Merge pull request #4 from DynamicPerception/cherry_pick_test

Added timeout and debug commands

Author: mploof

src/com/dynamicperception/nmxcommandline/main/NMXCommandLine.java

@@ -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;
@@ -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();
@@ -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: "
@@ -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){
@@ -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.");
 	}
@@ -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"
@@ -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.");				
 	}
 
 	/**
@@ -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"
@@ -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);				

src/com/dynamicperception/nmxcommandline/models/Command.java

@@ -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>();
@@ -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
@@ -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;
 	}
@@ -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