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Merged
mploof merged 1 commit into from
May 4, 2016
Merged

Added timeout and debug commands #4

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126 changes: 104 additions & 22 deletions src/com/dynamicperception/nmxcommandline/main/NMXCommandLine.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
package com.dynamicperception.nmxcommandline.main;

import java.io.File;
import java.io.IOException;
import java.io.PrintStream;
import java.nio.charset.Charset;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
Expand All @@ -15,15 +17,16 @@
import com.dynamicperception.nmxcommandline.helpers.Consts;
import com.dynamicperception.nmxcommandline.models.Command;
import com.dynamicperception.nmxcommandline.models.NMXComs;
import com.dynamicperception.nmxcommandline.models.Command.Names.General;

public class NMXCommandLine {

private static boolean execute;
private static Serial serial;
final static String DELIMITER = " ";
//private static long lastTime;
private static String version = "0.2-beta";
private static String version = "0.3-beta";

public static void main(String[] args) {
// Create serial object
serial = new Serial();
Expand All @@ -38,7 +41,7 @@ public static void main(String[] args) {
}

try{
serial.openPort(args[0]);
serial.openPort(Integer.parseInt(args[0]));
}catch(RuntimeException e){
Console.pln("Invalid port! Either you picked the wrong number or you have the wrong syntax.\n"
+ "A full one-time execution should look something like this: "
Expand All @@ -60,6 +63,27 @@ public static void main(String[] args) {
// Print help
printHelp();

/*
* Send an arbitrary command to clear initial connection hiccup. Also
* reroute system out to temporary file to avoid printing the error
* this will likely generate.
*/
try {
PrintStream oldOut = System.out;
File tempFile = new File("temp.txt");
tempFile.createNewFile();
PrintStream tempOut = new PrintStream(tempFile);
System.setOut(tempOut);
Command.execute(General.GET_FIRMWARE);
System.setOut(oldOut);
tempOut.close();
tempFile.delete();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}


// Enter program loop
execute = true;
while(execute){
Expand All @@ -74,7 +98,7 @@ private static void printTerminalHelp(){
Console.pln("\nIn order to enter the interactive command line tool, run this JAR file without arguments.\n"
+ "Alternatively, you may run it with the following arguments to execute a single NMX command and then\n"
+ "immediately disconnect from the controller and close this application:\n\n"
+ "\"NMXCommander.jar <PORT NAME> <COMMAND TYPE>.<COMMAND NAME> <DATA or MOTOR # (if needed)> <MOTOR DATA (if needed)>\"\n\n"
+ "\"NMXCommander.jar [PORT NAME] [COMMAND TYPE].[COMMAND NAME] [DATA or MOTOR # (if required)] [MOTOR DATA (if required)]\"\n\n"
+ "If you're not familiar with the command types, names, data, etc., open the application in interactive\n"
+ "mode first and read the extended help there.");
}
Expand All @@ -86,16 +110,32 @@ private static void printHelp(){
Console.pln("\n\n******** NMX Commander " + version + " Overview ********\n\n"
+ "This command line tool allows you to manually send single instuctions to the NMX controller.\n"
+ "This is done by giving input with the following syntax:\n\n"
+ "Non-motor commands -- \"<COMMAND TYPE>.<COMMAND NAME> <DATA (if required)>\"\n"
+ "Motor commands -- \"m.<COMMAND NAME> <MOTOR #> <DATA (if required)>\"\n\n"
+ "Non-motor commands -- \"[COMMAND TYPE].[COMMAND NAME] [DATA (if required)]\"\n"
+ "Motor commands -- \"m.[COMMAND NAME] [MOTOR #] [DATA (if required)]\"\n\n"
+ "Non-motor command types include \"g\" (general), \"c\" (camera), and \"k\" (key frame)\n"
+ "When specifying the motor number for motor commands, counting starts at 0 (i.e. valid motor #s are 0, 1, 2)\n\n\n"
+ "******** NMX Commander Configuration Commands ********\n\n"
+ "* \"outputAddress [ADDR # optional argument]\" -- without optional parameter, reports the current command address. With the\n"
+ "optional parameter, sets the address to which the command will be sent. This is 3 by default and should not be changed unless\n"
+ "you have manually reassigned the address of one or more of your controllers. !!!Sending commands to an incorrect address will\n"
+ "cause you lots of headaches!!!\n\n"
+ "* \"commandDetail [0/1 optional argument]\" -- without optional parameter, reports whether commandDetail is enabled. With the\n"
+ "optional parameter, sets commandDetail enabled. If true, NMX Commander will print the command name and any additional data\n"
+ "output to the NMX\n\n"
+ "* \"serialDetail [0/1 optional argument]\" -- without optional parameter, reports whether serialDetail is enabled. With the\n"
+ "optional parameter, sets serialDetail enabled. If true, NMX Commander will print the raw packet received from the NMX for\n"
+ "each command\n\n\n"
+ "* \"responseTimout [TIMEOUT optional argument]\" -- without optional parameter, reports current response timeout in milliseconds\n"
+ "With optional parameter, sets timeout length. If you find that you encounter a situation where you are getting many timeouts that\n"
+ "are not causing problems (e.g. you don't care about the response contents, but the command seems to be executing properly), you\n"
+ "may want to shorten the timout in order to increase command throughput.\n\n\n"
+ "******** Other Useful Commands ********\n\n"
+ "* \"help\" -- prints this information again\n\n"
+ "* \"<COMMAND TYPE>.<COMMAND NAME> -h\" -- prints command-specific help\n\n"
+ "* \"list <COMMAND TYPE>\" -- lists all commands of that type\n\n"
+ "* \"find <COMMAND TYPE>.<SEARCH TERM>\" -- returns all commands of that type containing the search term\n\n"
+ "* \"runMacro <PATH>\" -- runs a command macro list from a text file. Type \"runMacro\" without arguments\n"
+ "* \"[COMMAND TYPE].[COMMAND NAME] -h\" -- prints command-specific help\n\n"
+ "* \"list [COMMAND TYPE]\" -- lists all commands of that type\n\n"
+ "* \"find [COMMAND TYPE].[SEARCH TERM]\" -- returns all commands of that type containing the search term\n\n"
+ "* \"repeat [N] [COMMAND TYPE].[COMMAND NAME]\" -- repeats the given command N times\n\n"
+ "* \"runMacro [PATH]\" -- runs a command macro list from a text file. Type \"runMacro\" without arguments\n"
+ "for macro file syntax\n\n"
+ "* \"exit\" -- closes the serial port and exits the application\n\n\n"
+ "******** Some Important Tips ********\n\n"
Expand All @@ -110,7 +150,7 @@ private static void printHelp(){
+ "BE CAREFUL ABOUT THIS! If you accidentally send your rig two or four times as far as you intended, you can break\n"
+ "your valueable equipment!\n\n"
+ "* If you try to send a motor to a position and it either does not move or does not go all the way to where you sent it,\n"
+ "try running the command \"m.resetLimits <MOTOR #>\" to clear any end limits that may be restricting movement.");
+ "try running the command \"m.resetLimits [MOTOR #]\" to clear any end limits that may be restricting movement.");
}

