mart/ev3/ex2/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 import nl.ru.des.bluetooth.MessageHandler;
  12
  13 public class BTController extends Thread {
  14         protected NXTConnection connection;
  15         protected DataOutputStream dataOutput;
  16         protected DataInputStream dataInput;
  17         protected MessageHandler sh;
  18         public static Queue<String> messageBuffer;
  19
  20         private BTController(MessageHandler sh, NXTConnection connection) {
  21                 this.sh = sh;
  22                 dataInput = connection.openDataInputStream();
  23                 dataOutput = connection.openDataOutputStream();
  24                 messageBuffer = new LinkedList<String>();
  25         }
  26
  27         @Override
  28         public void run() {
  29                 Thread receiver = new Thread() {
  30                         @Override
  31                         public void run() {
  32                                 StringBuilder sb = new StringBuilder();
  33                                 while (true) {
  34                                         try {
  35                                                 int c = dataInput.readUnsignedByte();
  36                                                 sb.appendCodePoint(c);
  37                                                 if (c == '\n') {
  38                                                         sh.handleMessage(sb.toString());
  39                                                         sb = new StringBuilder();
  40                                                 }
  41                                         } catch (IOException e) {
  42                                                 e.printStackTrace();
  43                                         }
  44                                 }
  45                         }
  46                 };
  47                 receiver.start();
  48                 while (true) {
  49                         if (!messageBuffer.isEmpty()) {
  50                                 try {
  51                                         dataOutput.write(messageBuffer.poll().getBytes());
  52                                         dataOutput.flush();
  53                                 } catch (IOException e) {
  54                                         e.printStackTrace();
  55                                 }
  56                         }
  57                         Thread.yield();
  58                 }
  59         }
  60
  61         public static void SendMessage(String message) {
  62                 messageBuffer.add(message + "\n");
  63         }
  64
  65         public static BTController getBTMaster(final String slave, final MessageHandler sh) {
  66                 BTConnector bt = new BTConnector();
  67                 return new BTController(sh, bt.connect(slave, NXTConnection.RAW));
  68         }
  69
  70         public static BTController getBTSlave(MessageHandler sh) {
  71                 BTConnector bt = new BTConnector();
  72                 return new BTController(sh, bt.waitForConnection(60000, NXTConnection.RAW));
  73         }
  74 }