Main class and Reset class code added

Main.java

@@ -1 +1,162 @@
-//
+import java.net.*;
+import java.util.*;
+import java.awt.*; 
+import java.awt.event.*;
+import java.nio.*;
+
+//Main class for controlling the drone with the Emotiv EPOC and EmoKey
+class Main extends Frame implements KeyListener {
+	private static final long serialVersionUID = 1L;
+	InetAddress inet_addr;
+	DatagramSocket socket;
+	int seq = 1; //Send AT command with sequence number 1 will reset the counter
+	float speed = (float)0.8; //UAV movement speed
+	boolean shift = false;
+	FloatBuffer fb;
+	IntBuffer ib;
+
+	public Main(String name, String args[]) throws Exception {
+		super(name);
+		String ip = "192.168.1.1"; //IP address for the UAV WiFi connection
+		if (args.length >= 1) {
+			ip = args[0];
+		}
+		StringTokenizer st = new StringTokenizer(ip, ".");
+		byte[] ip_bytes = new byte[4];
+		if (st.countTokens() == 4) {
+			for (int i = 0; i < 4; i++) {
+				ip_bytes[i] = (byte)Integer.parseInt(st.nextToken());
+			}
+		}
+		else {
+			System.out.println("Incorrect IP address format: " + ip);
+			System.exit(-1);
+		}
+		System.out.println("IP: " + ip);
+		System.out.println("Speed: " + speed);    	
+		ByteBuffer bb = ByteBuffer.allocate(4);
+		fb = bb.asFloatBuffer();
+		ib = bb.asIntBuffer();
+		inet_addr = InetAddress.getByAddress(ip_bytes);
+		socket = new DatagramSocket();
+		socket.setSoTimeout(3000);
+		send_at_cmd("AT*CONFIG=1,\"control:altitude_max\",\"2000\""); //altitude max 2 meters
+		if (args.length == 2) { //Command line mode
+			send_at_cmd(args[1]);
+			System.exit(0);
+		}
+		//Use keys from EmoKey to control the drone if different events are triggered
+		addKeyListener(this); 
+		setSize(320, 160);
+		setVisible(true);
+		addWindowListener(new WindowAdapter() {
+			public void windowClosing(WindowEvent e) {
+				System.exit(0);
+			}
+		});
+		Thread t = new Thread(new Reset());
+		t.start();
+	}
+
+	public static void main(String args[]) throws Exception {
+		new Main("ARDrone MAIN", args);
+	}
+
+	@Override
+	public void keyPressed(KeyEvent e) {
+		//changes key to its associated integer
+		int keyCode = e.getKeyCode();
+		System.out.println("Key: " + keyCode + " (" + KeyEvent.getKeyText(keyCode) + ")");
+		try {
+			//Use specific key code as a command to the drone
+			control(keyCode);
+		} 
+		catch (Exception ex) {
+			ex.printStackTrace();
+		}
+	}
+
+	@Override
+	public void keyReleased(KeyEvent arg0) {}
+
+	@Override
+	public void keyTyped(KeyEvent arg0) {}
+
+	public int intOfFloat(float f) {
+		fb.put(0, f);
+		return ib.get(0);
+	}
+
+	//Control AR.Drone via AT commands per key code
+	public void control(int keyCode) throws Exception {
+		String at_cmd = "";
+		String action = "";
+		switch (keyCode) {
+		//Only max of 4 cognitive commands at a time recommended
+		//Any changes to letter meaning/action here must occur in EmoKey mapping too
+		case 'I':	//Up (lift)
+			action = "Go Up (gaz+)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0,0," + intOfFloat(speed) + ",0";
+			break;
+		case 'P':   //Forward (push)
+			action = "Go Forward (pitch+)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0," + intOfFloat(-speed) + ",0,0";
+			break;
+		case 'D':	//Down (drop) 
+			action = "Go Down (gaz-)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0,0," + intOfFloat(-speed) + ",0";
+			break;
+		case 'U':   //Backward (pull)
+			action = "Go Backward (pitch-)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0," + intOfFloat(speed) + ",0,0";
+			break;
+		case 'T':	//turn left (counterclockwise)
+			action = "Rotate Left (yaw-)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0,0,0," + intOfFloat(-speed);
+			break;
+		case 'L':   //Left (think left)
+			action = "Go Left (roll-)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1," + intOfFloat(-speed) + ",0,0,0";
+			break;
+		case 'C':	//turn right (clockwise)
+			action = "Rotate Right (yaw+)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0,0,0," + intOfFloat(speed);
+			break;
+		case 'R':   //Right (think right)
+			action = "Go Right (roll+)";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1," + intOfFloat(speed) + ",0,0,0";
+			break;
+		case 'N':	//Hover (neutral)
+			//Not necessary but can be used to stabilize drone 
+			action = "Hovering";
+			at_cmd = "AT*PCMD=" + (seq++) + ",1,0,0,0,0";
+			break;
+		case 'S':	//Takeoff (raise brow)
+			action = "Takeoff";         
+			at_cmd = "AT*REF=" + (seq++) + ",290718208";
+			break;
+		case 'A':	//Land (clench)
+			action = "Landing";
+			at_cmd = "AT*REF=" + (seq++) + ",290717696";
+			break;
+		case 'Z':	//reset 
+			action = "Reset";
+			at_cmd = "AT*REF=1,290717952";
+			break;			
+		default:
+			break;
+		}
+		System.out.println("Speed: " + speed);    	
+		System.out.println("Action: " + action);    	
+		send_at_cmd(at_cmd);
+	}
+
+	public void send_at_cmd(String at_cmd) throws Exception {
+		System.out.println("AT command: " + at_cmd);    	
+		byte[] buffer = (at_cmd + "\r").getBytes();
+		DatagramPacket packet = new DatagramPacket(buffer, buffer.length, inet_addr, 5556);
+		socket.send(packet);
+		//socket.receive(packet); //AR.Drone does not send back ack message (like "OK")
+		//System.out.println(new String(packet.getData(),0,packet.getLength()));   	
+	}
+}

