Colony

public class ColonetCGI {

	public static void main (String [] args) {

		if (args.length < 1)

			return;

		ColonetCGI ccgi = new ColonetCGI(args[0]);

	}

	public ColonetCGI (String strCommand) {

		ColonetCGIServerInterface ccsi = new ColonetCGIServerInterface(this);

		ccsi.connect("128.2.99.176", "10123");

		ccsi.sendData(ColonetCGIServerInterface.MOTOR2_SET + " 0 225", "200");

		ccsi.sendData(ColonetCGIServerInterface.MOTOR1_SET + " 0 225", "200");

	}

}

/*

* ColonetCGIServerInterface.java

* Gregory Tress

*/

import java.net.*;

import java.io.*;

import javax.swing.JOptionPane;

public class ColonetCGIServerInterface

{

/*	Old packet structure:

		COMMAND PACKET STRUCTURE

	1:	SEND_TO_ROBOT

	2:	# of robot, or GLOBAL_DEST

	3:	COLONET_COMMMAND

	4:	message code (i.e. ORB_SET)

	5:	any data, as many that fit in the packet

	REQUEST PACKET STRUCTURE

	1:	REQUEST_FROM_SERVER

	2:	# of robot

	3:	COLONET_REQUEST

	4:	???

	9/12/07 New server interface structure

		Client will no longer send full robot packets to the server.

		Commands will be defined as necessary.

	*/

	//General Colonet Interface

	public static final String SEND_TO_ROBOT = "0";

	public static final String REQUEST_FROM_SERVER = "1";

	public static final String RESPONSE_TO_CLIENT_REQUEST = "2";

	public static final String REQUEST_BOM_MATRIX = "144";

	public static final String REQUEST_XBEE_IDS = "145";

	public static final String COLONET_COMMAND = "13"; //0x0D

	public static final String COLONET_REQUEST = "14"; //0x0E

	public static final String CORONET_RESPONSE = "15"; //0x0F

	public static final String GLOBAL_DEST = "200";

	public static final String CLIENT_REQUEST_ROBOT_POSITIONS = "86";

	public static final String CLIENT_ASSIGN_ROBOT_ID = "87";

	public static final String MOVE_TO_ABSOLUTE_POSITION = "83"; //0x53

	//Queue instructions

	public static final String COLONET_QUEUE = "100";

	public static final String QUEUE_UPDATE = "101";

	public static final String QUEUE_ADD = "102";

	public static final String QUEUE_REMOVE = "103";

	public static final String QUEUE_REORDER = "104";

	//Use BATTERY to request battery level

	public static final String BATTERY = "56"; //0x38

	//MOTORS

	public static final String MOTORS_INIT = "23"; //0x17

	public static final String MOTOR1_SET = "24"; //0x18

	public static final String MOTOR2_SET = "25"; //0x19

	public static final String MOTORS_OFF = "26"; //0x1A

	public static final String MOVE = "27"; //0x1B

	public static final String MOVE_AVOID = "28"; //0x1C

	//BUZZER

	public static final String BUZZER_INIT = "0"; //0x00

	public static final String BUZZER_SET_VAL = "1"; //0x01

	public static final String BUZZER_SET_FREQ = "2"; //0x02

	public static final String BUZZER_CHIRP = "3"; //0x03

	public static final String BUZZER_OFF = "4"; //0x04

	//ORB

	public static final String ORB_INIT = "12"; //0x0C

	public static final String ORB_SET = "13"; //0x0D

	public static final String ORB_SET_COLOR = "14"; //0x0E

	public static final String ORB_DISABLE = "15"; //0x0F

	public static final String ORB_ENABLE = "16"; //0x10

	public static final String ORB_SET_DIO = "17"; //0x11

	public static final String LED_INIT = "18"; //0x12

	public static final String LED_USER = "19"; //0x13

	public static final String ORB_SET_NUM_NS = "20"; //0x14

	public static final String ORB_SET_NUM = "21"; //0x15

	public static final String ORB_SEND = "22"; //0x16

	ColonetCGI colonet;      //save reference to the entire applet locally

	Socket socket;

	OutputStreamWriter out;

	BufferedReader reader;

	//DataListener dataListener;

	/*

	* FUNCTION IMPLEMENTATIONS

	*/

	/**

	* Constructs a new ColonetCGIServerInterface. When constructing a ColonetCGIServerInterface, a valid Colonet object

	* reference must be provided to ensure that data is routed correctly.

	*

	* @param colonet The Colonet object to save locally. This reference cannot be changed once the

	*		ColonetSreverInterface has been contsructed.

	* @throws NullPointerException if colonet is null

	*

	*/

	public ColonetCGIServerInterface (ColonetCGI colonet) {

		this.colonet = colonet;

	}

	public boolean isReady () {

		if (socket == null || out == null || reader == null)

			return false;

		if (!socket.isConnected() || socket.isClosed() || socket.isInputShutdown() || socket.isOutputShutdown())

			return false;

		return true;

	}

	public boolean isInputReady () {

		try {

			if (reader.ready()) return true;

		} catch (Exception e) {

			return false;

		}

		return false;

	}

	public String getLine () throws IOException {

		return reader.readLine();

	}

	/**

	 * Create socket connection to Colonet server.

	 * If successful, start thread for listening for incoming data.

	 */

	public void connect (String strHost, String strPort) {

		//make sure hostname and port are valid

		if (strHost.equals("") || strPort.equals("")) {

			return;

		}

		int port = 0;

		try {

			port = Integer.parseInt(strPort);

		} catch (Exception e) {

			return;

		}

		//make sure we aren't already connected.

		if (socket != null && socket.isConnected()) {

			return;

		}

		try {

			socket = new Socket(strHost, port);

			socket.setKeepAlive(true);

		} catch (UnknownHostException e) {

			return;

		} catch (IOException e) {

			return;

		} catch (java.security.AccessControlException e) {

			return;

		}

		if (socket == null || !socket.isConnected()) {

			return;

		}

		try {

			out = new OutputStreamWriter(socket.getOutputStream());

			reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));

		} catch (IOException e) {

			return;

		}

	}

	public void disconnect () {

		try {

			if (reader != null) {

				reader.close();

			}

			if (out != null) {

				out.close();

			}

		} catch (IOException e) {

		}

	}

	private void sendString (String s) {

		//make sure we can send

		if (!this.isReady()) {

			return;

		}

		//send packet

		try {

			Thread.sleep(50);	 //pause to be safe

			out.write(s);

			out.flush();

			//log.append("Sent: " + s + "\n");

		} catch (IOException e) {

		} catch (InterruptedException e) {

		}

	}

	public void sendData (String s, String robotNumber) {

		//create packet

		String packet = "";

		packet += ColonetCGIServerInterface.SEND_TO_ROBOT;

		if (robotNumber != null)

			packet += " " + robotNumber;

		packet += " " + ColonetCGIServerInterface.COLONET_COMMAND;

		packet += " " + s;	//add	 the command code here

		packet += "\n";

		sendString(packet);

	}

}