nxtOSEK/lejos_nxj/samples/BTSend/BTSend.java

   1 import lejos.pc.comm.*;
   2 import java.io.*;
   3
   4 /**
   5  * This is a PC sample. It connects to the NXT, and then
   6  * sends an integer and waits for a reply, 100 times.
   7  *
   8  * Compile this program with javac (not nxjc), and run it
   9  * with java.
  10  *
  11  * You need pccomm.jar on the CLASSPATH. On Windows you
  12  * will also need bluecove.jar on the CLASSPATH. On Linux,
  13  * you will need libjbluez.so on the Java library path.
  14  *
  15  * Run the program by:
  16  *
  17  *   java BTSend <name> <address>
  18  *
  19  * where <name> is the name of your NXT, and <address> is
  20  * its Bluetooth address.
  21  *
  22  * For example:
  23  *
  24  *   java BTSend NXT 00:16:53:00:78:48
  25  *
  26  * You can find the address for your NXT by running nxjbrowse
  27  *  - this lists the name and address of each NXT it finds.
  28  *
  29  * See the comment in the code on how to do a Bluetooth
  30  * inquiry to find your NXT, instead of using the address
  31  * parameter.
  32  *
  33  * Your NXT should be running a sample such as BTReceive or
  34  * SignalTest. Run the NXT program first until it is
  35  * waiting for a connection, and then run the PC program.
  36  *
  37  * @author Lawrie Griffiths
  38  *
  39  */
  40 public class BTSend {
  41
  42         public static void main(String[] args) {
  43                 NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH);
  44
  45                 /* Another way to connect, by discovery:
  46
  47                 NXTInfo[] nxtInfo = nxtComm.search(args[0], NXTCommFactory.BLUETOOTH);
  48
  49                 if (nxtInfo.length == 0) {
  50                         System.out.println("No NXT Found");
  51                         System.exit(1);
  52                 }
  53                 */
  54
  55                 // arg[0] = name, e.g NXT
  56                 // arg[1] = address, with optional colons, e.g. 00:16:53:00:78:48
  57
  58                 if (args.length != 2) {
  59                         System.out.println("Usage: BTSend name address");
  60                         System.exit(1);
  61                 }
  62
  63                 NXTInfo[] nxtInfo = new NXTInfo[1];
  64
  65                 nxtInfo[0] = new NXTInfo(args[0],args[1]);
  66
  67                 System.out.println("Connecting to " + nxtInfo[0].btResourceString);
  68
  69                 boolean opened = false;
  70
  71                 try {
  72                         opened = nxtComm.open(nxtInfo[0]);
  73                 } catch (NXTCommException e) {
  74                         System.out.println("Exception from open");
  75                 }
  76
  77                 if (!opened) {
  78                         System.out.println("Failed to open " + nxtInfo[0].name);
  79                         System.exit(1);
  80                 }
  81
  82                 System.out.println("Connected to " + nxtInfo[0].btResourceString);
  83
  84                 InputStream is = nxtComm.getInputStream();
  85                 OutputStream os = nxtComm.getOutputStream();
  86
  87                 DataOutputStream dos = new DataOutputStream(os);
  88                 DataInputStream dis = new DataInputStream(is);
  89
  90                 for(int i=0;i<100;i++) {
  91                         try {
  92                                 System.out.println("Sending " + (i*30000));
  93                                 dos.writeInt((i*30000));
  94                                 dos.flush();
  95
  96                         } catch (IOException ioe) {
  97                                 System.out.println("IO Exception writing bytes:");
  98                                 System.out.println(ioe.getMessage());
  99                                 break;
 100                         }
 101
 102                         try {
 103                                 System.out.println("Received " + dis.readInt());
 104                         } catch (IOException ioe) {
 105                                 System.out.println("IO Exception reading bytes:");
 106                                 System.out.println(ioe.getMessage());
 107                                 break;
 108                         }
 109                 }
 110
 111                 try {
 112                         dis.close();
 113                         dos.close();
 114                         nxtComm.close();
 115                 } catch (IOException ioe) {
 116                         System.out.println("IOException closing connection:");
 117                         System.out.println(ioe.getMessage());
 118                 }
 119         }
 120 }