lejos.pc.comm
Class NXTCommBluez

java.lang.Object
  lejos.pc.comm.NXTCommBluez

All Implemented Interfaces:

NXTComm

public class NXTCommBluez
extends java.lang.Object
implements NXTComm

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.

Constructor Summary

NXTCommBluez()

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[]	rcSocketRecv(int sk)
void	rcSocketSend(int sk, byte[] data)
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[] 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

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

NXTCommBluez

public NXTCommBluez()

Method Detail

search

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

Description copied from interface: NXTComm

Search for NXTs over USB, Bluetooth or both

Specified by:

search in interface NXTComm

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

close

public void close()
           throws java.io.IOException

Description copied from interface: NXTComm

Closes the connection to the NXT.

Specified by:

close in interface NXTComm

Throws:

java.io.IOException

open

public boolean open(NXTInfo nxt)

Description copied from interface: NXTComm

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

Specified by:

open in interface NXTComm

Parameters:

nxt - the NXTInfo object for the NXT

Returns:

true iff the open succeeded

sendRequest

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

Description copied from interface: NXTComm

Send an LCP message to the NXT and receive a reply

Specified by:

sendRequest in interface NXTComm

Parameters:

request - the LCP message

replyLen - the reply length expected

Returns:

the reply

Throws:

java.io.IOException

read

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

Description copied from interface: NXTComm

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

Specified by:

read in interface NXTComm

Returns:

the data

Throws:

java.io.IOException

available

public int available()
              throws java.io.IOException

Description copied from interface: NXTComm

Request the number of bytes available to read.

Specified by:

available in interface NXTComm

Returns:

the number of bytes available

Throws:

java.io.IOException

write

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

Description copied from interface: NXTComm

Write data to a NXT that has an open connection.

Specified by:

write in interface NXTComm

Parameters:

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

Throws:

java.io.IOException

getOutputStream

public java.io.OutputStream getOutputStream()

Description copied from interface: NXTComm

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

Specified by:

getOutputStream in interface NXTComm

Returns:

the OutputStream object

getInputStream

public java.io.InputStream getInputStream()

Description copied from interface: NXTComm

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

Specified by:

getInputStream in interface NXTComm

Returns:

the InputStream object

rcSocketSend

public void rcSocketSend(int sk,
                         byte[] data)
                  throws java.io.IOException

Throws:

java.io.IOException

rcSocketRecv

public byte[] rcSocketRecv(int sk)
                    throws java.io.IOException

Throws:

java.io.IOException