Ejemplo n.º 1
0
  /** 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) {

    }
  }
Ejemplo n.º 2
0
  // 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;
  }
Ejemplo n.º 3
0
  public static void main(String[] args) throws Exception {
    String connected = "Connected";
    String waiting = "Waiting...";
    String closing = "Closing...";

    while (true) {
      LCD.drawString(waiting, 0, 0);
      LCD.refresh();

      // BTConnection btc = Bluetooth.waitForConnection();
      BTConnection btc = Bluetooth.waitForConnection(0, NXTConnection.RAW);

      LCD.clear();
      LCD.drawString(connected, 0, 0);
      LCD.refresh();

      DataInputStream dis = btc.openDataInputStream();
      DataOutputStream dos = btc.openDataOutputStream();

      for (int i = 0; i < 100; i++) {
        int n = dis.readInt();
        LCD.drawInt(n, 7, 0, 1);
        LCD.refresh();
        dos.writeInt(-n);
        dos.flush();
      }

      dis.close();
      dos.close();
      Thread.sleep(100); // wait for data to drain
      LCD.clear();
      LCD.drawString(closing, 0, 0);
      LCD.refresh();
      btc.close();
      LCD.clear();
    }
  }