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.io.OutputStream;
   7 import java.io.PrintWriter;
   8 import java.util.Arrays;
   9 import java.util.HashSet;
  10 import java.util.List;
  11 import java.util.Set;
  12
  13 import lejos.hardware.Sound;
  14 import lejos.hardware.lcd.LCD;
  15 import lejos.remote.nxt.BTConnector;
  16 import lejos.remote.nxt.NXTConnection;
  17 import lejos.utility.Delay;
  18
  19 public abstract class BTMemory extends Thread {
  20         private List<String> COLORSTOFIND = Arrays.asList(new String[] { "Blue", "Red", "Yellow" });
  21         private Set<String> colors;
  22         protected NXTConnection connection;
  23         protected OutputStream dataOutput;
  24         protected DataInputStream dataInput;
  25         protected static PrintWriter writer;
  26
  27         public BTMemory() {
  28                 colors = new HashSet<String>();
  29                 setup();
  30         }
  31
  32         public abstract void setup();
  33
  34         public void addColor(String c) {
  35                 colors.add(c);
  36         }
  37
  38         public boolean finished() {
  39                 return colors.equals(new HashSet<String>(COLORSTOFIND));
  40         }
  41
  42         @Override
  43         public void run() {
  44                 try {
  45                         while (true) {
  46                                 if (dataInput.available() > 0) {
  47                                         //String msg = dataInput.readLine();
  48                                         LCDPrinter.print(Character.toChars(dataInput.read()).toString());
  49                                 }
  50                         }
  51                 }
  52                 catch (IOException e) {
  53                         // TODO Auto-generated catch block
  54                         e.printStackTrace();
  55                 }
  56         }
  57
  58         public static void SendMessage(String message){
  59                 writer.println(message);
  60                 writer.flush();
  61         }
  62
  63         public static BTMemory getBTMemory(boolean master, final String rovername) {
  64                 if (master) {
  65                         return new BTMemory() {
  66                                 @Override
  67                                 public void setup() {
  68                                         //LCD.drawString("Create connection", 0, 0);
  69                                         BTConnector btconnector = new BTConnector();
  70                                         //LCD.drawString("BTConnector created", 0, 1);
  71                                         connection = btconnector.connect(rovername, NXTConnection.RAW);
  72                                         //LCD.drawString("Connection created", 0, 2);
  73                                         dataInput = connection.openDataInputStream();
  74                                         dataOutput = connection.openOutputStream();
  75                                         writer = new PrintWriter(dataOutput);
  76                                         //LCD.drawString("Input output created", 0, 3);
  77                                         try {
  78                                                 //dataOutput.write(77);
  79                                                 writer.println("Hellow");
  80                                                 writer.flush();
  81                                                 //LCD.clear();
  82                                                 //LCD.drawString("Message sent", 0, 4);
  83                                         } catch (Exception e) {
  84                                                 e.printStackTrace();
  85                                         }
  86                                 }
  87                         };
  88                 } else {
  89                         return new BTMemory() {
  90                                 @Override
  91                                 public void setup() {
  92                                         //LCD.drawString("Create connection", 0, 0);
  93                                         BTConnector btconnector = new BTConnector();
  94                                         //LCD.drawString("BTConnector created", 0, 1);
  95                                         connection = btconnector.waitForConnection(60000, NXTConnection.RAW);
  96                                         //LCD.drawString("Connection created", 0, 2);
  97                                         dataInput = connection.openDataInputStream();
  98                                         dataOutput = connection.openOutputStream();
  99                                         writer = new PrintWriter(dataOutput);
 100                                         //LCD.drawString("Input output created", 0, 3);
 101                                 }
 102                         };
 103                 }
 104         }
 105 }