private static final NXTComm connect(final String name) throws NXTCommException {
final NXTComm nxtc = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH);
final NXTInfo[] devices = nxtc.search(name);
if (devices.length != 1) {
throw new NXTCommException("Unable to identify NXT brick");
}
nxtc.open(devices[0]);
return nxtc;
}
@Override
public void run() {
try {
communicator = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH);
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.bluetoothInitialized(this);
}
}
} catch (Throwable t) {
t.printStackTrace();
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.bluetoothFailed(this);
}
}
}
long lastSearchTime = 0;
while (!stopRequest) {
long currentTime = System.currentTimeMillis();
if (!isConnected()
&& (availableRovers == null
|| (availableRovers.length == 0 && currentTime - lastSearchTime > 5000))) {
try {
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.searchStarted(this);
}
}
availableRovers = communicator.search(null, NXTCommFactory.BLUETOOTH);
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.searchCompleted(this);
}
}
} catch (Exception e) {
e.printStackTrace();
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.searchFailed(this);
}
}
}
lastSearchTime = System.currentTimeMillis();
}
if (transmitter != null && !transmitter.isConnected()) {
transmitter = null;
synchronized (messagesToSend) {
messagesToSend.clear();
}
synchronized (listeners) {
for (LinkListener listener : listeners) {
listener.disconnected(this);
}
}
}
if (isConnected()) {
transmitter.encodeMessage(new KeepaliveMessage());
while (messagesToSend.size() > 0) {
Message message = null;
synchronized (messagesToSend) {
message = (Message) messagesToSend.remove(0);
}
transmitter.encodeMessage(message);
}
// Check for connection timeout.
if (transmitter.getLastReceiveTime() != 0
&& System.currentTimeMillis() - transmitter.getLastReceiveTime() > 5000) {
transmitter.disconnect();
}
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
