org.kjkoster.wedo.WeDo Maven / Gradle / Ivy
package org.kjkoster.wedo;
import static java.lang.Byte.parseByte;
import static java.lang.Integer.parseInt;
import static java.lang.System.out;
import static org.apache.commons.cli.Option.builder;
import java.io.IOException;
import java.util.Collection;
import org.apache.commons.cli.CommandLine;
import org.apache.commons.cli.CommandLineParser;
import org.apache.commons.cli.DefaultParser;
import org.apache.commons.cli.HelpFormatter;
import org.apache.commons.cli.Options;
import org.apache.commons.cli.ParseException;
import org.kjkoster.wedo.bricks.Brick;
import org.kjkoster.wedo.bricks.Distance;
import org.kjkoster.wedo.bricks.Hub;
import org.kjkoster.wedo.bricks.Tilt;
import org.kjkoster.wedo.systems.wedo.WeDoBricks;
import org.kjkoster.wedo.transport.usb.Usb;
/**
* The WeDo command line tool's main entry point.
*
* @author Kees Jan Koster <[email protected]>
*/
public class WeDo {
private static final String VERBOSE = "v";
private static final String RESET = "reset";
private static final String LIST = "list";
private static final String TILT = "tilt";
private static final String DISTANCE = "distance";
private static final String SENSOR = "sensor";
private static final String ALL = "all";
private static final String ALL_A = "allA";
private static final String ALL_B = "allB";
private static final String LIGHT = "light";
private static final String LIGHT_A = "lightA";
private static final String LIGHT_B = "lightB";
private static final String MOTOR = "motor";
private static final String MOTOR_A = "motorA";
private static final String MOTOR_B = "motorB";
private static WeDoBricks weDoBricks = null;
/**
* The main application entry point.
*
* @param args
* The command line arguments, as documented in
* usage().
* @throws ParseException
* When the command line could not be parsed.
*/
public static void main(final String[] args) throws ParseException {
final Options options = setOptions();
final CommandLine commandLine = parseCommandLine(options, args);
final boolean verbose = commandLine.hasOption(VERBOSE);
try (final Usb usb = new Usb(verbose)) {
weDoBricks = new WeDoBricks(usb, verbose);
if (commandLine.hasOption(RESET)) {
weDoBricks.reset();
} else if (commandLine.hasOption(LIST)) {
list(verbose);
} else if (commandLine.hasOption(SENSOR)) {
final String value = commandLine.getOptionValue(SENSOR);
sensor(value == null ? -1 : parseInt(value), true, true);
} else if (commandLine.hasOption(DISTANCE)) {
final String value = commandLine.getOptionValue(DISTANCE);
sensor(value == null ? -1 : parseInt(value), true, false);
} else if (commandLine.hasOption(TILT)) {
final String value = commandLine.getOptionValue(TILT);
sensor(value == null ? -1 : parseInt(value), false, true);
} else if (commandLine.hasOption(MOTOR)) {
weDoBricks.motor(parseByte(commandLine.getOptionValue(MOTOR)));
} else if (commandLine.hasOption(MOTOR_A)) {
weDoBricks
.motorA(parseByte(commandLine.getOptionValue(MOTOR_A)));
} else if (commandLine.hasOption(MOTOR_B)) {
weDoBricks
.motorB(parseByte(commandLine.getOptionValue(MOTOR_B)));
} else if (commandLine.hasOption(LIGHT)) {
weDoBricks.light(parseByte(commandLine.getOptionValue(LIGHT)));
} else if (commandLine.hasOption(LIGHT_A)) {
weDoBricks
.lightA(parseByte(commandLine.getOptionValue(LIGHT_A)));
} else if (commandLine.hasOption(LIGHT_B)) {
weDoBricks
.lightB(parseByte(commandLine.getOptionValue(LIGHT_B)));
} else if (commandLine.hasOption(ALL)) {
weDoBricks.all(parseByte(commandLine.getOptionValue(ALL)));
} else if (commandLine.hasOption(ALL_A)) {
weDoBricks.allA(parseByte(commandLine.getOptionValue(ALL_A)));
} else if (commandLine.hasOption(ALL_B)) {
weDoBricks.allB(parseByte(commandLine.getOptionValue(ALL_B)));
} else {
final HelpFormatter formatter = new HelpFormatter();
formatter.printHelp("wedo", options);
System.exit(1);
}
} catch (Throwable e) {
e.printStackTrace();
} finally {
// It seems that under Mac OS X a thread is still stuck in the
// hidapi USB library, so we force the JVM to exit.
