/** 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 Location getLocation(int timeout) throws LocationException, InterruptedException {
/* TODO The timeout might play to the fact that it is still acquiring satellites?
* I was wondering about that before. Maybe it makes sense to have timeout in SimpleGPS?
* TODO: Solution! Keep asking for altitude until is positive? (longitude can be negative)
* Or perhaps just until speed positive? (set those after)
* TODO: -1 in timeout is supposed to represent the default timeout (GPSListener?)
* TODO: I don't know if this is supposed to wait for the GPS to provide a new
* coordinate data or if it is okay to pass the latest cached GPS coordinates.
* Is the purpose of the timeout that it gets a new updated location that
* is not the previously returned or cached one?
*/
if (timeout == 0) throw new IllegalArgumentException("timeout cannot equal 0");
// Timeout results in LocationException:
long startTime = System.currentTimeMillis();
// TODO: Perhaps initialize and test for NaN instead.
while (gps.getLatitude() == 0 & gps.getLongitude() == 0) {
if (timeout != -1 & System.currentTimeMillis() - startTime > (timeout * 1000))
throw new LocationException("GPS timed out");
Thread.sleep(100); /* NOTE: This might very occasionally cause an error because
* Thread.yield() seems to cause sentence parsing to start too soon.
* (try changing sleep() to yield() to see what happens)
* Perhaps something needs to be synchronized? */
}
QualifiedCoordinates qc =
new QualifiedCoordinates(
gps.getLatitude(),
gps.getLongitude(),
gps.getAltitude(),
(gps.getHDOP() * 6),
(gps.getVDOP() * 6));
Location loc =
new Location(
qc,
gps.getSpeed(),
gps.getCourse(),
gps.getTimeStamp(),
0,
null); // TODO: Implement location method and extraInfo (0 and null for now)
return loc;
}
/** method to disconnect from the server */
public void disconnect() throws IOException {
// if stream connection is present then
if (streamConnection != null) {
// close all streams
dataOutputStream.close();
dataInputStream.close();
streamConnection.close();
}
// nullify all stream objects
dataOutputStream = null;
dataInputStream = null;
streamConnection = null;
// initiate garbage collector
System.gc();
// set the connected flag to false indicating no connection
connected = false;
}
public static void main(String[] args) throws Exception {
LocalDevice device = LocalDevice.getLocalDevice();
System.out.print(device.getFriendlyName() + " at ");
System.out.print(device.getBluetoothAddress());
System.exit(0);
}