Adding initial POC to add support for USB GPS

Author: jabrena

build.gradle

@@ -13,13 +13,13 @@ repositories {
 }
 
 dependencies {
-    compile("org.projectlombok:lombok:1.16.18")
+    compile("org.projectlombok:lombok:1.16.20")
     compile("org.slf4j:slf4j-api:1.7.25")
     compile("org.rxtx:rxtx:2.1.7")
 
     testCompile("ch.qos.logback:logback-classic:1.2.3")
 
-    testCompile("com.github.ev3dev-lang-java:ev3dev-lang-java:0.7.0")
+    compile("com.github.ev3dev-lang-java:ev3dev-lang-java:0.7.0")
 
     testCompile("junit:junit:4.12")
     testCompile("org.hamcrest:hamcrest-all:1.3")

config.gradle

@@ -1,7 +1,7 @@
 
 remotes {
     ev3dev {
-        host = '192.168.1.143'
+        host = '192.168.1.206'
         user = 'robot'
         password = 'maker'
     }

gradle/wrapper/gradle-wrapper.jar

@@ -1,6 +1,6 @@
-#Sun May 07 19:11:30 BST 2017
+#Mon Mar 12 19:14:33 GMT 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.5.1-all.zip

gradle/wrapper/gradle-wrapper.properties

@@ -1,25 +1,43 @@
-#!/usr/bin/env bash
+#!/usr/bin/env sh
 
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
 ##
 ##############################################################################
 
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
 
 APP_NAME="Gradle"
 APP_BASE_NAME=`basename "$0"`
 
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -30,6 +48,7 @@ die ( ) {
 cygwin=false
 msys=false
 darwin=false
+nonstop=false
 case "`uname`" in
   CYGWIN* )
     cygwin=true
@@ -40,31 +59,11 @@ case "`uname`" in
   MINGW* )
     msys=true
     ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
 esac
 
-# For Cygwin, ensure paths are in UNIX format before anything is touched.
-if $cygwin ; then
-    [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
-fi
-
-# Attempt to set APP_HOME
-# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
-done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >&-
-APP_HOME="`pwd -P`"
-cd "$SAVED" >&-
-
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 # Determine the Java command to use to start the JVM.
@@ -90,7 +89,7 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
     MAX_FD_LIMIT=`ulimit -H -n`
     if [ $? -eq 0 ] ; then
         if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
@@ -114,6 +113,7 @@ fi
 if $cygwin ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath
     ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
@@ -154,11 +154,19 @@ if $cygwin ; then
     esac
 fi
 
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
-    JVM_OPTS=("$@")
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
 }
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
 
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+exec "$JAVACMD" "$@"

gradlew

@@ -8,14 +8,14 @@
 @rem Set local scope for the variables with windows NT shell
 if "%OS%"=="Windows_NT" setlocal
 
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS=
-
 set DIRNAME=%~dp0
 if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome
 
@@ -46,10 +46,9 @@ echo location of your Java installation.
 goto fail
 
 :init
-@rem Get command-line arguments, handling Windowz variants
+@rem Get command-line arguments, handling Windows variants
 
 if not "%OS%" == "Windows_NT" goto win9xME_args
-if "%@eval[2+2]" == "4" goto 4NT_args
 
 :win9xME_args
 @rem Slurp the command line arguments.
@@ -60,11 +59,6 @@ set _SKIP=2
 if "x%~1" == "x" goto execute
 
 set CMD_LINE_ARGS=%*
-goto execute
-
-:4NT_args
-@rem Get arguments from the 4NT Shell from JP Software
-set CMD_LINE_ARGS=%$
 
 :execute
 @rem Setup the command line

gradlew.bat

@@ -0,0 +1,2 @@
+lombok.nonNull.exceptionType = IllegalArgumentException
+lombok.log.fieldName = log

