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

   1 package lejos.pc.comm;
   2
   3 import java.io.*;
   4
   5 public class NXTCommBluez implements NXTComm {
   6
   7         private static final String BDADDR_ANY = "00:00:00:00:00:00";
   8
   9         private int sk = -1;
  10
  11         static {
  12                 System.loadLibrary("jbluez");
  13         }
  14
  15         public NXTInfo[] search(String name, int protocol) {
  16                 String[] btString = null;
  17
  18                 try {
  19                         btString = search(name);
  20                 } catch (BlueZException e) {
  21                         System.err.println(e.getMessage());
  22                 }
  23                 if (btString == null) return new NXTInfo[0];
  24                 else {
  25                         NXTInfo[] nxts = new NXTInfo[btString.length];
  26                         for(int i=0;i<btString.length;i++) {
  27                                 NXTInfo nxtInfo = new NXTInfo();
  28                                 if (btString[i] == null) {
  29                                         System.err.println("Null btString");
  30                                         return new NXTInfo[0];
  31                                 }
  32                                 int sep = btString[i].indexOf("::");
  33                                 //System.out.println("Setting address to " + btAddress);
  34                                 nxtInfo.btDeviceAddress =  btString[i].substring(sep+2);
  35                                 nxtInfo.name = btString[i].substring(0, sep);
  36                                 nxtInfo.protocol = NXTCommFactory.BLUETOOTH;
  37                                 nxtInfo.btResourceString = btString[i];
  38
  39                                 nxts[i] = nxtInfo;
  40                         }
  41                         return nxts;
  42                 }
  43         }
  44
  45         public void close() throws IOException{
  46                 try {
  47                         rcSocketShutdown(sk);
  48                 } catch (IOException ioe) {
  49                         System.err.println("Shutdown failed");
  50                 }
  51                 if (sk != -1) rcSocketClose(sk);
  52                 sk = -1;
  53         }
  54
  55         public boolean open(NXTInfo nxt) {
  56                 try {
  57                         open(BDADDR_ANY, nxt.btDeviceAddress, 1);
  58                         return true;
  59                 } catch (BlueZException e) {
  60                         System.err.println("Error from open: " + e.getMessage());
  61                         return false;
  62                 }
  63
  64         }
  65
  66         public byte [] sendRequest(byte[] request, int replyLen) throws IOException {
  67
  68                 // add lsb & msb
  69                 byte[] lsb_msb = new byte[2];
  70                 lsb_msb[0] = (byte) request.length;
  71                 lsb_msb[1] = (byte) 0x00;
  72                 request = concat(lsb_msb, request);
  73
  74             rcSocketSend(sk, request);
  75
  76                 if (replyLen == 0) return new byte[0];
  77
  78                 byte[] data = null;
  79             data = rcSocketRecv(sk);
  80
  81                 // remove lsb & msb
  82                 data = subArray(data, 2, data.length);
  83
  84                 return data;
  85         }
  86
  87         private void open(String l_bdaddr, String r_bdaddr, int channel) throws BlueZException {
  88                 boolean ok = false;
  89
  90                 try {
  91                         //System.out.println("Creating socket");
  92                         sk = rcSocketCreate();
  93                         //System.out.println("Binding");
  94                         rcSocketBind(sk, l_bdaddr);
  95                         //System.out.println("Connecting");
  96                         rcSocketConnect(sk, r_bdaddr, channel);
  97
  98                         ok = true;
  99                 } finally {
 100                         if (!ok) {
 101                                 if (sk != -1) {
 102                                         try {
 103                                                 rcSocketClose(sk);
 104                                         } catch (IOException ioe) {}
 105                                         sk = -1;
 106                                 }
 107                         }
 108                 }
 109         }
 110
 111         private byte[] concat(byte[] data1, byte[] data2) {
 112                 int l1 = data1.length;
 113                 int l2 = data2.length;
 114
 115                 byte[] data = new byte[l1 + l2];
 116                 System.arraycopy(data1, 0, data, 0, l1);
 117                 System.arraycopy(data2, 0, data, l1, l2);
 118
 119                 return data;
 120         }
 121
 122
 123         private byte[] subArray(byte[] data, int start, int end) {
 124
 125                 byte[] result = new byte[end - start];
 126                 System.arraycopy(data, start, result, 0, end - start);
 127
 128                 return result;
 129         }
 130
 131         public byte [] read () throws IOException {
 132                 // Currently all packets are 1-byte
 133                 byte [] packet = rcSocketRecv(sk);
 134                 byte [] data = new byte [packet.length/3];
 135                 for(int i=0;i<packet.length/3;i++) data[i] = packet[i*3+2];
 136                 return data;
 137         }
 138
 139         public void write(byte[] data) throws IOException {
 140                 rcSocketSend(sk, data);
 141         }
 142
 143         public OutputStream getOutputStream() {
 144                 return new NXTCommBTOutputStream(this);
 145         }
 146
 147         public InputStream getInputStream() {
 148                 return new NXTCommBTInputStream(this);
 149         }
 150
 151         native private String[] search(String name) throws BlueZException;
 152
 153         native private int rcSocketCreate() throws BlueZException;
 154
 155         native private void rcSocketBind(int sk, String bdaddr) throws BlueZException;
 156
 157         native private void rcSocketConnect(int sk, String bdaddr, int channel) throws BlueZException;
 158
 159         native public void rcSocketSend(int sk, byte[] data) throws IOException;
 160
 161         native public byte[] rcSocketRecv(int sk) throws IOException;
 162
 163         native private void rcSocketShutdown(int sk) throws IOException;
 164
 165         native private void rcSocketClose(int sk) throws IOException;
 166
 167 }