nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommBluecove.java

   1 package lejos.pc.comm;
   2
   3 import javax.microedition.io.*;
   4 import javax.bluetooth.*;
   5 import java.io.*;
   6 import java.util.Vector;
   7 import java.util.Enumeration;
   8
   9 public class NXTCommBluecove implements NXTComm, DiscoveryListener {
  10         private static Vector devices, nxtInfos;
  11         private StreamConnection con;
  12         private OutputStream os;
  13         private InputStream is;
  14         private NXTInfo nxtInfo;
  15
  16         public NXTInfo[] search(String name, int protocol) throws NXTCommException {
  17
  18                 devices = new Vector();
  19                 nxtInfos = new Vector();
  20
  21                 if ((protocol | NXTCommFactory.BLUETOOTH) == 0)
  22                         return new NXTInfo[0];
  23
  24                 synchronized (this) {
  25                         try {
  26                                 LocalDevice.getLocalDevice().getDiscoveryAgent().startInquiry(
  27                                                 DiscoveryAgent.GIAC, this);
  28                                 try {
  29                                         wait();
  30                                 } catch (InterruptedException e) {
  31                                         System.err.println(e.getMessage());
  32                                 }
  33                         } catch(Throwable t) {
  34                                 //System.err.println(e.getMessage());
  35                                 throw new NXTCommException("Bluetooth stack not detected",t);
  36                         }
  37                 }
  38
  39                 for (Enumeration enum_d = devices.elements(); enum_d.hasMoreElements();) {
  40                         RemoteDevice d = (RemoteDevice) enum_d.nextElement();
  41
  42                         try {
  43                                 nxtInfo = new NXTInfo();
  44
  45                                 nxtInfo.name = d.getFriendlyName(false);
  46                                 if (nxtInfo.name == null || nxtInfo.name.length() == 0)
  47                                         nxtInfo.name = "Unknown";
  48                                 nxtInfo.btDeviceAddress = d.getBluetoothAddress();
  49                                 nxtInfo.protocol = NXTCommFactory.BLUETOOTH;
  50
  51                                 if (name == null || name.equals(nxtInfo.name))
  52                                         nxtInfos.addElement(nxtInfo);
  53                                 else
  54                                         continue;
  55
  56                                 System.out.println("Found: " + nxtInfo.name);
  57
  58                                 // We want additional attributes, ServiceName (0x100),
  59                                 // ServiceDescription (0x101) and ProviderName (0x102).
  60
  61                                 int[] attributes = { 0x100, 0x101, 0x102 };
  62
  63                                 UUID[] uuids = new UUID[1];
  64                                 uuids[0] = new UUID("1101", true); // Serial Port
  65                                 synchronized (this) {
  66                                         try {
  67                                                 LocalDevice.getLocalDevice().getDiscoveryAgent()
  68                                                                 .searchServices(attributes, uuids, d, this);
  69                                                 try {
  70                                                         wait();
  71                                                 } catch (InterruptedException e) {
  72                                                         System.err.println(e.getMessage());
  73                                                 }
  74                                         } catch (BluetoothStateException e) {
  75                                                 System.err.println(e.getMessage());
  76                                         }
  77                                 }
  78
  79                                 try {
  80                                         Thread.sleep(100);
  81                                 } catch (InterruptedException e) {
  82                                         System.err.println(e.getMessage());
  83                                 }
  84
  85                         } catch (IOException e) {
  86                                 System.err.println(e.getMessage());
  87
  88                         }
  89
  90                 }
  91                 NXTInfo[] nxts = new NXTInfo[nxtInfos.size()];
  92                 for (int i = 0; i < nxts.length; i++)
  93                         nxts[i] = (NXTInfo) nxtInfos.elementAt(i);
  94                 return nxts;
  95         }
  96
  97         public boolean open(NXTInfo nxt) throws NXTCommException {
  98
  99                 // Construct URL if not present
 100
 101                 if (nxt.btResourceString == null || nxt.btResourceString.length() < 5
 102                                 || !(nxt.btResourceString.substring(0, 5).equals("btspp"))) {
 103                         nxt.btResourceString = "btspp://"
 104                                         + stripColons(nxt.btDeviceAddress)
 105                                         + ":1;authenticate=false;encrypt=false";
 106                 }
 107
 108                 try {
 109                         con = (StreamConnection) Connector.open(nxt.btResourceString);
 110                         os = con.openOutputStream();
 111                         is = con.openInputStream();
 112                         return true;
 113                 } catch (IOException e) {
 114                         throw new NXTCommException("Open of " + nxt.name + " failed");
 115                 }
 116         }
 117
 118         public void close() throws IOException {
 119                 if (os != null)
 120                         os.close();
 121                 if (is != null)
 122                         is.close();
 123                 if (con != null)
 124                         con.close();
 125         }
 126
 127         /**
 128          * Sends a request to the NXT brick.