/**
Expand Down Expand Up @@ -175,14 +215,52 @@ else if(args.get(0).indexOf("//") != -1){
else if(args.get(0).equals("help")){
printHelp();
}
else if(args.get(0).equals("commandDetail")){
try{
boolean enabled = args.get(1).equals("0") ? false : true;
Command.setCommandDetail(enabled);
}catch(IndexOutOfBoundsException e){
System.out.println("Command detail enabled? : " + Command.getCommandDetail());
}
}
else if(args.get(0).equals("serialDetail")){
try{
boolean enabled = args.get(1).equals("0") ? false : true;
NMXComs.setSerialDetail(enabled);
}catch(IndexOutOfBoundsException e){
System.out.println("Serial detail enabled? : " + NMXComs.getSerialDetail());
}
}
else if(args.get(0).equals("outputAddress")){
try{
int addr = Integer.parseInt(args.get(1));
Command.setAddr(addr);
}catch(IndexOutOfBoundsException e){
System.out.println("Current command address: " + Command.getAddr());
}catch(NumberFormatException e){
System.out.println("Invalid address. Must be an integer.");
}

}
else if(args.get(0).equals("responseTimeout")){
try{
int timeout = Integer.parseInt(args.get(1));
NMXComs.setResponseTimeout(timeout);
}catch(IndexOutOfBoundsException e){
System.out.println("Current timout in milliseconds: " + NMXComs.getResponseTimeout());
}catch(NumberFormatException e){
System.out.println("Invalid address. Must be an integer.");
}

