nxtOSEK/lejos_nxj/samples/USBSend/USBSend.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 and the jlibnxt
  12  * DLL or shared library on the Java library path.
  13  *
  14  * Run the program by:
  15  *
  16  *   java USBSend
  17  *
  18  * Your NXT should be running a sample such as USBReceive.
  19  *
  20  * @author Lawrie Griffiths
  21  *
  22  */
  23 public class USBSend {
  24
  25         public static void main(String[] args) {
  26                 NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.USB);
  27
  28                 NXTInfo[] nxtInfo = null;
  29
  30                 try {
  31                         nxtInfo = nxtComm.search(null, NXTCommFactory.USB);
  32                 } catch (NXTCommException e) {
  33                         System.out.println("Exception in search");
  34                 }
  35
  36                 if (nxtInfo.length == 0) {
  37                         System.out.println("No NXT Found");
  38                         System.exit(1);
  39                 }
  40
  41                 try {
  42                         nxtComm.open(nxtInfo[0]);
  43                 } catch (NXTCommException e) {
  44                         System.out.println("Exception in open");
  45                 }
  46
  47                 InputStream is = nxtComm.getInputStream();
  48                 OutputStream os = nxtComm.getOutputStream();
  49                 DataInputStream inDat = new DataInputStream(is);
  50                 DataOutputStream outDat = new DataOutputStream(os);
  51                 int x = 0;
  52                 for(int i=0;i<100;i++)
  53                 {
  54                         try {
  55                            outDat.writeInt(i);
  56                            outDat.flush();
  57
  58                         } catch (IOException ioe) {
  59                                 System.out.println("IO Exception writing bytes");
  60                         }
  61                  try {x = inDat.readInt();}
  62                  catch (IOException ioe) {
  63                    System.out.println(ioe);
  64                  }
  65                System.out.println("Sent "+i+ " Received "+x);
  66                 }
  67
  68                 try {
  69                         inDat.close();
  70                         outDat.close();
  71                 } catch (IOException ioe) {
  72                         System.out.println(ioe);
  73                 }
  74
  75                 try {
  76                         Thread.sleep(1000);
  77                 } catch (InterruptedException ie) {}
  78
  79                 try {
  80                         nxtComm.close();
  81                 } catch (IOException ioe) {}
  82         }
  83
  84 }