lombok.config

@@ -0,0 +1,138 @@
+package ev3dev.sensors.gps;
+
+import ev3dev.sensors.arduino.bn055.BNO055Listener;
+import ev3dev.sensors.arduino.bn055.BNO055ServiceException;
+import ev3dev.sensors.arduino.bn055.SerialSensor;
+import ev3dev.sensors.arduino.bn055.model.*;
+import gnu.io.CommPortIdentifier;
+import gnu.io.SerialPort;
+import gnu.io.SerialPortEvent;
+import gnu.io.SerialPortEventListener;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.BufferedReader;
+import java.io.InputStreamReader;
+import java.io.OutputStream;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Enumeration;
+import java.util.List;
+
+
+public @Slf4j class SerialGPS implements SerialSensor, SerialPortEventListener {
+
+	private BufferedReader input;
+	private OutputStream output;
+	private static final int TIME_OUT = 2000;
+	private static final int DATA_RATE = 115200;
+
+	SerialPort serialPort;
+
+	private final List<BNO055Listener> listenerList = Collections.synchronizedList(new ArrayList());
+
+	private final String USBPort;
+
+	public SerialGPS(final String USBPort){
+		this.USBPort = USBPort;
+	}
+
+	private BNO055Response response;
+
+	private void setPortProperty(){
+		final String ports = System.getProperty("gnu.io.rxtx.SerialPorts");
+		final String newPorts = ((ports == null) ? "" : (ports + ":")) + this.USBPort;
+		System.setProperty("gnu.io.rxtx.SerialPorts", newPorts);
+	}
+
+	@Override
+	public void init() throws BNO055ServiceException {
+
+		//System.setProperty("gnu.io.rxtx.SerialPorts", this.USBPort);
+		this.setPortProperty();
+
+		CommPortIdentifier portId = null;
+		Enumeration portEnum = CommPortIdentifier.getPortIdentifiers();
+
+		//First, Find an instance of serial port as set in PORT_NAMES.
+		while (portEnum.hasMoreElements()) {
+			CommPortIdentifier currPortId = (CommPortIdentifier) portEnum.nextElement();
+			if (currPortId.getName().equals(this.USBPort)) {
+				portId = currPortId;
+				break;
+			}
+		}
+
+		if (portId == null) {
+			log.error("Could not find port.");
+			throw new BNO055ServiceException("Could not find port.");
+		}
+
+		try {
+			// open serial port, and use class name for the appName.
+			serialPort = (SerialPort) portId.open(this.getClass().getName(), TIME_OUT);
+
+			// set port parameters
+			serialPort.setSerialPortParams(DATA_RATE,
+					SerialPort.DATABITS_8,
+					SerialPort.STOPBITS_1,
+					SerialPort.PARITY_NONE);
+
+			//TODO: Review??
+			//serialPort.setFlowControlMode(SerialPort.FLOWCONTROL_NONE);
+
+			// open the streams
+			input = new BufferedReader(new InputStreamReader(serialPort.getInputStream()));
+			output = serialPort.getOutputStream();
+
+			// add event listeners
+			serialPort.addEventListener(this);
+			serialPort.notifyOnDataAvailable(true);
+		} catch (Exception e) {
+			log.error(e.getLocalizedMessage());
+			throw new BNO055ServiceException(e);
+		}
+	}
+
+	/**
+	 * This should be called when you stop using the port.
+	 * This will prevent port locking on platforms like Linux.
+	 */
+	public synchronized void close() {
+		if (serialPort != null) {
+			serialPort.removeEventListener();
+			serialPort.close();
+		}
+	}
+
+	/**
+	 * Handle an event on the serial port. Read the data and print it.
+	 */
+	@Override
+	public synchronized void serialEvent(SerialPortEvent oEvent) {
+		if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
+			try {
+				final String inputLine=input.readLine();
+
+				System.out.println(inputLine);
+
+			} catch (Exception e) {
+				log.error(e.getLocalizedMessage());
+			}
+		}
+	}
+
+	public synchronized BNO055Response getResponse(){
+		return response;
+	}
+
+	@Override
+	public void addListener(BNO055Listener listener) {
+		listenerList.add(listener);
+	}
+
+	@Override
+	public void removeListener(BNO055Listener listener) {
+		listenerList.remove(listener);
+	}
+
+}

src/main/java/ev3dev/sensors/gps/SerialGPS.java

@@ -0,0 +1,35 @@
+package examples;
+
+import ev3dev.sensors.arduino.bn055.BNO055;
+import ev3dev.sensors.arduino.bn055.BNO055Listener;
+import ev3dev.sensors.arduino.bn055.model.BNO055Response;
+import ev3dev.sensors.gps.SerialGPS;
+import lombok.extern.slf4j.Slf4j;
+
+public @Slf4j class SerialGPSEventsTest {
+
+	public static void main(String[] args) throws Exception {
+
+		final String port = "/dev/ttyACM0";
+		final SerialGPS bno055 = new SerialGPS(port);
+		bno055.init();
+		bno055.addListener(new BNO055Listener() {
+
+			@Override
+			public void dataReceived(BNO055Response response) {
+				log.info("{}", response);
+			}
+
+		});
+
+		log.info("Start reading");
+		for(int x= 0; x<=10; x++){
+			log.info("Iteration: {}", x);
+			Thread.sleep(1000);
+		}
+
+		bno055.close();
+		log.info("Closing connection with Arduino");
+
+	}
+}

src/test/java/examples/BNO055EventsTest.java renamed to src/main/java/examples/BNO055EventsTest.java

@@ -2,3 +2,5 @@ Manifest-Version: 1.0
 Implementation-Title: EV3Dev-lang-java / usb-devices
 Implementation-Version: 0.1.0-SNAPSHOT
 Implementation-Vendor: Juan Antonio Breña Moral
+Main-Class: examples.SerialGPSEventsTest
+