PercTeacher stable + RxTx installation guide

pfrison
1 parent 53915f04
Showing 28 changed files with 395 additions and 34 deletions Show diff stats
PercTeacher/Binaires/PercTeacher.jar
PercTeacher/Librairies/Linux/i686-unknown-linux-gnu/librxtxParallel.so
PercTeacher/Librairies/Linux/i686-unknown-linux-gnu/librxtxSerial.so
PercTeacher/Librairies/Linux/ia64-unkown-linux-gnu/librxtxSerial.so
PercTeacher/Librairies/Linux/x86_64-unknown-linux-gnu/librxtxSerial.so
PercTeacher/Librairies/Mac_OS_X/README
PercTeacher/Librairies/Mac_OS_X/librxtxSerial.jnilib
PercTeacher/Librairies/RXTXcomm.jar
PercTeacher/Librairies/Solaris/sparc-solaris/sparc32-sun-solaris2.8/librxtxSerial-2.1-7.so
PercTeacher/Librairies/Solaris/sparc-solaris/sparc32-sun-solaris2.8/librxtxSerial.so
PercTeacher/Librairies/Solaris/sparc-solaris/sparc64-sun-solaris2.8/librxtxSerial-2.1-7.so
PercTeacher/Librairies/Solaris/sparc-solaris/sparc64-sun-solaris2.8/librxtxSerial.so
PercTeacher/Librairies/Windows/i368-mingw32/README
PercTeacher/Librairies/Windows/i368-mingw32/rxtxParallel.dll
PercTeacher/Librairies/Windows/i368-mingw32/rxtxSerial.dll
PercTeacher/RxTx INSTALL GUIDE
PercTeacher/Sources/Action.java
PercTeacher/Sources/ActionList.java
PercTeacher/Sources/ImportExport.java
PercTeacher/Sources/Interface.java
@@ -0,0 +1,4 @@
+Wed Mar  1 12:05:10 MST 2006
+We forgot to update the Mac OS X binary.  Previously, it was an old version
+(RXTX-2.1-7pre20).  This has now been corrected.
+
@@ -0,0 +1,3 @@
+Wed Mar  1 12:01:05 MST 2006
+rxtxSerial.dll had to be recomopiled to link in missing native methods.
+
@@ -0,0 +1,57 @@
+Trent Here.  I do those ugly brown pages at rxtx.org.  Documentation is not
+what I do well :)  So please help me when you see problems or something is
+confusing.
+
+For more information provided by end users please visit the rxtx wiki at
+http://rxtx.qbang.org/wiki.  This is also where you can help.
+
+Short Install Instructions
+
+Windows
+
+RXTXcomm.jar goes in \jre\lib\ext (under java)
+rxtxSerial.dll goes in \jre\bin
+
+Mac OS X (x86 and ppc) (there is an Installer with the source)
+
+RXTXcomm.jar goes in  /Library/Java/Extensions
+librxtxSerial.jnilib goes in /Library/Java/Extensions
+Run fixperm.sh thats in the directory.  Fix perms is in the Mac_OS_X
+subdirectory.
+
+Linux (only x86, x86_64, ia64 here but more in the ToyBox)
+
+RXTXcomm.jar goes in /jre/lib/ext (under java)
+librxtxSerial.so goes in /jre/lib/[machine type] (i386 for instance)
+Make sure the user is in group lock or uucp so lockfiles work.
+
+Solaris (sparc only so far)
+
+RXTXcomm.jar goes in /jre/lib/ext (under java)
+librxtxSerial.so goes in /jre/lib/[machine type]
+Make sure the user is in group uucp so lockfiles work.
+
+
+
+
+A person is added to group lock or uucp by editing /etc/groups.  Distributions
+have various tools but this works:
+
+lock:x:54:   becomes:
+lock:x:53:jarvi,taj 
+
+Now jarvi and taj are in group lock.
+
+Also make sure jarvi and taj have read and write permissions on the port.
+
+
+
+
+If there are problems please help each other on the wiki and ask questions
+on the mail-list.  User contributed changes will be used here in the next
+release.  If you don't like the documentation, you can improve it.
+
+
+--
+Trent Jarvi
+tjarvi@qbang.org
@@ -5,19 +5,19 @@ public class Action {
  
 	private boolean endAction = true;
  
