lejos.pc.comm
Interface NXTComm

All Known Implementing Classes:

NXTCommBluecove, NXTCommBluez, NXTCommFantom, NXTCommLibnxt

public interface NXTComm

Interface that all NXTComm implementation classes must implement for low-level communication with the NXT.

Method Summary

int	available() Request the number of bytes available to read.
void	close() Closes the connection to the NXT.
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	open(NXTInfo nxt) Connect to a NXT found by a search or created from mname and address.
byte[]	read() Read data from a NXT that has an open connection.
NXTInfo[]	search(java.lang.String name, int protocol) Search for NXTs over USB, Bluetooth or both
byte[]	sendRequest(byte[] message, 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.

Method Detail

search

NXTInfo[] search(java.lang.String name,
                 int protocol)
                 throws NXTCommException

Search for NXTs over USB, Bluetooth or both

Parameters:

name - name of the NXT or null

protocol - bitwise combination of NXTCommFactory.BLUETOOTH and NXTCommFactory.USB

Returns:

a NXTInfo object describing the NXt found and the connection to it

Throws:

NXTCommException

open

boolean open(NXTInfo nxt)
             throws NXTCommException

Connect to a NXT found by a search or created from mname and address.

Parameters:

nxt - the NXTInfo object for the NXT

Returns:

true iff the open succeeded

Throws:

NXTCommException

close

void close()
           throws java.io.IOException

Closes the connection to the NXT.

Throws:

java.io.IOException

sendRequest

byte[] sendRequest(byte[] message,
                   int replyLen)
                   throws java.io.IOException

Send an LCP message to the NXT and receive a reply

Parameters:

message - the LCP message

replyLen - the reply length expected

Returns:

the reply

Throws:

java.io.IOException

read

byte[] read()
            throws java.io.IOException

Read data from a NXT that has an open connection. Used for stream connections.

Returns:

the data

Throws:

java.io.IOException

available

int available()
              throws java.io.IOException

Request the number of bytes available to read.

Returns:

the number of bytes available

Throws:

java.io.IOException

write

void write(byte[] data)
           throws java.io.IOException

Write data to a NXT that has an open connection.

Parameters:

data - the data to be written. Used for stream connections.

Throws:

java.io.IOException

getOutputStream

java.io.OutputStream getOutputStream()

Return an OutputStream for writing a stream of data to the NXT over this connection.

Returns:

the OutputStream object

getInputStream

java.io.InputStream getInputStream()

Return an InputStream for reading a stream of data from the NXT over this connection.

Returns:

the InputStream object