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 import nl.ru.des.LCDPrinter;
  13
  14 public class BTController{
  15         public static Queue<String> buf;
  16         private static DataInputStream dataIn;
  17         private static DataOutputStream dataOut;
  18         private static NXTConnection conn;
  19         private static BTConnector btconnector;
  20
  21         public static void startMaster(final String slave, final MessageHandler sh) {
  22                 LCDPrinter.print("Start BT... Press any key to commence");
  23                 Button.waitForAnyEvent();
  24                 btconnector = new BTConnector();
  25                 while(conn == null){
  26                         LCDPrinter.print("Connecting to " + slave);
  27                         conn = btconnector.connect(slave, NXTConnection.RAW);
  28                 }
  29                 dataOut = conn.openDataOutputStream();
  30                 dataIn = conn.openDataInputStream();
  31                 new Thread() {
  32                         @Override
  33                         public void run() {
  34                                 StringBuilder sb = new StringBuilder();
  35                                 while (true) {
  36                                         try {
  37                                                 int c = dataIn.readUnsignedByte();
  38                                                 if (c == '\n') {
  39                                                         sh.handleMessage(sb.toString());
  40                                                         sb = new StringBuilder();
  41                                                 } else {
  42                                                         sb.appendCodePoint(c);
  43                                                 }
  44                                         } catch (IOException e) {
  45                                                 e.printStackTrace();
  46                                         }
  47                                 }
  48                         }
  49                 }.start();
  50         }
  51
  52         public static void startSlave() {
  53                 LCDPrinter.print("Start BT... Press any key to commence");
  54                 Button.waitForAnyEvent();
  55                 btconnector = new BTConnector();
  56                 while(conn == null){
  57                         LCDPrinter.print("Waiting for the master...");
  58                         conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
  59                 }
  60                 dataIn = conn.openDataInputStream();
  61                 dataOut = conn.openDataOutputStream();
  62                 buf = new LinkedList<String>();
  63                 new Thread(){
  64                         @Override public void run(){
  65                                 while (true) {
  66                                         if (!buf.isEmpty()) {
  67                                                 try {
  68                                                         dataOut.write(buf.poll().getBytes());
  69                                                         dataOut.flush();
  70                                                 } catch (Exception e) {
  71                                                         e.printStackTrace();
  72                                                         System.exit(0);
  73                                                 }
  74                                         }
  75                                         Thread.yield();
  76                                 }
  77                         }
  78                 }.start();
  79         }
  80 }