}
// Run command list from file
else if(args.get(0).equals("runMacro")){
try {
if(args.size() == 1){
Console.pln("\nrunMacro syntax -- \"runMacro <PATH>\"");
Console.pln("\nrunMacro syntax -- \"runMacro [PATH]\"");
Console.pln("Example -> \"runMacro c:\\NMXmacro.txt\"\n");
Console.pln("The text file should have one command on each line with the following syntax:\n\n"
+ "\"<DELAY TIME> <COMMAND TYPE>.<COMMAND NAME> <DATA or MOTOR # (if needed)> <MOTOR DATA (if needed)>\"\n\n"
+ "\"[DELAY TIME] [COMMAND TYPE].[COMMAND NAME] [DATA or MOTOR # (if required)] [MOTOR DATA (if required)]\"\n\n"
+ "The following example enables the camera, sets the focus time to 600ms, trigger time to 100ms, sets home\n"
+ "for each of the motors (e.g. sets current position to 0), immediately takes an exposure, commands the motors to\n"
+ "a new position, waits 5000ms, takes another exposure, waits 1000ms, commands the motors back to their original\n"
Expand Down Expand Up @@ -231,28 +309,32 @@ else if(args.get(0).equals("replayLog")){
// Help request
else if(args.get(0).toLowerCase().equals("list")){
if(args.size() < 2){
Console.pln("List syntax -- \"list <COMMAND TYPE>\"");
Console.pln("List syntax -- \"list [COMMAND TYPE]\"");
Console.pln("Example -> \"list c\" prints the list of valid camera commands");
return;
}
Command.printList(Command.getType(args.get(1)));
return;
}
// Repeat the following command n times. (e.g. "repeat 2 m.getMS 0")
else if(args.get(0).equals("repeat")){
int count = Integer.parseInt(args.get(1));
for(int i = 0; i < 2; i++){
args.remove(0);
else if(args.get(0).equals("repeat")){
try{
int count = Integer.parseInt(args.get(1));
for(int i = 0; i < 2; i++){
args.remove(0);
}
for(int i = 0; i < count; i++){
parseCommand(args);
}
}catch(IndexOutOfBoundsException | NumberFormatException e){
Console.pln("Invalid syntax. Try \"repeat [#] [command]\"");
}
for(int i = 0; i < count; i++){
parseCommand(args);
}
return;
}
// Find command name
else if(args.get(0).equals("find")){
if(args.size() < 2){
Console.pln("Find syntax -- \"find <COMMAND TYPE>.<SEARCH TERM>\"");
Console.pln("Find syntax -- \"find [COMMAND TYPE].[SEARCH TERM]\"");
Console.pln("Example -> \"find m.speed\" prints the following:");
List <String> exampleArgs = Arrays.asList("find", "m.speed");
findCommand(exampleArgs);
Expand Down
34 changes: 20 additions & 14 deletions src/com/dynamicperception/nmxcommandline/models/Command.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ public class Command {
private final static int MOTOR_COUNT = 3;
private static int addr = 3;
private static int currentControllerNum = 0;
private static boolean debug = true;
private static boolean commandDetail = false;
private static List<Command> generalList = new ArrayList<Command>();
private static List<Command> motorList = new ArrayList<Command>();
private static List<Command> cameraList = new ArrayList<Command>();
Expand Down Expand Up @@ -157,10 +157,6 @@ else if(returnType == Boolean.class){
ret = (T) Void.class.cast(null);
}

// Print debug if necessary
if(debug){
System.out.println("Command: " + thisCommand.name);
}
if(ret != null)
System.out.println(ret);
else
Expand Down Expand Up @@ -966,14 +962,22 @@ public static Command get(Type type, int command){
throw new UnsupportedOperationException();
}

public static void setDebug(boolean debug){
Command.debug = debug;
public static void setCommandDetail(boolean enabled){
Command.commandDetail = enabled;
}

public static boolean getCommandDetail(){
return Command.commandDetail;
}

public static void setAddr(int addr){
Command.addr = addr;
}

public static int getAddr(){
return Command.addr;
}

public static int getControllerNum(){
return currentControllerNum;
}
Expand Down Expand Up @@ -1117,18 +1121,20 @@ private <T>T executeThis(int subAddr, String dataStr, boolean hasData){
data = (int) Math.round(Float.parseFloat(dataStr));
}
}

// Print debug if necessary
if(debug){
System.out.println("Command: " + this.name + " Input data: " + dataStr);
}

String commandPacket = "";

// Send the command to the NMX
if(hasData){
NMXComs.cmd(addr, subAddr, this.command, this.dataLength, data);
commandPacket = NMXComs.cmd(addr, subAddr, this.command, this.dataLength, data);
}
else{
NMXComs.cmd(addr, subAddr, this.command);
commandPacket = NMXComs.cmd(addr, subAddr, this.command);
}

// Print debug if necessary
if(commandDetail){
System.out.println("Command: " + commandPacket + " Output data: " + dataStr);
}

// Wait for the NMX to clear
Expand Down
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