Colony

/*

* 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);

        }

}