 129          *
 130          * @param message
 131          *            Data to send.
 132          */
 133         public synchronized byte[] sendRequest(byte[] message, int replyLen)
 134                         throws IOException {
 135
 136                 // length of packet (Least and Most significant byte)
 137                 // * NOTE: Bluetooth only.
 138                 int LSB = message.length;
 139                 int MSB = message.length >>> 8;
 140
 141                 if (os == null)
 142                         return new byte[0];
 143
 144                 // Send length of packet:
 145                 os.write((byte) LSB);
 146                 os.write((byte) MSB);
 147
 148                 os.write(message);
 149
 150                 if (replyLen == 0)
 151                         return new byte[0];
 152
 153                 byte[] reply = null;
 154                 int length = -1;
 155
 156                 if (is == null)
 157                         return new byte[0];
 158
 159                 do {
 160                         length = is.read(); // First byte specifies length of packet.
 161                 } while (length < 0);
 162
 163                 int lengthMSB = is.read(); // Most Significant Byte value
 164                 length = (0xFF & length) | ((0xFF & lengthMSB) << 8);
 165                 reply = new byte[length];
 166                 is.read(reply);
 167
 168                 return (reply == null) ? new byte[0] : reply;
 169         }
 170
 171         public byte[] read() throws IOException {
 172
 173                 int lsb = is.read();
 174                 if (lsb < 0) return null;
 175                 int msb = is.read();
 176                 if (msb != 0)
 177                         throw new IOException("Packet more than 255 bytes");
 178                 byte[] bb = new byte[lsb];
 179                 for (int i=0;i<lsb;i++) bb[i] = (byte) is.read();
 180
 181                 return bb;
 182         }
 183
 184     public int available() throws IOException {
 185         if (is.available() > 2) return is.available() -2;
 186         else return 0;
 187     }
 188
 189         public void write(byte[] data) throws IOException {
 190                 os.write(data);
 191                 os.flush();
 192         }
 193
 194         public void deviceDiscovered(RemoteDevice btDevice, DeviceClass cod) {
 195                 // System.out.println("Found Device, class: " +
 196                 // cod.getMajorDeviceClass() + "/" + cod.getMinorDeviceClass());
 197                 if (cod.getMajorDeviceClass() == 2048 && cod.getMinorDeviceClass() == 4)
 198                         devices.addElement(btDevice);
 199         }
 200
 201         public synchronized void inquiryCompleted(int discType) {
 202                 // if (discType == INQUIRY_COMPLETED) System.out.println("Inquiry
 203                 // completed");
 204                 // else System.out.println("Inquiry Failed");
 205                 notifyAll();
 206         }
 207
 208         public void servicesDiscovered(int transID, ServiceRecord[] servRecord) {
 209                 // System.out.println(servRecord.length + " service(s) discovered");
 210                 // Should only be one service on a NXT
 211                 if (servRecord.length != 1)
 212                         return;
 213                 nxtInfo.btResourceString = servRecord[0].getConnectionURL(
 214                                 ServiceRecord.NOAUTHENTICATE_NOENCRYPT, false);
 215                 // System.out.println("Setting url to : " + nxtInfo.btResourceString);
 216         }
 217
 218         public synchronized void serviceSearchCompleted(int transID, int respCode) {
 219                 // System.out.println("Service search completed: respCode = " +
 220                 // respCode);
 221                 notifyAll();
 222         }
 223
 224         public OutputStream getOutputStream() {
 225                 return new NXTCommBTOutputStream(this);
 226         }
 227
 228         public InputStream getInputStream() {
 229                 return new NXTCommBTInputStream(this);
 230         }
 231
 232         public String stripColons(String s) {
 233                 StringBuffer sb = new StringBuffer();
 234
 235                 for (int i = 0; i < s.length(); i++) {
 236                         char c = s.charAt(i);
 237
 238                         if (c != ':') {
 239                                 sb.append(c);
 240                         }
 241                 }
 242
 243                 return sb.toString();
 244         }
 245 }