X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FBTController.java;h=0f1ec0ff861d6c96e5032ffbf38c798ab0cab1e2;hb=8ac11d4775c780e307727b0e5dc865cf64517a59;hp=206552eee5827b4e56fa8a9686f890b7e8078f78;hpb=426ca40778af548128b5d5f37705fffcf1cc9c7b;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/sensors/BTController.java b/dsl/runtime/src/nl/ru/des/sensors/BTController.java
index 206552e..0f1ec0f 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/BTController.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/BTController.java
@@ -6,17 +6,25 @@ import java.io.IOException;
 import java.util.LinkedList;
 import java.util.Queue;
 
+import lejos.hardware.Button;
 import lejos.remote.nxt.BTConnector;
 import lejos.remote.nxt.NXTConnection;
 
 public class BTController{
 	public static Queue<String> buf;
-	public static DataInputStream dataIn;
-	public static DataOutputStream dataOut;
+	private static DataInputStream dataIn;
+	private static DataOutputStream dataOut;
+	private static NXTConnection conn;
+	private static BTConnector btconnector;
 	
 	public static void startMaster(final String slave, final MessageHandler sh) {
-		BTConnector btconnector = new BTConnector();
-		NXTConnection conn = btconnector.connect(slave, NXTConnection.RAW);
+		System.out.println("Start BT... Press any key to commence");
+		Button.waitForAnyEvent();
+		btconnector = new BTConnector();
+		while(conn == null){
+			System.out.println("Connecting to " + slave);
+			conn = btconnector.connect(slave, NXTConnection.RAW);
+		}
 		dataOut = conn.openDataOutputStream();
 		dataIn = conn.openDataInputStream();
 		new Thread() {
@@ -41,8 +49,13 @@ public class BTController{
 	}
 	
 	public static void startSlave() {
-		BTConnector btconnector = new BTConnector();
-		NXTConnection conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
+		System.out.println("Start BT... Press any key to commence");
+		Button.waitForAnyEvent();
+		btconnector = new BTConnector();		
+		while(conn == null){
+			System.out.println("Waiting for the master...");
+			conn = btconnector.waitForConnection(60000, NXTConnection.RAW);
+		}
 		dataIn = conn.openDataInputStream();
 		dataOut = conn.openDataOutputStream();
 		buf = new LinkedList<String>();
@@ -53,8 +66,9 @@ public class BTController{
 						try {
 							dataOut.write(buf.poll().getBytes());
 							dataOut.flush();
-						} catch (IOException e) {
+						} catch (Exception e) {
 							e.printStackTrace();
+							System.exit(0);
 						}
 					}
 					Thread.yield();