dsl/runtime/src/nl/ru/des/BTController.java

   1 package nl.ru.des;
   2
   3 import java.io.DataInputStream;
   4 import java.io.DataOutputStream;
   5 import java.io.IOException;
   6 import java.util.LinkedList;
   7 import java.util.Queue;
   8
   9 import lejos.remote.nxt.BTConnector;
  10 import lejos.remote.nxt.NXTConnection;
  11
  12 public class BTController{
  13         public static void startMaster(final String slave, final MessageHandler sh) {
  14                 BTConnector btconnector = new BTConnector();
  15                 NXTConnection conn = btconnector.connect(slave, NXTConnection.RAW);
  16                 final DataInputStream dataInput = conn.openDataInputStream();
  17                 new Thread() {
  18                         @Override
  19                         public void run() {
  20                                 StringBuilder sb = new StringBuilder();
  21                                 while (true) {
  22                                         try {
  23                                                 int c = dataInput.readUnsignedByte();
  24                                                 if (c == '\n') {
  25                                                         sh.handleMessage(sb.toString());
  26                                                         sb = new StringBuilder();
  27                                                 } else {
  28                                                         sb.appendCodePoint(c);
  29                                                 }
  30                                         } catch (IOException e) {
  31                                                 e.printStackTrace();
  32                                         }
  33                                 }
  34                         }
  35                 }.start();
  36         }
  37
  38         public static Queue<String> startSlave() {
  39                 BTConnector btconnector = new BTConnector();
  40                 NXTConnection conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
  41                 final DataOutputStream dataOutput = conn.openDataOutputStream();
  42                 final Queue<String> buf = new LinkedList<String>();
  43                 new Thread(){
  44                         @Override public void run(){
  45                                 while (true) {
  46                                         if (!buf.isEmpty()) {
  47                                                 try {
  48                                                         dataOutput.write(buf.poll().getBytes());
  49                                                         dataOutput.flush();
  50                                                 } catch (IOException e) {
  51                                                         e.printStackTrace();
  52                                                 }
  53                                         }
  54                                         Thread.yield();
  55                                 }
  56                         }
  57                 }.start();
  58                 return buf;
  59         }
  60 }