package se.nicklasgavelin.sphero.example;
import java.awt.GridLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.util.ArrayList;
import java.util.Collection;
import javax.swing.JButton;
import javax.swing.JFrame;
import se.nicklasgavelin.bluetooth.Bluetooth;
import se.nicklasgavelin.bluetooth.Bluetooth.EVENT;
import se.nicklasgavelin.bluetooth.BluetoothDevice;
import se.nicklasgavelin.bluetooth.BluetoothDiscoveryListener;
import se.nicklasgavelin.sphero.Robot;
import se.nicklasgavelin.sphero.RobotListener;
import se.nicklasgavelin.sphero.command.CommandMessage;
import se.nicklasgavelin.sphero.command.FrontLEDCommand;
import se.nicklasgavelin.sphero.exception.InvalidRobotAddressException;
import se.nicklasgavelin.sphero.exception.RobotBluetoothException;
import se.nicklasgavelin.sphero.response.ResponseMessage;
import se.nicklasgavelin.sphero.response.InformationResponseMessage;
/**
* Simple test class to test the Sphero API
*
* @author Nicklas Gavelin, nicklas.gavelin@gmail.com, Luleå University of Technology
*/
public class Example_Site_API extends JFrame
{
private static final long serialVersionUID = 6998786554264771793L;
// Internal storage
private int responses = 0;
private ConnectThread ct;
private JButton connectButton, disconnectButton;
/**
* Main method
*
* @param args Will be ignored
*/
@SuppressWarnings( "unused" )
public static void main( String[] args )
{
Example_Site_API example_Site_API = new Example_Site_API();
// new Thread( new Example_Site_API() ).start();
}
/**
* Our example application
*/
public Example_Site_API()
{
super( "Example API usage" );
this.setLayout( new GridLayout( 2, 1 ) );
// Connect button
connectButton = new JButton( "Connect to available devices" );
disconnectButton = new JButton( "Disconnect from all devices" );
// Bind action to our connect button
connectButton.addActionListener( new ActionListener() {
@Override
public void actionPerformed( ActionEvent e )
{
// Check if we have something previous to stop
if( ct != null )
ct.stopThread();
// Create a new thread
ct = new ConnectThread();
ct.start();
// Toggle our button
connectButton.setEnabled( false );
disconnectButton.setEnabled( true );
}
} );
// Bind action to the disconnect button
disconnectButton.addActionListener( new ActionListener() {
@Override
public void actionPerformed( ActionEvent e )
{
// Check if we have something to stop
if( ct != null )
ct.stopThread();
// Toggle our buttons
connectButton.setEnabled( true );
disconnectButton.setEnabled( false );
}
} );
// Add buttons to our GUI
this.add( connectButton );
this.add( disconnectButton );
// Set some default stuff
this.pack();
this.setVisible( true );
this.setDefaultCloseOperation( EXIT_ON_CLOSE );
}
/**
* Set connect button state (also affects the disconnect button)
*
* @param enabled True to enable, false otherwise
*/
private void setConnectEnabled( boolean enabled )
{
this.connectButton.setEnabled( enabled );
this.disconnectButton.setEnabled( !enabled );
}
/**
* Handles the detection of new devices and listens on our robots for
* responses and events
*/
private class ConnectThread extends Thread implements BluetoothDiscoveryListener, Runnable, RobotListener
{
// Internal storage
private Bluetooth bt;
private boolean stop = false;
private Collection<Robot> robots;
/**
* Create a connect thread
*/
public ConnectThread()
{
this.robots = new ArrayList<Robot>();
}
/**
* Stop everything regarding the connection and robots
*/
private void stopThread()
{
if( bt != null )
bt.cancelDiscovery();
this.stop = true;
// Disconnect from all robots and clear the connected list
for( Robot r : robots )
r.disconnect();
robots.clear();
}
@Override
public void run()
{
try
{
// Will perform a bluetooth discovery before connecting to
// any devices
bt = new Bluetooth( this, Bluetooth.SERIAL_COM );
bt.discover(); // # COMMENT THIS IF UNCOMMENTING THE BELOW AREA #
// Uncomment the code below and comment out the bt.discover() line above
// to
// connect directly to a given Sphero
// // ## START UNCOMMENT ##
// final String bluetoothAddress = "0006664438B8";
// BluetoothDevice btd = new BluetoothDevice( bt, "btspp://" +
// bluetoothAddress + ":1;authenticate=true;encrypt=false;master=false" );
//
// // Create the robot from the bluetooth device
// Robot r = new Robot( btd );
//
// // Try to connect to the robot
// if ( r.connect() )
// {
// // Add ourselves as listeners
// r.addListener( this );
//
// // Send a rgb transition command macro
// r.rgbTransition( 255, 0, 0, 0, 255, 255, 50 );
//
// // Send a direct command
// r.sendCommand( new FrontLEDCommand( 1F ) );
// }
// // ## END UNCOMMENT ##
// Run forever, euheuheuh!
