Discovery.java - oculus - Oculus Netbook Telepresence Robot

Source path: svn/ trunk/ oculus/ WEB-INF/ src/ oculus/ commport/ Discovery.java

‹r572

r575

package oculus.commport;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.Enumeration;
import java.util.Vector;

import oculus.Application;
import oculus.ManualSettings;
import oculus.Settings;
import oculus.State;
import oculus.Util;

import gnu.io.*;

public class Discovery implements SerialPortEventListener {
	
	// two states to watch for in settings 
	public static enum params {discovery, disabled};
	
	private static Settings settings = new Settings();
	private static final String motors = settings.readSetting(ManualSettings.arduinoculus);
	private static final String lights = settings.readSetting(ManualSettings.oculed);
	private static State state = State.getReference();
	
	/* serial port configuration parameters */
	//public static final int[] BAUD_RATES = { 115200, 57600 };
	public static final int TIMEOUT = 2000;
	public static final int DATABITS = SerialPort.DATABITS_8;
	public static final int STOPBITS = SerialPort.STOPBITS_1;
	public static final int PARITY = SerialPort.PARITY_NONE;
	public static final int FLOWCONTROL = SerialPort.FLOWCONTROL_NONE;

	/* add known devices here, strings returned from the firmware */
	public static final String OCULUS_TILT = "oculusTilt";
	public static final String OCULUS_SONAR = "oculusSonar";
	public static final String OCULUS_DC = "oculusDC";
	public static final String LIGHTS = "L";
	public static final long RESPONSE_DELAY = 1000;

	/* reference to the underlying serial port */
	private static SerialPort serialPort = null;
	private static InputStream inputStream = null;
	private static OutputStream outputStream = null;

	/* list of all free ports */
	private static Vector<String> ports = new Vector<String>();

	/* read from device */
	private static byte[] buffer = null; 
	
	private boolean handlingEvent = false;
	
	/* constructor makes a list of available ports */
	public Discovery() {
		
		if(motors.equals(params.disabled.toString()) && lights.equals(params.disabled.toString())) {
			Util.debug("discovery starting is disabled", this);
			return;
		}
		
		getAvailableSerialPorts();
		if(ports.size()==0){
			Util.log("no serial ports found on host", this);
			return;
		}
		
		if(motors.equals(params.discovery.toString())){		
			searchMotors(); 	
		} else if( ! motors.equals(params.disabled.toString())){			
			Util.debug("skipping discovery, motors on: " + motors, this);
			state.set(State.serialport, motors);
			state.set(State.firmware, OCULUS_DC);
		}
		
		if(lights.equals(params.discovery.toString())){	
			searchLights();	
		} else if( ! lights.equals(params.disabled.toString())){
			Util.debug("skipping discovery, lights on: " + lights, this);
			state.set(State.lightport, lights);
		}
	}
	
	/** */
	private static String getPortName(){
		
		String name = "";
		String com = serialPort.getName();
		
		//TODO: get a port name, or full device path for linux 
		if(Settings.os.equals("linux")) return com;
		else for(int i = 0 ; i < com.length();i++)
			if(com.charAt(i) != '/' && com.charAt(i) != '.')
				name += com.charAt(i);
		
		return name;
	}
	
	/** */
	private static void getAvailableSerialPorts() {
		ports.clear();
		@SuppressWarnings("rawtypes")
		Enumeration thePorts = CommPortIdentifier.getPortIdentifiers();
		while (thePorts.hasMoreElements()) {
			CommPortIdentifier com = (CommPortIdentifier) thePorts.nextElement();
			if (com.getPortType() == CommPortIdentifier.PORT_SERIAL) ports.add(com.getName());
		}
	}

	/** connects on start up, return true is currently connected */
	private boolean connect(final String address, final int rate) {

		Util.debug("try to connect to: " + address + " buad:" + rate, this);

		try {

			/* construct the serial port */
			serialPort = (SerialPort) CommPortIdentifier.getPortIdentifier(address).open("Discovery", TIMEOUT);

			/* configure the serial port */
			serialPort.setSerialPortParams(rate, DATABITS, STOPBITS, PARITY);
			serialPort.setFlowControlMode(FLOWCONTROL);

			/* extract the input and output streams from the serial port */
			inputStream = serialPort.getInputStream();
			outputStream = serialPort.getOutputStream();
			
			Util.debug("connected: " + address + " buad:" + rate, this);
			
			if (true) { // rate==115200) {
				Util.delay(TIMEOUT*2);
				doPortQuery();
			}
			else {
				// register for serial events
				Util.debug("registering port listeners... ",this);
				serialPort.addEventListener(this);
				serialPort.notifyOnDataAvailable(true);
			}

		} catch (Exception e) {
			Util.log("error connecting to: " + address, this);
			close();
			return false;
		}

		// be sure
		if (inputStream == null) return false;
		if (outputStream == null) return false;

		return true;
	}

	/** Close the serial port streams */
	private void close() {
		
		if (handlingEvent) { return; } // hopefully this is never used
		
		if (serialPort != null) {
			Util.log("close port: " + serialPort.getName() + " baud: " + serialPort.getBaudRate(), this);
			serialPort.removeEventListener();
			serialPort.close();
			serialPort = null;
		}
		
		try {
			if (inputStream != null) inputStream.close();
		} catch (Exception e) {
			Util.log("input stream close():" + e.getMessage(), this);
		}
		try {
			if (outputStream != null) outputStream.close();
		} catch (Exception e) {
			Util.log("output stream close():" + e.getMessage(), this);
		}
		
		buffer = null;
		// Util.delay(TIMEOUT);

