roombacomm
Class RoombaCommSerial

java.lang.Object
  roombacomm.RoombaComm
      roombacomm.RoombaCommSerial

All Implemented Interfaces:

gnu.io.SerialPortEventListener, java.util.EventListener

public class RoombaCommSerial
extends RoombaComm
implements gnu.io.SerialPortEventListener

The serial-port based implementation of RoombaComm. Handles both physical RS-232 ports, USB adapter ports like Keyspan USA-19HS, and Bluetooth serial port profiles.

Some code taken from processing.serial.Serial. Thanks guys!

The interaction model for setting the port and protocol and WaitForDSR parameters is as follows.

On creation, the class initializes the parameters, then tries to read .roomba_config. If it can read the config file and parse out the parameters, it sets the parameters to the values in the config file. Apps can read the current settings for display using methods on the class. Apps can override the settings by accepting user input and setting the parameters using methods on the class, or the connect() method. Parameters that are changed by the app are re-written in the config file, for use as defaults next run. Command-line apps can make these parameters optional, by using the defaults if the user doesn't specify them.

Field Summary

boolean	flushOutput RXTX bombs when flushing output sometimes, so by default do not flush the output stream.
java.io.InputStream	input the serial input stream, normally you don't need access to this
java.io.OutputStream	output the serial output stream, normally you don't need access to this
gnu.io.SerialPort	port The RXTX port object, normally you don't need access to this
static int	updateSensorsPause The time to wait in milliseconds after sending sensors command before attempting to read
boolean	waitForDSR 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.

Fields inherited from class roombacomm.RoombaComm

ANGLE_HI, ANGLE_LO, BAUD, BUMP_MASK, BUMPLEFT_MASK, BUMPRIGHT_MASK, BUMPSWHEELDROPS, BUTTONS, BUTTONSCMD, CAPACITY_HI, CAPACITY_LO, CHARGE_HI, CHARGE_LO, CHARGINGSTATE, CLEAN, CLEANBUTTON_MASK, CLIFFFRONTLEFT, CLIFFFRONTRIGHT, CLIFFLEFT, CLIFFRIGHT, CONTROL, CURRENT_HI, CURRENT_LO, debug, defaultSensorsUpdateTime, defaultSpeed, DIGITLEDSASCII, DIGITLEDSRAW, DIRTLEFT, DIRTRIGHT, DISTANCE_HI, DISTANCE_LO, DOCK, DRIVE, DRIVEPWM, DRIVEWHEELS, FULL, LEDS, MAX, MAXBUTTON_MASK, millimetersPerDegree, millimetersPerRadian, MODE_FULL, MODE_PASSIVE, MODE_SAFE, MODE_UNKNOWN, MOTOROVERCURRENTS, MOTORS, MOVERDRIVELEFT_MASK, MOVERDRIVERIGHT_MASK, MOVERMAINBRUSH_MASK, MOVERSIDEBRUSH_MASK, MOVERVACUUM_MASK, PLAY, POWER, POWERBUTTON_MASK, PWMMOTORS, QUERYLIST, REMOTE_CLEAN, REMOTE_FORWARD, REMOTE_MAX, REMOTE_NONE, REMOTE_PAUSE, REMOTE_POWER, REMOTE_SPINLEFT, REMOTE_SPINRIGHT, REMOTE_SPOT, REMOTEOPCODE, SAFE, SCHEDULE, SCHEDULINGLEDS, SENSORS, SENSORS_ALL, SENSORS_INTERNAL, SENSORS_PHYSICAL, SENSORS_POWER, SETDAYTIME, SONG, speed, SPOT, SPOTBUTTON_MASK, START, STOPSTARTSTREAM, STREAM, TEMPERATURE, VERSION, VIRTUALWALL, VOLTAGE_HI, VOLTAGE_LO, WALL, wheelbase, WHEELDROP_MASK, WHEELDROPCENT_MASK, WHEELDROPLEFT_MASK, WHEELDROPRIGHT_MASK

Constructor Summary

RoombaCommSerial()

RoombaCommSerial(boolean autoupdate)

RoombaCommSerial(boolean autoupdate, int updateTime)

Method Summary

void	computeSensors() called by serialEvent when we have enough bytes to make sensors valid
boolean	connect(java.lang.String portid) Connect to a serial port specified by portid doesn't guarantee connection to Roomba, just to serial port
void	disconnect() Disconnect from serial port
java.lang.String	getPortname()
java.lang.String	getProtocol()
static boolean	isPortInUse(java.lang.String pname) Let you check to see if a port is in use by another Rooomba before trying to use it.
boolean	isWaitForDSR()
java.lang.String[]	listPorts() If this just hangs and never completes on Windows, it may be because the DLL doesn't have its exec bit set.
boolean	send(byte[] bytes) subclassed.
boolean	send(int b) This will handle both ints, bytes and chars transparently.
void	serialEvent(gnu.io.SerialPortEvent serialEvent) callback for SerialPortEventListener (from processing.serial.Serial)
void	setPortname(java.lang.String p)
void	setProtocol(java.lang.String protocol)
void	setWaitForDSR(boolean waitForDSR)
boolean	updateSensors() Update sensors.
boolean	updateSensors(int packetcode) Update sensors.
void	wakeup() toggles DD line via serial port DTR (if available)

