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java.lang.Object lejos.pc.comm.NXTCommBluez
public class NXTCommBluez
Implementation of NXTComm using the the jbluez library on Linux or Unix systems. Should not be used directly - use NXTCommFactory to create an appropriate NXTComm object for your system and the protocol you are using.
Field Summary |
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Fields inherited from interface lejos.pc.comm.NXTComm |
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LCP, PACKET, RAW |
Constructor Summary | |
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NXTCommBluez()
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Method Summary | |
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int |
available()
Request the number of bytes available to read. |
void |
close()
Close the connection |
java.io.InputStream |
getInputStream()
Return an InputStream for reading a stream of data from the NXT over this connection. |
java.io.OutputStream |
getOutputStream()
Return an OutputStream for writing a stream of data to the NXT over this connection. |
boolean |
initialize(lejos.internal.jni.JNILoader jnil)
Return false, if the |
boolean |
open(NXTInfo nxt)
Connect to a NXT found by a search or created from name and address. |
boolean |
open(NXTInfo nxt,
int mode)
Connect to a NXT found by a search or created from name and address. |
byte[] |
read()
Read data from a NXT that has an open connection. |
NXTInfo[] |
search(java.lang.String name)
Search for NXTs over USB, Bluetooth or both |
byte[] |
sendRequest(byte[] request,
int replyLen)
Send an LCP message to the NXT and receive a reply |
void |
write(byte[] data)
Write data to a NXT that has an open connection. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public NXTCommBluez()
Method Detail |
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public NXTInfo[] search(java.lang.String name)
NXTComm
search
in interface NXTComm
name
- name of the NXT or null
public void close() throws java.io.IOException
NXTCommRequest
close
in interface NXTCommRequest
java.io.IOException
public boolean open(NXTInfo nxt, int mode) throws NXTCommException
NXTComm
open
in interface NXTComm
nxt
- the NXTInfo
object for the NXTmode
- the mode for the connection: NXTComm.LCP
, NXTComm.PACKET
or
NXTComm.RAW
true
if the open succeeded
NXTCommException
public boolean open(NXTInfo nxt) throws NXTCommException
NXTComm
open
in interface NXTComm
nxt
- the NXTInfo
object for the NXT
true
if the open succeeded
NXTCommException
public byte[] sendRequest(byte[] request, int replyLen) throws java.io.IOException
NXTCommRequest
sendRequest
in interface NXTCommRequest
request
- the LCP messagereplyLen
- the reply length expected
java.io.IOException
public byte[] read() throws java.io.IOException
NXTComm
read
in interface NXTComm
byte[]
array
java.io.IOException
public int available() throws java.io.IOException
NXTComm
available
in interface NXTComm
java.io.IOException
public void write(byte[] data) throws java.io.IOException
NXTComm
write
in interface NXTComm
data
- the data to be written. Used for stream connections.
java.io.IOException
public java.io.OutputStream getOutputStream()
NXTComm
OutputStream
for writing a stream of data to the NXT over this connection.
getOutputStream
in interface NXTComm
OutputStream
objectpublic java.io.InputStream getInputStream()
NXTComm
InputStream
for reading a stream of data from the NXT over this connection.
getInputStream
in interface NXTComm
InputStream
objectpublic boolean initialize(lejos.internal.jni.JNILoader jnil) throws lejos.internal.jni.JNIException
lejos.internal.jni.JNIClass
initialize
in interface lejos.internal.jni.JNIClass
jnil
- instance of JNILoader
lejos.internal.jni.JNIException
- if something went wrong loading the JNI library
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