hasMoreElements()){ System.out.println("Got Port " + portId.getName()); portId = (CommPortIdentifier) portList.nextElement(); } if (portId != null) portFound = true; if(portFound == true){ spc = new SerialPortControl(portId); cpc = new control_packet_coder(); } while(true){ sendPacket = cpc.createControlPacket(); spc.sendCommand(sendPacket); sleep(80); if(cpc.decodeResponsePacket(spc.getResponsePacket())<0) spc.clearStream(); doControlStuff(); } } private static void doControlStuff(){ // inStreamReader = new InputStreamReader(System.in); // inBufReader = new BufferedReader(inStreamReader); char inChar=0; for(int i=0; i<2; i++){ try{ if(inStreamReader.ready()){ inChar = (char)inStreamReader.read(); // System.out.println("inChar " + inChar); } }catch(IOException e){} switch(inChar){ case 'l': //Toggle lights Max/Off if(cpc.getLight() != (byte)-1) cpc.setLight((byte)-1); else cpc.setLight((byte)0); break; case 'L': //Toggle laser if(cpc.getLaser()==true) cpc.setLaser(false); else cpc.setLaser(true); break; case 'a': //Turn left cpc.setRightTrack((byte)127); cpc.setLeftTrack((byte)-127); break; case 's': //Turn right cpc.setLeftTrack((byte)127); cpc.setRightTrack((byte)-127); break; case 'w': //Move forward cpc.setRightTrack((byte)127); cpc.setLeftTrack((byte)127); break; case 'z': //Move backward cpc.setRightTrack((byte)-127); cpc.setLeftTrack((byte)-127); break; case 'e': //Tilt up cpc.setTiltUp(true); break; case 'd': //Tilt down cpc.setTiltDown(true); break; case 'r': //Raise up cpc.setRaiseUp(true); break; case 'f': //Raise down cpc.setRaiseDown(true); break; case 'W': //Set Warning light cpc.setWarning(!cpc.getWarning()); break; case '-': //Zoom Out cpc.setZoomIn(false); cpc.setZoomOut(true); break; case '+': //Zoom In cpc.setZoomIn(true); cpc.setZoomOut(false); break; case '*': //Toggle zoom speed Fast/Slow cpc.setZoomSpeed(!(cpc.getZoomSpeed())); break; case '>': //Focus in cpc.setAutofocus(false); cpc.setFocusIn(true); cpc.setFocusOut(false); break; case '<': //Focus out cpc.setAutofocus(false); cpc.setFocusIn(false); cpc.setFocusOut(true); break; case '/': //Toggle Autofocus if(cpc.getAutofocus()==false) cpc.setAutofocus(true); else cpc.setAutofocus(false); break; case 'g': //get modifier use like g* where * is one of the following try{ if(inStreamReader.ready()){ inChar = (char)inStreamReader.read(); } }catch(IOException e){} switch(inChar){ case 'T': //gT to get temperature System.out.println(cpc.getTemperature()); break; case 'P': //gP to get pitch System.out.println(cpc.getPitch()); break; case 'R': //gR to get raise System.out.println(cpc.getRaise()); break; case 'B': //gB to get battery voltage System.out.println(cpc.getBatteryVoltage()); break; } break; case '?': //get status of everything System.out.println(""); System.out.println("Battery: " + cpc.getBatteryVoltage() + "v"); System.out.println("Autofocus: " + cpc.getAutofocus()); System.out.println("Focus Current: " + cpc.getFocusCurrent() + "mA"); System.out.println("FocusIn: " + cpc.getFocusIn()); System.out.println("FocusOut: " + cpc.getFocusOut()); System.out.println("Joystick X: " + cpc.getJoyX()); System.out.println("Joystick Y: " + cpc.getJoyY()); System.out.println("Laser: " + cpc.getLaser()); System.out.println("Left Track Speed: " + cpc.getLeftTrack()); System.out.println("Left Track Current: " + cpc.getLeftTrackCurrent() + "mA"); System.out.println("Right Track Speed: " + cpc.getRightTrack()); System.out.println("Right Track Current: " + cpc.getRightTrackCurrent() + "mA"); System.out.println("Light Intensity: " + cpc.getLight()); System.out.println("Light Current: " + cpc.getLightCurrent() + "mA"); System.out.println("Light Knob Position: " + cpc.getLightKnob()); System.out.println("Pitch: " + cpc.getPitch() + " degrees"); System.out.println("Temperature: " + cpc.getTemperature() + " degrees"); System.out.println("Raise: " + cpc.getRaise() + " degrees"); System.out.println("Raise Current: " + cpc.getRaiseCurrent() + "mA"); System.out.println("Tilt Current: " + cpc.getTiltCurrent() + "mA"); System.out.println("TiltUp: " + cpc.getTiltUp()); System.out.println("TiltDown: " + cpc.getTiltDown()); System.out.println("Warning: " + cpc.getWarning()); System.out.println("ZoomSpeed: " + cpc.getZoomSpeed()); System.out.println("ZoomIn: " + cpc.getZoomIn()); System.out.println("ZoomOut: " + cpc.getZoomOut()); break; default: //do nothing cpc.setLeftTrack((byte)0); cpc.setRightTrack((byte)0); cpc.setTiltUp(false); cpc.setTiltDown(false); cpc.setRaiseUp(false); cpc.setRaiseDown(false); cpc.setZoomIn(false); cpc.setZoomOut(false); cpc.setFocusIn(false); cpc.setFocusOut(false); } } } private static void sleep(int millis){ try{ Thread.sleep(millis); }catch(InterruptedException e){} } private static void sleep(){ try{ Thread.sleep(10); }catch(InterruptedException e){} } }