	}

	/** Loop through all available serial ports and ask for product id's */
	public void searchLights() {
	
		// try to limit searching
		if(ports.contains(motors)) ports.remove(motors);
		if(state.get(State.serialport) != null) 
			ports.remove(state.getBoolean(State.serialport));
			
		Util.debug("discovery for lights starting on ports: " + ports.size(), this);
		
		for (int i = ports.size() - 1; i >= 0; i--) {
			if (state.get(State.lightport)!=null) { break; } // stop if find it
			//if (connect(ports.get(i), BAUD_RATES[0])) {	
			if (connect(ports.get(i), 57600)) {
				Util.delay(TIMEOUT*2);
				if (serialPort != null) { close(); }
			}
		}
	}
	
	/** Loop through all available serial ports and ask for product id's */
	public void searchMotors() {
			
		// try to limit searching 
		if(ports.contains(lights)) ports.remove(lights);
		
		Util.debug("discovery for motors starting on ports: " + ports.size(), this); 
	
		//for (int i = ports.size() - 1; i >= 0; i--) {
		for (int i=0; i<ports.size(); i++) {
			if (state.get(State.serialport)!=null) { break; } // stop if find it
			//if (connect(ports.get(i), BAUD_RATES[1])) {
			if (connect(ports.get(i), 115200)) {
				Util.delay(TIMEOUT*2);
				if (serialPort != null) { close(); }
			}
		}
	}
	
	/** check if this is a known derive, update in state */
	public void lookup(String id){	
		
		if (id == null) return;
		if (id.length() == 0) return;
		id = id.trim();
		
		Util.debug("is a product ID? [" + id + "] length: " + id.length(), this);

		if (id.length() == 1 ){
			if(id.equals(LIGHTS)){		
				state.set(State.lightport, getPortName());
				Util.debug("found lights on comm port: " +  getPortName(), this);		
			}
			
			return;
		} 
			
		if(id.startsWith("id")){	
			
			id = id.substring(2, id.length());
				
			Util.debug("found product id[" + id + "] on comm port: " +  getPortName(), this);

			if (id.equalsIgnoreCase(OCULUS_DC)) {

				state.set(State.serialport, getPortName());
				state.set(State.firmware, OCULUS_DC);
				
			} else if (id.equalsIgnoreCase(OCULUS_SONAR)) {

				state.set(State.serialport, getPortName());
				state.set(State.firmware, OCULUS_SONAR);	
			
			} else if (id.equalsIgnoreCase(OCULUS_TILT)) {

				state.set(State.serialport, getPortName());
				state.set(State.firmware, OCULUS_TILT);
				
			}

			//TODO: other devices here if grows
			
		}
	}
	
	/** send command to get product id */
	public void getProduct() {
		try {
			inputStream.skip(inputStream.available());
		} catch (IOException e) {
			Util.log(e.getStackTrace().toString(),this);
			return;
		}
		try {
			outputStream.write(new byte[] { 'x', 13 });
		} catch (IOException e) {
			Util.log(e.getStackTrace().toString(),this);
			return;
		}

		// wait for reply
		Util.delay(RESPONSE_DELAY);
	}

	@Override
	public void serialEvent(SerialPortEvent arg0) {
	
		if (!handlingEvent) { // ignoring other events .. hopefully not anything important
			handlingEvent = true;
			Util.debug("_event: " + arg0,this);
			
			if(buffer!=null){
				Util.debug("...too much serial?",this);
				return;
			}
			
			doPortQuery();				

			handlingEvent = false;
		}
	}
	
	private void doPortQuery() {
		byte[] buffer = new byte[32];
		
		getProduct();
		
		String device = new String();
		int read = 0;
		try {
			
			read = inputStream.read(buffer);
			
		} catch (IOException e) {
			Util.log(e.getStackTrace().toString(),this);
		}
		
		// read buffer 
		for (int j = 0; j < read; j++) {
			if(Character.isLetter((char) buffer[j]))
				device += (char) buffer[j];
		}
		
		// Util.debug("_lookup: " + device, this);
		
		lookup(device);

		close();
	}

	/** match types of firmware names and versions */
	public AbstractArduinoComm getMotors(Application application) {
		return new ArduinoCommDC(application);
	}
	

	/** manage types of ights here */
	public LightsComm getLights(Application application) {
		return new LightsComm(application);
	}
}

Show details Hide details

Change log

r574 by brad.zdanivsky on May 23 (5 days ago) Diff

bunch of stuff..? track user command times
in state, use "disabled" in manual
settings.

Go to:

Project members, sign in to write a code review

Older revisions

r572 by brad.zdanivsky on May 19, 2012 Diff

all settings must be in the file, but
can be "null" to disable. Or
"discovery" for ports.

r567 by skyzorg on May 16, 2012 Diff

optionalSetting to manualSettings
continued

r554 by brad.zdanivsky on Apr 26, 2012 Diff

added Junit test for settings

All revisions of this file

File info

Size: 9336 bytes, 343 lines

View raw file