// Main thread
public void run() {
String stringBuffer = "";
byte[] byteBuffer = new byte[1024];
connection = Bluetooth.waitForConnection();
connected = true;
is = connection.openDataInputStream();
os = connection.openDataOutputStream();
terminateFlag = false;
while (!terminateFlag) {
// read into byte[] buffer
int bytesRead;
try {
bytesRead = is.read(byteBuffer);
} catch (IOException e) {
bytesRead = 0;
}
if (bytesRead > 0) {
// transfer from byte[] into StringBuffer
stringBuffer += new String(byteBuffer, 0, bytesRead);
// check for }
// if found, this suggests that we just finished receiving a full message
int endChar = stringBuffer.indexOf("}");
if (endChar != -1) {
// check for matching {
int startChar = stringBuffer.indexOf("{");
if (startChar != -1 && startChar < endChar) {
// parse the message and add it to the queue
Message messageRead = new Message(stringBuffer.substring(startChar, endChar + 1));
messageQueue.push(messageRead);
Message ack = new Message(messageRead.getSeqNum());
ack.pairs.add(new String[] {"ack", null});
sendMessage(ack);
}
// clean command up to } off stringBuffer
if (endChar == stringBuffer.length() - 1) {
stringBuffer = "";
} else {
stringBuffer = stringBuffer.substring(endChar + 1);
}
}
}
}
// disconnect
try {
is.close();
os.close();
} catch (IOException e) {
// TODO: not fail silently
}
connection.close();
connected = false;
}
/** Main entry to the program. */
public static void main(String[] args) {
RemoteControl remote = new RemoteControl();
RemoteDevice racecar = Bluetooth.getKnownDevice("Batmobile");
if (racecar == null) {
System.out.println("No Such device existed");
System.exit(1);
}
BTConnection racecarConnection = Bluetooth.connect(racecar);
if (racecarConnection == null) {
System.out.println("Connection Failed");
System.exit(1);
} else {
System.out.println("Connected to Racecar");
}
DataOutputStream dos = racecarConnection.openDataOutputStream();
try {
System.out.println("Sending controller signal");
dos.writeInt(CONTROLLER_DEVICE);
dos.flush();
System.out.println("Sent Controller signal");
} catch (Exception ex) {
// Do nothing
}
remote.setRacecarConnection(racecarConnection);
remote.setRacecarOutputStream(dos);
// Waiting for flag to set us off here
System.out.println("Waiting for Flag connection");
NXTConnection flagConnection = Bluetooth.waitForConnection();
System.out.println("Connected to flag");
DataInputStream dis = flagConnection.openDataInputStream();
try {
int check = dis.readInt();
if (check == FLAG_SIGNAL) {
System.out.println("Recived flag signal");
dos.writeInt(FLAG_SIGNAL);
dos.flush();
System.out.println("sent flag signal to racecar");
dis.close();
remote.run();
} else {
System.out.println("Did not recieve flag connection");
}
} catch (Exception e) {
}
}