while( !stop )
{
try
{
Thread.sleep( 5000 );
}
catch( InterruptedException e )
{
}
}
}
catch( Exception e )
{
// Failure in searching for devices for some reason.
e.printStackTrace();
}
}
/*
* *************************************
* BLUETOOTH DISCOVERY STUFF
*/
/**
* Called when the device search is completed with detected devices
*
* @param devices The devices detected
*/
@Override
public void deviceSearchCompleted( Collection<BluetoothDevice> devices )
{
// Device search is completed
System.out.println( "Completed device discovery" );
// Try and see if we can find any Spheros in the found devices
for( BluetoothDevice d : devices )
{
// Check if the Bluetooth device is a Sphero device or not
if( Robot.isValidDevice( d ) )
{
System.out.println( "Found robot " + d.getAddress() );
// We got a valid device (Sphero device), connect to it and
// have some fun with colors.
try
{
// Create our robot from the Bluetooth device that we got
Robot r = new Robot( d );
// Add ourselves as listeners for the responses
r.addListener( this );
// Check if we can connect
if( r.connect() )
{
// Add robots to our connected robots list
robots.add( r );
System.out.println( "Connected to " + d.getName() + " : " + d.getAddress() );
r.rgbTransition( 255, 0, 0, 0, 255, 255, 50 );
// Send direct command
r.sendCommand( new FrontLEDCommand( 1 ) );
}
else
System.err.println( "Failed to connect to robot" );
}
catch( InvalidRobotAddressException ex )
{
ex.printStackTrace();
}
catch( RobotBluetoothException ex )
{
ex.printStackTrace();
}
}
}
// Disable the thread and set connected button state
if( robots.isEmpty() )
{
this.stopThread();
setConnectEnabled( true );
}
}
/**
* Called when the search is started
*/
@Override
public void deviceSearchStarted()
{
System.out.println( "Started device search" );
}
/**
* Called if something went wrong with the device search
*
* @param error The error that occurred
*/
@Override
public void deviceSearchFailed( EVENT error )
{
System.err.println( "Failed with device search: " + error );
}
/**
* Called when a Bluetooth device is discovered
*
* @param device The device discovered
*/
@Override
public void deviceDiscovered( BluetoothDevice device )
{
System.out.println( "Discovered device " + device.getName() + " : " + device.getAddress() );
}
/*
* ********************************************
* ROBOT STUFF
*/
/**
* Called when a response is received from a robot
*
* @param r The robot the event concerns
* @param response The response received
* @param dc The command the response is concerning
*/
@Override
public void responseReceived( Robot r, ResponseMessage response, CommandMessage dc )
{
System.out.println( "(" + ( ++responses ) + ") Received response: " + response.getResponseCode() + " to message " + dc.getCommand() );
}
/**
* Event that may occur for a robot
*
* @param r The robot the event concerns
* @param code The event code for the event
*/
@Override
public void event( Robot r, EVENT_CODE code )
{
System.out.println( "Received event: " + code );
}
@Override
public void informationResponseReceived( Robot r, InformationResponseMessage response )
{
// Information response (Ex. Sensor data)
}
}
}