-	private long deltaL = 0;
-	private long deltaR = 0;
+	private int deltaL = 0;
+	private int deltaR = 0;
  
 	private long delaiL = DELAI_DEFAULT; // in us
 	private long delaiR = DELAI_DEFAULT; // in us
  
 	public Action() {}
-	public Action(long deltaL, long deltaR) {
+	public Action(int deltaL, int deltaR) {
 		this.deltaL = deltaL;
 		this.deltaR = deltaR;
 		this.endAction = false;
 	}
-	public Action(long deltaL, long deltaR, long delaiL, long delaiR) {
+	public Action(int deltaL, int deltaR, long delaiL, long delaiR) {
 		this.deltaL = deltaL;
 		this.deltaR = deltaR;
 		this.delaiL = delaiL;
@@ -25,12 +25,12 @@ public class Action {
 		this.endAction = false;
 	}
  
-	public void addDeltaL(long amount){this.deltaL += amount; endAction = false;}
-	public void addDeltaR(long amount){this.deltaR += amount; endAction = false;}
-	public void setDeltaL(long amount){this.deltaL = amount; endAction = false;}
-	public void setDeltaR(long amount){this.deltaR = amount; endAction = false;}
-	public long getDeltaL(){return this.deltaL;}
-	public long getDeltaR(){return this.deltaR;}
+	public void addDeltaL(int amount){this.deltaL += amount; endAction = false;}
+	public void addDeltaR(int amount){this.deltaR += amount; endAction = false;}
+	public void setDeltaL(int amount){this.deltaL = amount; endAction = false;}
+	public void setDeltaR(int amount){this.deltaR = amount; endAction = false;}
+	public int getDeltaL(){return this.deltaL;}
+	public int getDeltaR(){return this.deltaR;}
  
 	public void setDelaiL(long delai){this.delaiL = delai; endAction = false;}
 	public void setDelaiR(long delai){this.delaiR = delai; endAction = false;}
@@ -73,7 +73,7 @@ public class Action {
 			if(deltaL > 0)
 				return "Going forward for " + String.valueOf(deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
 			else
-				return "Going backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
+				return "Going backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (-deltaL * delaiL) / 1000d) + " miliseconds";
 		} if(deltaR == -deltaL) {
 			if(deltaL > 0)
 				return "Turning on the spot clockwise for " + String.valueOf(deltaL) + " steps during "
@@ -2,12 +2,14 @@ import java.util.ArrayList;
  
 public class ActionList {
 	private ArrayList<Action> actions;
+	private SerialCom serialCom;
  
-	public ActionList() {
+	public ActionList(SerialCom serialCom) {
+		this.serialCom = serialCom;
 		actions = new ArrayList<>();
 		actions.add(new Action());
 	}
-	public ActionList(long[] leftDeltaArray, long[] rightDeltaArray, long[] leftDelaiArray, long[] rightDelaiArray) {
+	public ActionList(int[] leftDeltaArray, int[] rightDeltaArray, long[] leftDelaiArray, long[] rightDelaiArray) {
 		if(leftDelaiArray.length != rightDelaiArray.length
 				|| leftDelaiArray.length != leftDelaiArray.length
 				|| leftDelaiArray.length != rightDelaiArray.length)
@@ -18,7 +20,7 @@ public class ActionList {
 		actions.add(new Action());
 	}
  
-	public void addToActionList(int i, int j, long step) {
+	public void addToActionList(int i, int j, int step) {
 		switch (j * 10 + i) {
 		case 00: //ACTION_LEFT_PLUS;
 			addToLastAction(step, 0);
@@ -62,30 +64,38 @@ public class ActionList {
 		completeAction();
 	}
  
