public static int readLine(
InputStream in, OutputStream out, Display display, boolean echo, byte[] buf, int maxLen) {
// get a line from the input stream into the buffer buf, of max length maxLen
// line is terminated with a return character;
// echo back to output stream
// also write to line 0 of the display, up to 16 characters
try {
int data;
int len = 0;
maxLen--; // make room for a null byte
while ((data = in.read()) != -1) {
if (data == 0) continue;
if (data == '\n') continue;
if (echo) out.write(data); // echo it back
byte ch = (byte) data;
if (ch == '\r') {
if (echo) out.write('\n');
int dlen = len; // LCD panel display length
if (dlen > 16) dlen = 16;
byte[] screenBuf = new byte[dlen];
for (int i = 0; i < dlen; i++) screenBuf[i] = buf[i];
display.print(0, screenBuf); // echo it to the display
buf[len] = 0;
return len;
} else if (len < maxLen) {
buf[len++] = ch;
}
}
} catch (Exception e) {
display.print(0, "oops!");
}
return -1;
}
public static void main(String args[]) {
Display display = IntelliBrain.getLcdDisplay();
IBB ibb = new IBB();
try {
SerialPort comPort = IntelliBrain.getCom1();
// Serial Parameters
comPort.setSerialPortParams(
38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
InputStream inputStream = comPort.getInputStream();
OutputStream outputStream = comPort.getOutputStream();
// clear screen
display.print(0, "");
display.print(1, "");
// test the readLine routine
byte[] buf = new byte[128];
while (true) {
int len = readLine(inputStream, outputStream, display, true, buf, 128);
if (len == 0) continue;
switch (buf[0]) {
case 'B':
ibb.getVersion(outputStream, buf, len);
break;
case 'D':
ibb.setSpeed(outputStream, buf, len);
break;
case 'H':
ibb.sysBeep(outputStream, buf, len);
break;
case 'L':
ibb.setLedState(outputStream, buf, len);
break;
case 'N':
ibb.readProximitySensors(outputStream, buf, len);
break;
case 'O':
ibb.readLightSensors(outputStream, buf, len);
break;
case 'Z':
ibb.motorsOff(outputStream, buf, len);
break;
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
