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.remote.nxt.BTConnector;
  10 import lejos.remote.nxt.NXTConnection;
  11
  12 public class BTController{
  13         public static Queue<String> buf;
  14         public static DataInputStream dataIn;
  15         public static DataOutputStream dataOut;
  16
  17         public static void startMaster(final String slave, final MessageHandler sh) {
  18                 BTConnector btconnector = new BTConnector();
  19                 NXTConnection conn = btconnector.connect(slave, NXTConnection.RAW);
  20                 dataOut = conn.openDataOutputStream();
  21                 dataIn = conn.openDataInputStream();
  22                 new Thread() {
  23                         @Override
  24                         public void run() {
  25                                 StringBuilder sb = new StringBuilder();
  26                                 while (true) {
  27                                         try {
  28                                                 int c = dataIn.readUnsignedByte();
  29                                                 if (c == '\n') {
  30                                                         sh.handleMessage(sb.toString());
  31                                                         sb = new StringBuilder();
  32                                                 } else {
  33                                                         sb.appendCodePoint(c);
  34                                                 }
  35                                         } catch (IOException e) {
  36                                                 e.printStackTrace();
  37                                         }
  38                                 }
  39                         }
  40                 }.start();
  41         }
  42
  43         public static void startSlave() {
  44                 BTConnector btconnector = new BTConnector();
  45                 NXTConnection conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
  46                 dataIn = conn.openDataInputStream();
  47                 dataOut = conn.openDataOutputStream();
  48                 buf = new LinkedList<String>();
  49                 new Thread(){
  50                         @Override public void run(){
  51                                 while (true) {
  52                                         if (!buf.isEmpty()) {
  53                                                 try {
  54                                                         dataOut.write(buf.poll().getBytes());
  55                                                         dataOut.flush();
  56                                                 } catch (IOException e) {
  57                                                         e.printStackTrace();
  58                                                 }
  59                                         }
  60                                         Thread.yield();
  61                                 }
  62                         }
  63                 }.start();
  64         }
  65 }