-	private void addToLastAction(long deltaL, long deltaR) {
+	private void addToLastAction(int deltaL, int deltaR) {
 		actions.get(actions.size() - 1).addDeltaL(deltaL);
 		actions.get(actions.size() - 1).addDeltaR(deltaR);
+		SerialCommands.sendDeltas(serialCom, deltaL, deltaR);
 	}
  
 	public void revertLastAction() {
 		if(actions.size() <= 0)
 			return;
+
+		Action toRevert = null;
 		if(actions.get(actions.size() - 1).isEmpty()) {
 			actions.remove(actions.size() - 1);
-			if(actions.size() != 0)
+			if(actions.size() != 0) {
+				toRevert = actions.get(actions.size() - 1);
 				actions.set(actions.size() - 1, new Action());
+			}
 			else
 				actions.add(new Action());
 		} else {
+			toRevert = actions.get(actions.size() - 1);
 			actions.set(actions.size() - 1, new Action());
 		}
+		if(toRevert != null)
+			SerialCommands.sendDeltas(serialCom, -toRevert.getDeltaL(), -toRevert.getDeltaR());
 	}
  
 	public String getLeftDeltaArray() {
 		String str = "{";
 		for(Action action : actions) {
 			if(!action.isEmpty())
-				str += String.valueOf(action.getDeltaL()) + "L, ";
+				str += String.valueOf(action.getDeltaL()) + ", ";
 		}
 		str = str.substring(0, str.length() - 2) + "}";
 		return str;
@@ -94,7 +104,7 @@ public class ActionList {
 		String str = "{";
 		for(Action action : actions) {
 			if(!action.isEmpty())
-				str += String.valueOf(action.getDeltaR()) + "L, ";
+				str += String.valueOf(action.getDeltaR()) + ", ";
 		}
 		str = str.substring(0, str.length() - 2) + "}";
 		return str;
@@ -55,10 +55,18 @@ public class ImportExport {
 		try {
 			byte[] encoded = Files.readAllBytes(Paths.get(path));
 			String str = new String(encoded, Charset.defaultCharset());
+			
 			long[][] longList = Util.getArraysFromImport(str);
-			if(longList != null)
-				return new ActionList(longList[0], longList[1], longList[2], longList[3]);
-			JOptionPane.showMessageDialog(null, "The choosen file is invalid or currupted", "Import error", JOptionPane.ERROR_MESSAGE);
+			if(longList == null) {
+				JOptionPane.showMessageDialog(null, "The choosen file is invalid or currupted", "Import error", JOptionPane.ERROR_MESSAGE);
+				return null;
+			}
+			int[][] intList = new int[2][longList[0].length];
+			for(int i=0; i<2; i++)
+				for(int j=0; j<longList[0].length; j++)
+					intList[i][j] = (int) longList[i][j];
+			
+			return new ActionList(intList[0], intList[1], longList[2], longList[3]);
 		} catch (IOException ignored) {}
 		return null;
 	}
@@ -11,6 +11,8 @@ import java.awt.event.ActionListener;
 import java.awt.event.FocusEvent;
 import java.awt.event.FocusListener;
 import java.awt.event.KeyEvent;
+import java.awt.event.WindowAdapter;
+import java.awt.event.WindowEvent;
  
 import javax.swing.BorderFactory;
 import javax.swing.BoxLayout;
@@ -44,15 +46,26 @@ public class Interface extends JFrame implements ActionListener, FocusListener {
  
 	private ActionList actionList;
  
