/**
* @param args
* @throws IOException
* @throws Throwable
*/
public static void main(String[] args) throws IOException, Throwable {
// TODO Auto-generated method stub
NXTConnector conn = new NXTConnector();
conn.addLogListener(
new NXTCommLogListener() {
public void logEvent(String message) {
System.out.println("BTSend Log.listener: " + message);
}
public void logEvent(Throwable throwable) {
System.out.println("BTSend Log.listener - stack trace: " + throwable.getMessage());
}
});
// Connect to any NXT over Bluetooth
boolean connected = conn.connectTo("btspp://");
if (!connected) {
System.err.println("Failed to connect to any NXT");
System.exit(1);
}
Connection c = new Connection(conn.getInputStream(), conn.getOutputStream());
Thread.sleep(2000);
c.send("{\"action\":\"GET\",\"resource\":\"/\"}\n");
System.out.println(wrap(c.waitForResponse()));
}
public boolean connectTo(String name, String address, int protocol) {
viewer.logMessage("Connecting to " + name + " " + address);
con = new NXTConnector();
boolean res = con.connectTo(name, address, protocol);
viewer.logMessage("Connect result " + res);
if (!res) {
viewer.logMessage("Connection failed ");
return false;
}
os = con.getOutputStream();
dataIn = con.getDataIn();
if (dataIn == null) {
viewer.logMessage("NULL input stream ");
return false;
} else {
if (os == null) {
viewer.logMessage("NULL output stream");
return false;
} else {
connected = true;
}
}
name = con.getNXTInfo().name;
address = con.getNXTInfo().deviceAddress;
viewer.connectedTo(name, address);
return true;
}
public void run() {
NXTConnector link;
boolean connected = false;
link = new NXTConnector();
while (true) {
connected = false;
while (!connected) {
// connected = link.connectTo("btspp://001653180896");
connected = link.connectTo("btspp://");
if (connected) System.out.println("Conntected to NXT.");
else {
System.out.println("Failed to connect to NXT.");
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
System.out.println("Interrupted: " + e);
}
}
}
DataOutputStream dos = new DataOutputStream(link.getOutputStream());
DataInputStream dis = new DataInputStream(link.getInputStream());
RobotRequestMessage newMsg = null;
while (true) {
try {
while (newMsg == null) newMsg = comm.getRobotRequestMessage();
if (newMsg != null) {
dos.writeUTF(newMsg.getXML());
System.out.println("Forwarding client message: \n" + newMsg.getXML());
}
dos.flush();
} catch (IOException e) {
System.out.println("Failed to send message:" + e);
}
try {
System.out.println("Receiving");
String newReply = dis.readUTF();
System.out.println(newReply);
comm.addRobotReplyMessage(parser.parse(newReply));
} catch (IOException e) {
System.out.println("Failed to read message:" + e);
try {
link.close();
} catch (IOException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
break;
}
if (newMsg.automatic()) automatize(dos, dis);
newMsg = null;
}
}
}
public void close() {
try {
if (con != null) con.close();
} catch (IOException ioe) {
}
;
}
public void close() {
try {
setM_connected(false);
m_is.close();
m_os.close();
if (m_connecter != null) m_connecter.close();
} catch (IOException e) {
e.printStackTrace();
System.err.println("Error while closing MessageFramework: " + e.getMessage());
}
}
public boolean ConnectToNXT(NXTInfo info) {
if (m_connected) return true;
setM_connected(m_connecter.connectTo(info.name, info.deviceAddress, NXTCommFactory.BLUETOOTH));
if (!m_connected) return false;
m_is = m_connecter.getInputStream();
m_os = m_connecter.getOutputStream();
if (m_is == null || m_os == null) {
setM_connected(false);
}
if (!m_connected) return false;
try {
m_reader.start(); // Start to listen for incoming messages
} catch (IllegalThreadStateException e) {
e.printStackTrace();
}
return m_connected;
}