System.exit(0);
}
}
private static Options setOptions() {
final Options options = new Options();
options.addOption(VERBOSE, "verbose output");
options.addOption(RESET, "reset all bricks");
options.addOption(LIST, "list WeDo hubs");
options.addOption(builder(SENSOR).optionalArg(true)
.desc("read all sensors [] times (default repeat forever)")
.build());
options.addOption(builder(DISTANCE).optionalArg(true)
.desc("read all distance sensors [] times (default repeat forever)")
.build());
options.addOption(builder(TILT).optionalArg(true)
.desc("read all tilt sensors [] times (default repeat forever)")
.build());
options.addOption(MOTOR, true,
"set all motors to speed (-127 to 127, 0 is off, negative for reverse)");
options.addOption(MOTOR_A, true,
"set all motor A's to speed (-127 to 127, 0 is off, negative for reverse)");
options.addOption(MOTOR_B, true,
"set all motor B's to speed (-127 to 127, 0 is off, negative for reverse)");
options.addOption(LIGHT, true,
"set all lights to intensity (0 to 127, 0 is off)");
options.addOption(LIGHT_A, true,
"set all brick A lights to intensity (0 to 127, 0 is off)");
options.addOption(LIGHT_B, true,
"set all brick B lights to intensity (0 to 127, 0 is off)");
options.addOption(ALL, true, "set all bricks to value (-127 to 127)");
options.addOption(ALL_A, true,
"set all brick A's to speed (-127 to 127)");
options.addOption(ALL_B, true,
"set all brick B's to speed (-127 to 127)");
return options;
}
private static CommandLine parseCommandLine(final Options options,
final String[] arguments) throws ParseException {
final CommandLineParser commandLineParser = new DefaultParser();
return commandLineParser.parse(options, arguments);
}
/**
* Print information on the WeDo hubs attached to this computer, and the
* devices connected to them. The list is unordered.
*
* We have no reliable way of addressing specific bricks connected to a
* specific hub. If you study the output of the verbose you will find that
* WeDo hubs do not seem to have identifying information. Further, the order
* in which the hubs are reported by the listDevices() method
* is random (though tantalisingly stable at times).
*/
private static void list(final boolean verbose) throws IOException {
out.printf("Scanning for LEGO WeDo hubs...\n\n");
final Collection hubs = weDoBricks.readAll();
if (hubs.size() == 0) {
out.println("No LEGO WeDo hubs found.");
} else {
for (final Hub hub : hubs) {
// we don't show the USB address, it changes a lot.
out.println(hub.getProductName());
for (final Brick brick : hub.getBricks()) {
listBrick(brick);
}
}
}
}
private static void listBrick(final Brick brick) {
String sensorData = "";
switch (brick.getType()) {
case DISTANCE:
sensorData = ": " + brick.getDistance().getCm() + " cm";
break;
case TILT:
sensorData = ": " + brick.getTilt().getDirection().toString()
.toLowerCase().replace("_", " ");
break;
default:
}
out.println(" brick " + brick.getPort() + ": "
+ brick.getType().toString().toLowerCase().replace("_", " ")
+ sensorData);
}
private static void sensor(int repeat, final boolean showDistance,
final boolean showTilt) throws InterruptedException {
while (repeat == -1 || repeat > 0) {
for (final Hub hub : weDoBricks.readAll()) {
for (final Brick brick : hub.getBricks()) {
switch (brick.getType()) {
case DISTANCE:
if (showDistance) {
final Distance distance = brick.getDistance();
out.printf("distance %d cm (value %d)\n",
distance.getCm(), distance.getValue());
}
break;
case TILT:
if (showTilt) {
final Tilt tilt = brick.getTilt();
out.printf("tilt %s (value %d)\n",
tilt.getDirection().toString().toLowerCase()
.replace("_", " "),
tilt.getValue());
}
break;
case MOTOR:
case LIGHT:
case NOT_CONNECTED:
case UNKNOWN:
// known not to be sensors
break;
default:
out.printf("unknown sensor type %s\n", brick.getType()
.toString().toLowerCase().replace("_", " "));
break;
}
}
}
if (repeat == -1 || --repeat > 0) {
Thread.sleep(1000L);
}
}
}
}