/** 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) {
}
}
public void run() {
System.out.println("Connecting to " + name);
conn = Bluetooth.connect(Bluetooth.getKnownDevice(name));
conn.setIOMode(NXTConnection.PACKET);
dis = conn.openDataInputStream();
dos = conn.openDataOutputStream();
System.out.println("NXT connected");
// Request dimensions
try {
dos.writeByte(3);
dos.flush();
} catch (IOException e1) {
}
try {
while (true) {
byte type = dis.readByte();
switch (type) {
case 1:
byte slot = dis.readByte();
byte state = dis.readByte();
states[slot] = state;
break;
case 3:
slotCount = dis.readByte();
stateCount = dis.readByte();
break;
case 127:
EStop.thread.activate = true;
break;
}
}
} catch (IOException e) {
Sound.buzz();
System.out.println("Comm dropped to " + name);
}
}