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

   1 package nl.ru.des.sensors;
   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.hardware.Button;
  10 import lejos.remote.nxt.BTConnector;
  11 import lejos.remote.nxt.NXTConnection;
  12
  13 public class BTController{
  14         public static Queue<String> buf;
  15         private static DataInputStream dataIn;
  16         private static DataOutputStream dataOut;
  17         private static NXTConnection conn;
  18         private static BTConnector btconnector;
  19
  20         public static void startMaster(final String slave, final MessageHandler sh) {
  21                 System.out.println("Start BT... Press any key to commence");
  22                 Button.waitForAnyEvent();
  23                 btconnector = new BTConnector();
  24                 while(conn == null){
  25                         System.out.println("Connecting to " + slave);
  26                         conn = btconnector.connect(slave, NXTConnection.RAW);
  27                 }
  28                 dataOut = conn.openDataOutputStream();
  29                 dataIn = conn.openDataInputStream();
  30                 new Thread() {
  31                         @Override
  32                         public void run() {
  33                                 StringBuilder sb = new StringBuilder();
  34                                 while (true) {
  35                                         try {
  36                                                 int c = dataIn.readUnsignedByte();
  37                                                 if (c == '\n') {
  38                                                         sh.handleMessage(sb.toString());
  39                                                         sb = new StringBuilder();
  40                                                 } else {
  41                                                         sb.appendCodePoint(c);
  42                                                 }
  43                                         } catch (IOException e) {
  44                                                 e.printStackTrace();
  45                                         }
  46                                 }
  47                         }
  48                 }.start();
  49         }
  50
  51         public static void startSlave() {
  52                 System.out.println("Start BT... Press any key to commence");
  53                 Button.waitForAnyEvent();
  54                 btconnector = new BTConnector();
  55                 while(conn == null){
  56                         System.out.println("Waiting for the master...");
  57                         conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
  58                 }
  59                 dataIn = conn.openDataInputStream();
  60                 dataOut = conn.openDataOutputStream();
  61                 buf = new LinkedList<String>();
  62                 new Thread(){
  63                         @Override public void run(){
  64                                 while (true) {
  65                                         if (!buf.isEmpty()) {
  66                                                 try {
  67                                                         dataOut.write(buf.poll().getBytes());
  68                                                         dataOut.flush();
  69                                                 } catch (Exception e) {
  70                                                         e.printStackTrace();
  71                                                         System.exit(0);
  72                                                 }
  73                                         }
  74                                         Thread.yield();
  75                                 }
  76                         }
  77                 }.start();
  78         }
  79 }