-	public Interface(ActionList actionList) {
+	public Interface(ActionList actionList, final Runnable executeOnClose) {
 		super("PercTeacher");
 		this.actionList = actionList;
 		setResizable(false);
 		populateWindow();
 		pack();
 		setLocationRelativeTo(null); // center window
-        KeyboardFocusManager.getCurrentKeyboardFocusManager().addKeyEventDispatcher(new CustomDispatcher());
+		
+        KeyboardFocusManager.getCurrentKeyboardFocusManager()
+        	.addKeyEventDispatcher(new InterfaceKeyboardDispatcher());
         getContentPane().requestFocusInWindow();
+        
+        addWindowListener(new WindowAdapter() {
+        	@Override
+        	public void windowClosing(WindowEvent e) {
+        		if(executeOnClose != null)
+        			executeOnClose.run();
+        		dispose();
+        	}
+		});
 	}
  
 	private void populateWindow() {
@@ -189,7 +202,7 @@ public class Interface extends JFrame implements ActionListener, FocusListener {
 					String str = stepsField.getText();
 					try {
 						if(str != null && !str.equals("")) {
-							long step = Long.parseLong(str);
+							int step = Integer.parseInt(str);
 							actionList.addToActionList(i, j, step);
 						}
 					} catch (NumberFormatException ignored) {
@@ -239,7 +252,7 @@ public class Interface extends JFrame implements ActionListener, FocusListener {
 		keyboardWait = false;
 	}
  
-	private class CustomDispatcher implements KeyEventDispatcher {
+	private class InterfaceKeyboardDispatcher implements KeyEventDispatcher {
 		@Override
 		public boolean dispatchKeyEvent(KeyEvent e) {
 			if(keyboardWait && Interface.this.getFocusOwner() == stepsField && e.getKeyCode() == KeyEvent.VK_ENTER) {
-import javax.swing.JFrame;
+import javax.swing.JOptionPane;
  
 /* TODO list :
- *  - data to send to the arduino : do action, revert action
+ *  - test import export
  *  - textfields to tweak delays (+ button set to default)
+ *  - clean Interface class
  */
  
 public class Main {
-	public static void main(String[] args) {
-		ActionList actionList = new ActionList();
+	
+	public static void main(String[] args) throws InterruptedException {
+		String serialPort = null;
+		try {
+			serialPort = SerialPortChooserDialog.showSerialPortChooserDialog();
+		} catch (NoSerialPortException e) {
+			JOptionPane.showMessageDialog(null, "No serial port available !", "Error", JOptionPane.ERROR_MESSAGE);
+			System.exit(-1);
+		}
+		if(serialPort == null) System.exit(-1);
+
+		final SerialCom serialCom = new SerialCom(serialPort);
+		// arduino need time before accepting serial data
+		Thread.sleep(1000);
  
