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