lejos.pc.comm
Class NXTCommLibnxt

java.lang.Object
  lejos.pc.comm.NXTCommLibnxt

All Implemented Interfaces:

NXTComm

public class NXTCommLibnxt
extends java.lang.Object
implements NXTComm

Implementation of NXTComm over USB using libnxt. Should not be used directly - use NXTCommFactory to create an appropriate NXTComm object for your system and the protocol you are using.

Constructor Summary

NXTCommLibnxt()

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.
void	jlibnxt_close(long nxt)
long	jlibnxt_find(int idx)
java.lang.String	jlibnxt_name(long nxt)
int	jlibnxt_open(long nxt)
byte[]	jlibnxt_read_data(long nxt, int len)
void	jlibnxt_send_data(long nxt, byte[] message)
java.lang.String	jlibnxt_serial(long nxt)
boolean	open(NXTInfo nxtInfo) 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[] data, 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

NXTCommLibnxt

public NXTCommLibnxt()

Method Detail

jlibnxt_find

public long jlibnxt_find(int idx)

jlibnxt_open

public int jlibnxt_open(long nxt)

jlibnxt_close

public void jlibnxt_close(long nxt)

jlibnxt_send_data

public void jlibnxt_send_data(long nxt,
                              byte[] message)
                       throws java.io.IOException

Throws:

java.io.IOException

jlibnxt_read_data

public byte[] jlibnxt_read_data(long nxt,
                                int len)
                         throws java.io.IOException

Throws:

java.io.IOException

jlibnxt_serial

public java.lang.String jlibnxt_serial(long nxt)

jlibnxt_name

public java.lang.String jlibnxt_name(long nxt)

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

open

public boolean open(NXTInfo nxtInfo)

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:

nxtInfo - the NXTInfo object for the NXT

Returns:

true iff the open succeeded

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

sendRequest

public byte[] sendRequest(byte[] data,
                          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:

data - 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