-		Interface i = new Interface(actionList);
+		ActionList actionList = new ActionList(serialCom);
+		Interface i = new Interface(actionList, new Runnable() {
+			@Override
+			public void run() {
+				serialCom.close();
+			}
+		});
 		i.setVisible(true);
-		i.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
 	}
 }
@@ -0,0 +1,8 @@
+
+public class NoSerialPortException extends Exception {
+	private static final long serialVersionUID = 1L;
+
+	public NoSerialPortException() {
+		super("No serial port available !");
+	}
+}
@@ -0,0 +1,82 @@
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.util.Enumeration;
+
+import gnu.io.CommPortIdentifier;
+import gnu.io.PortInUseException;
+import gnu.io.SerialPort;
+import gnu.io.UnsupportedCommOperationException;
+
+public class SerialCom {
+	private static final int DATA_RATE = 9600;
+	private static final int TIME_OUT = 2000;
+	private static final int BUFFER_SIZE = 1024;
+	
+	private SerialPort serialPort;
+	private InputStream input;
+	private OutputStream output;
+	
+	public SerialCom(int portNumberWindows) { this("COM" + String.valueOf(portNumberWindows)); }
+	public SerialCom(String portName) {
+		CommPortIdentifier portId = null;
+		Enumeration<?> portEnum = CommPortIdentifier.getPortIdentifiers();
+		
+		// Search for serial port
+		while (portEnum.hasMoreElements()) {
+			CommPortIdentifier currPortId = (CommPortIdentifier) portEnum.nextElement();
+			if (currPortId.getName().equals(portName)) {
+				portId = currPortId;
+				break;
+			}
+		}
+		if (portId == null)
+			throw new SerialComPortException(portName);
+		
+		// open connection
+		try {
+			serialPort = (SerialPort) portId.open(this.getClass().getName(), TIME_OUT);
+			serialPort.setSerialPortParams(DATA_RATE, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
+
+			input = serialPort.getInputStream();
+			output = serialPort.getOutputStream();
+		} catch (IOException
+				| UnsupportedCommOperationException
+				| PortInUseException e) {
+			throw new SerialComPortException(portName);
+		}
+	}
+	
+	public void close() {
+		try {
+			input.close();
+			output.close();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+		serialPort.removeEventListener();
+		serialPort.close();
+	}
+	public void send(byte[] bytes) {
+		try {
+			this.output.write(bytes);
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+	
+	public byte[] recieve() {
+		byte[] buffer = new byte[BUFFER_SIZE];
+		int len = -1;
+		
+		try { len = this.input.read(buffer); }
+		catch (IOException e) { return null; }
+		
+		if(len == -1 || len == 0)
+			return null;
+		byte[] data = new byte[len];
+		for(int i=0; i<len; i++)
+			data[i] = buffer[i];
+		return data;
+	}
+}
@@ -0,0 +1,8 @@
+
+public class SerialComPortException extends RuntimeException {
+	private static final long serialVersionUID = 1L;
+
+	public SerialComPortException(String portName) {
+		super("Connection to port " + portName + " failed !");
+	}
+}
@@ -0,0 +1,8 @@
+
+public class SerialComWrongCallbackMethod extends RuntimeException {
+	private static final long serialVersionUID = 1L;
+
+	public SerialComWrongCallbackMethod() {
+		super("Wrong callback method format !");
+	}
+}
@@ -0,0 +1,18 @@
+
+public class SerialCommands {
+	public static void sendDeltas(SerialCom serialCom, int deltaLeft, int deltaRight) {
+		byte dataL1 = (byte) ((deltaLeft & 0xFF00) >> 8);
+		byte dataL2 = (byte) (deltaLeft & 0xFF);
+		byte dataR1 = (byte) ((deltaRight & 0xFF00) >> 8);
+		byte dataR2 = (byte) (deltaRight & 0xFF);
+		byte[] data = new byte[] {dataL1, dataL2, dataR1, dataR2};
+		serialCom.send(data);
+		
+		// wait for a response = move complete
+		byte[] bytes = null;
+		while(bytes == null
+				|| bytes.length <= 0) {
+			bytes = serialCom.recieve();
+		}
+	}
+}
@@ -0,0 +1,119 @@
+import java.awt.BorderLayout;
+import java.awt.Dimension;
+import java.awt.FlowLayout;
+import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
+import java.util.ArrayList;
+import java.util.Enumeration;
+
+import javax.swing.DefaultListModel;
+import javax.swing.JButton;
