SerialConnection.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.serial;
 
import gnu.io.NRSerialPort;
 
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.util.ArrayList;
import java.util.List;
 
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.common.MACAddress;
import com.neuronrobotics.sdk.common.MissingNativeLibraryException;
import com.neuronrobotics.sdk.genericdevice.GenericDevice;
import com.neuronrobotics.sdk.util.ThreadUtil;
 
// TODO: Auto-generated Javadoc
public class SerialConnection extends BowlerAbstractConnection {
    
    private int sleepTime = 1000;
    
    private int pollTimeoutTime = 5;
    
    
    private String port=null;
    
    private int baud = 115200;
    
    private NRSerialPort serial;
    
    public SerialConnection() {
        setSynchronusPacketTimeoutTime(sleepTime);
    }
    
    public SerialConnection(String port) {
        setPort(port);  
        setSynchronusPacketTimeoutTime(sleepTime);
    }
    
    public SerialConnection(String port, int baud) {
        setPort(port);
        setBaud(baud);
        setSynchronusPacketTimeoutTime(sleepTime);
    }
    
    public void setPort(String port) {
        this.port = port;
    }
    
    public String getPort() {
        return port;
    }
    
    public void setBaud(int baud) {
        this.baud = baud;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect()
     */
    @Override
    public boolean connect() {
        if(isConnected()) {
            Log.error(port + " is already connected.");
            return true;
        }
        
        try 
        {
            if(serial != null)
                serial.disconnect();
            serial = new NRSerialPort(getPort(), baud);
            serial.connect();   
            setDataIns(new DataInputStream(serial.getInputStream()));
            setDataOuts(new DataOutputStream(serial.getOutputStream()));
            setConnected(true);
        }catch(UnsatisfiedLinkError e){
            throw new MissingNativeLibraryException(e.getMessage());
        }catch (Exception e) {
            Log.error("Failed to connect on port: "+port+" exception: ");
            e.printStackTrace();
            setConnected(false);
        }
        
        if(isConnected()) {
            serial.notifyOnDataAvailable(true);
        }
        return isConnected();   
    }
 
    
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect()
     */
    @Override
    public void disconnect() {
        if(isConnected())
            //new RuntimeException().printStackTrace();
            Log.warning("Disconnecting Serial Connection");
        try{
            try{
                serial.disconnect();
            }catch(Exception e){
                //e.printStackTrace();
                //throw new RuntimeException(e);
            }
            serial = null;
            setConnected(false);
        } catch(UnsatisfiedLinkError e) {
            throw new MissingNativeLibraryException(e.getMessage());
        }
    }
 
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    @Override
    public String toString() {
        return port;
    }
    
    public static SerialConnection getConnectionByMacAddress(MACAddress mac){
        
        List <String> ports = SerialConnection.getAvailableSerialPorts();
        //Start by searching through all available serial connections for DyIOs connected to the system
        for(String s: ports){
            System.out.println("Searching "+s);
        }
        for(String s: ports){
                try{
                    SerialConnection connection = new SerialConnection(s);
                    GenericDevice d = new GenericDevice(connection);
                    d.connect();
                    System.out.println("Pinging port: "+connection+" ");
                    if(d.ping()){
                        String addr = d.getAddress().toString();
                        if(addr.equalsIgnoreCase(mac.toString())){
                            connection.disconnect();
                            System.out.println("Device FOUND on port: "+connection+" "+addr);
                            return connection;
                        }
                        System.err.println("Device not on port: "+connection+" "+addr);
                    }
                    connection.disconnect();
                }catch(Exception EX){
                    EX.printStackTrace();
                    System.err.println("Serial port "+s+" is not a DyIO");
                }
 
        }
        
        return null;
    }
    
    public static List<String> getAvailableSerialPorts() {
        ArrayList<String> back = new  ArrayList<String>();
        for(String s:NRSerialPort.getAvailableSerialPorts()){
            back.add(s);
        }
        return back;
    }
 
//  /* (non-Javadoc)
//   * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect()
//   */
//  @Override
//  public boolean reconnect() {
//      Log.warning("Reconnecting in serial");
//      disconnect();
//      ThreadUtil.wait(sleepTime);
//      return connect();
//  }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection()
     */
    @Override
    public boolean waitingForConnection() {
        // TODO Auto-generated method stub
        return false;
    }
    
}