Methods inherited from class roombacomm.RoombaComm

angle, angleInDegrees, angleInRadians, binary, bump, bumpLeft, bumpRight, bumps_wheeldrops, buttons, capacity, charge, charging_state, clean, cleanButton, cliff_frontleft, cliff_frontright, cliff_left, cliff_right, cliffFrontLeft, cliffFrontRight, cliffLeft, cliffRight, computeSafetyFault, connected, control, createSong, createSong, current, delay, dirt_left, dirt_right, dirt, dirtLeft, dirtRight, distance, drive, errorMessage, full, getSpeed, goBackward, goBackward, goBackwardAt, goForward, goForward, goForwardAt, goStraight, goStraightAt, hex, hex, logmsg, max, maxButton, mode, modeAsString, motor_overcurrents, motorOvercurrentDriveLeft, motorOvercurrentDriveRight, motorOvercurrentMainBrush, motorOvercurrentSideBrush, motorOvercurrentVacuum, pause, playNote, playSong, powerButton, powerOff, println, queryList, remote_opcode, reset, safe, safetyFault, sensors, sensors, sensorsAsString, sensorsAutoUpdate, sensorsUpdateTime, sensorsValid, setLEDs, setMotors, setSensorsAutoUpdate, setSensorsUpdateTime, setSpeed, spin, spinLeft, spinLeft, spinLeftAt, spinRight, spinRight, spinRightAt, spot, spotButton, start, startAutoUpdate, startup, stop, temperature, toShort, toUnsignedShort, turn, turnLeft, turnRight, vacuum, virtual_wall, voltage, wall, wheelDropCenter, wheelDropLeft, wheelDropRight

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

updateSensorsPause

public static int updateSensorsPause

The time to wait in milliseconds after sending sensors command before attempting to read

port

public gnu.io.SerialPort port

The RXTX port object, normally you don't need access to this

input

public java.io.InputStream input

the serial input stream, normally you don't need access to this

output

public java.io.OutputStream output

the serial output stream, normally you don't need access to this

flushOutput

public boolean flushOutput

RXTX bombs when flushing output sometimes, so by default do not flush the output stream. If the output is too buffered to be useful, do: roombacomm.comm.flushOutput = true; before using it and see if it works.

waitForDSR

public boolean waitForDSR

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.

Constructor Detail

RoombaCommSerial

public RoombaCommSerial()

RoombaCommSerial

public RoombaCommSerial(boolean autoupdate)

RoombaCommSerial

public RoombaCommSerial(boolean autoupdate,
                        int updateTime)

Method Detail

isPortInUse

public static boolean isPortInUse(java.lang.String pname)

Let you check to see if a port is in use by another Rooomba before trying to use it.

connect

public boolean connect(java.lang.String portid)

Connect to a serial port specified by portid doesn't guarantee connection to Roomba, just to serial port

Specified by:

connect in class RoombaComm

Parameters:

portid - name of port, e.g. "/dev/cu.KeySerial1" or "COM3"

Returns:

true if connect was successful, false otherwise

disconnect

public void disconnect()

Disconnect from serial port

Specified by:

disconnect in class RoombaComm

send

public boolean send(byte[] bytes)

subclassed. FIXME:

Specified by:

send in class RoombaComm

Parameters:

bytes - byte array of ROI commands to send

Returns:

true on successful send

send

public boolean send(int b)

This will handle both ints, bytes and chars transparently.

Specified by:

send in class RoombaComm

Parameters:

b - byte of an ROI command to send

Returns:

true on successful send

wakeup

public void wakeup()

toggles DD line via serial port DTR (if available)

Overrides:

wakeup in class RoombaComm

updateSensors

public boolean updateSensors()

Update sensors. Block for up to 1000 ms waiting for update To use non-blocking, call sensors() and then poll sensorsValid()

Specified by:

updateSensors in class RoombaComm

Returns:

true on successful sensor update, false otherwise

updateSensors

public boolean updateSensors(int packetcode)

Update sensors. Block for up to 1000 ms waiting for update To use non-blocking, call sensors() and then poll sensorsValid()

computeSensors

public void computeSensors()

called by serialEvent when we have enough bytes to make sensors valid

listPorts

public java.lang.String[] listPorts()

If this just hangs and never completes on Windows, it may be because the DLL doesn't have its exec bit set. Why the hell that'd be the case, who knows. FIXME: deal more gracefully (from processing.serial.Serial)

Specified by:

listPorts in class RoombaComm

Returns:

a list available portids, if applicable or empty set if no ports, or return null if list is not enumerable

getProtocol

public java.lang.String getProtocol()

setProtocol

public void setProtocol(java.lang.String protocol)

isWaitForDSR

public boolean isWaitForDSR()

setWaitForDSR

public void setWaitForDSR(boolean waitForDSR)

getPortname

public java.lang.String getPortname()

setPortname

public void setPortname(java.lang.String p)

serialEvent

public void serialEvent(gnu.io.SerialPortEvent serialEvent)

callback for SerialPortEventListener (from processing.serial.Serial)

Specified by:

serialEvent in interface gnu.io.SerialPortEventListener