+import javax.swing.JDialog;
+import javax.swing.JLabel;
+import javax.swing.JList;
+import javax.swing.JPanel;
+import javax.swing.JScrollPane;
+import javax.swing.ListSelectionModel;
+import javax.swing.event.ListSelectionEvent;
+import javax.swing.event.ListSelectionListener;
+
+import gnu.io.CommPortIdentifier;
+
+public class SerialPortChooserDialog extends JDialog implements ActionListener, ListSelectionListener {
+	private static final long serialVersionUID = 1L;
+	
+	private boolean onlyOneChoice;
+	private boolean emptyChoice;
+	private ArrayList<String> portNames;
+	private String choosedPort = null;
+	
+	private JList<String> list;
+	private JButton ok;
+	private JButton cancel;
+
+	private SerialPortChooserDialog() {
+		Enumeration<?> portEnum = CommPortIdentifier.getPortIdentifiers();
+		portNames = new ArrayList<>();
+
+		while (portEnum.hasMoreElements()) {
+			CommPortIdentifier currPortId = (CommPortIdentifier) portEnum.nextElement();
+			portNames.add(currPortId.getName());
+		}
+
+		onlyOneChoice = portNames.size() <= 1;
+		emptyChoice = portNames.size() == 0;
+		if(onlyOneChoice || emptyChoice)
+			return;
+		
+		// JDialog creation
+		JPanel mainPanel = new JPanel(new BorderLayout());
+		setModal(true);
+		setTitle("Serial port chooser");
+		
+		// title
+		mainPanel.add(new JLabel("Choose a serial port : "), BorderLayout.NORTH);
+		
+		// list ports
+		DefaultListModel<String> listModel = new DefaultListModel<>();
+		for(String str : portNames)
+			listModel.addElement(str);
+		list = new JList<>(listModel);
+		list.addListSelectionListener(this);
+		list.setVisibleRowCount(3);
+		list.setLayoutOrientation(JList.VERTICAL);
+		list.setSelectionMode(ListSelectionModel.SINGLE_SELECTION);
+		
+		JScrollPane scrollPane = new JScrollPane(list, JScrollPane.VERTICAL_SCROLLBAR_AS_NEEDED, JScrollPane.HORIZONTAL_SCROLLBAR_AS_NEEDED);
+		scrollPane.setPreferredSize(new Dimension(200, 100));
+		mainPanel.add(scrollPane, BorderLayout.CENTER);
+		
+		// buttons ok / cancel
+		JPanel borderLayoutPanel = new JPanel(new BorderLayout());
+		JPanel buttonsLayout = new JPanel(new FlowLayout(FlowLayout.LEADING, 5, 3));
+		ok = new JButton("Ok");
+		cancel = new JButton("Cancel");
+		ok.addActionListener(this);
+		cancel.addActionListener(this);
+		ok.setEnabled(false);
+		buttonsLayout.add(cancel);
+		buttonsLayout.add(ok);
+		borderLayoutPanel.add(buttonsLayout, BorderLayout.EAST);
+		mainPanel.add(borderLayoutPanel, BorderLayout.SOUTH);
+
+		// padding
+		JPanel padding = new JPanel(new FlowLayout(FlowLayout.LEADING, 5, 5));
+		padding.add(mainPanel);
+		add(padding);
+
+		setResizable(false);
+		pack();
+		setLocationRelativeTo(null);
+		setVisible(true);
+	}
+	
+	public static String showSerialPortChooserDialog() throws NoSerialPortException {
+		SerialPortChooserDialog dialog = new SerialPortChooserDialog();
+		if(dialog.emptyChoice)
+			throw new NoSerialPortException();
+		if(dialog.onlyOneChoice)
+			return dialog.portNames.get(0);
+		return dialog.choosedPort;
+	}
+
+	@Override
+	public void actionPerformed(ActionEvent e) {
+		if(e.getSource() == ok) {
+			choosedPort = list.getSelectedValue();
+			dispose();
+		} else if(e.getSource() == cancel) {
+			dispose();
+		}
+	}
+
+	@Override
+	public void valueChanged(ListSelectionEvent e) {
+		if(e.getSource() == list) {
+			ok.setEnabled(list.getSelectedIndex() != -1);
+		}
+	}
+}
@@ -7,15 +7,20 @@ public class Util {
 			return null;
  
 		for(int i=0; i<arrays.length; i++) {
-			arrays[i] = getArrayFromLine(split[i]);
+			arrays[i] = getArrayFromLine(split[i], i);
 			if(arrays[i] == null)
 				return null;
 		}
 		return arrays;
 	}
-	private static long[] getArrayFromLine(String str) {
+	private static long[] getArrayFromLine(String str, int nLine) {
 		str = str.substring(1, str.length() - 2); // remove { and }
-		String[] longsStr = str.split("L, ");
+		String[] longsStr;
+		if(nLine <= 1)
+			longsStr = str.split(", ");
+		else
+			longsStr = str.split("L, ");
+		
 		try {
 			long[] longs = new long[longsStr.length];
 			for(int i=0; i<longs.length; i++)