Reset.java

@@ -1 +1,62 @@
-//
+import java.net.*;
+import java.util.*;
+import java.nio.*;
+
+
+class Reset implements Runnable {
+	InetAddress inet_addr;
+    DatagramSocket socket;
+	FloatBuffer fb;
+    IntBuffer ib;
+
+	public Reset() throws Exception {
+		String ip = "192.168.1.1";
+
+		StringTokenizer st = new StringTokenizer(ip, ".");
+
+		byte[] ip_bytes = new byte[4];
+		if (st.countTokens() == 4){
+			for (int i = 0; i < 4; i++){
+				ip_bytes[i] = (byte)Integer.parseInt(st.nextToken());
+			}
+		}
+		else {
+			System.out.println("Incorrect IP address format: " + ip);
+			System.exit(-1);
+		}
+
+		System.out.println("IP: " + ip);  	
+
+        ByteBuffer bb = ByteBuffer.allocate(4);
+        fb = bb.asFloatBuffer();
+        ib = bb.asIntBuffer();
+
+        inet_addr = InetAddress.getByAddress(ip_bytes);
+		socket = new DatagramSocket();
+		socket.setSoTimeout(3000);
+	}
+
+	public void send(String at_cmd) throws Exception {
+    	byte[] buffer = (at_cmd + "\r").getBytes();
+		DatagramPacket packet = new DatagramPacket(buffer, buffer.length, inet_addr, 5556);
+		socket.send(packet); 	
+    }
+
+	public void run() {
+		while(true){
+			String at_cmd = "AT*COMWDG=1";
+			try{
+				send(at_cmd);
+			}
+			catch(Exception ex){
+				ex.printStackTrace();
+			}
+			try{
+				Thread.sleep(300);
+			}
+			catch(InterruptedException iex){
+				iex.printStackTrace();
+			}
+		}
+	}
+}