lejos.pc.comm
Class NXTCommand

java.lang.Object
  lejos.pc.comm.NXTCommand

All Implemented Interfaces:

NXTProtocol

public class NXTCommand
extends java.lang.Object
implements NXTProtocol

Sends LCP requests to the NXT and receives replies. Uses an object that implements the NXTComm interface for low-level communication.

Field Summary

Fields inherited from interface lejos.pc.comm.NXTProtocol

ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_DEFRAG, NXJ_DISCONNECT, NXJ_FIND_FIRST, NXJ_FIND_NEXT, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE

Method Summary

void	addLogListener(NXTCommLogListener listener) register log listener
void	close() Call the close() command when your program ends, otherwise you will have to turn the NXT brick off/on before you run another program.
byte	closeFile(byte handle) Closes an open file.
byte	defrag()
byte	delete(java.lang.String fileName)
FileInfo	findFirst(java.lang.String wildCard)
FileInfo	findNext(byte handle)
int	getBatteryLevel()
java.lang.String	getFriendlyName()
InputValues	getInputValues(int port)
java.lang.String	getLocalAddress()
OutputState	getOutputState(int port) Retrieves the current output state for a port.
static NXTCommand	getSingleton()
byte[]	messageRead(byte remoteInbox, byte localInbox, boolean remove)
boolean	open(NXTInfo nxt)
FileInfo	openRead(java.lang.String fileName) Opens a file on the NXT for reading.
byte	openWrite(java.lang.String fileName, int size) Opens a file on the NXT for writing.
byte[]	readFile(byte handle, int length) Returns requested number of bytes from a file.
void	removeLogListener(NXTCommLogListener listener) unregister log listener
NXTInfo[]	search(java.lang.String name, int protocol)
byte	setFriendlyName(java.lang.String name)
void	setNXTCommBlueTooth()
void	setVerify(boolean verify)
byte	startProgram(java.lang.String fileName) Starts a program already on the NXT.
byte	writeFile(byte handle, byte[] data)

Methods inherited from class java.lang.Object

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

Method Detail

search

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

Throws:

NXTCommException

setNXTCommBlueTooth

public void setNXTCommBlueTooth()
                         throws NXTCommException

Throws:

NXTCommException

open

public boolean open(NXTInfo nxt)
             throws NXTCommException

Throws:

NXTCommException

setVerify

public void setVerify(boolean verify)

startProgram

public byte startProgram(java.lang.String fileName)
                  throws java.io.IOException

Starts a program already on the NXT.

Parameters:

fileName -

Returns:

the status

Throws:

java.io.IOException

openRead

public FileInfo openRead(java.lang.String fileName)
                  throws java.io.IOException

Opens a file on the NXT for reading. Returns a handle number and file size, enclosed in a FileInfo object.

Parameters:

fileName - e.g. "Woops.wav"

Returns:

fileInfo object giving details of the file

Throws:

java.io.IOException

openWrite

public byte openWrite(java.lang.String fileName,
                      int size)
               throws java.io.IOException

Opens a file on the NXT for writing.

Parameters:

fileName - e.g. "Woops.rso"

Returns:

File Handle number

Throws:

java.io.IOException

closeFile

public byte closeFile(byte handle)
               throws java.io.IOException

Closes an open file.

Parameters:

handle - File handle number.

Returns:

Error code 0 = success

Throws:

java.io.IOException

delete

public byte delete(java.lang.String fileName)
            throws java.io.IOException

Throws:

java.io.IOException

findFirst

public FileInfo findFirst(java.lang.String wildCard)
                   throws java.io.IOException

Parameters:

wildCard - [filename].[extension], *.[extension], [filename].*, *.*

Returns:

fileInfo object giving details of the file

Throws:

java.io.IOException

findNext

public FileInfo findNext(byte handle)
                  throws java.io.IOException

Parameters:

handle - Handle number from the previous found file or fromthe Find First command.

Returns:

fileInfo object giving details of the file

Throws:

java.io.IOException

getBatteryLevel

public int getBatteryLevel()
                    throws java.io.IOException

Throws:

java.io.IOException

close

public void close()
           throws java.io.IOException

Call the close() command when your program ends, otherwise you will have to turn the NXT brick off/on before you run another program.

Throws:

java.io.IOException

writeFile

public byte writeFile(byte handle,
                      byte[] data)
               throws java.io.IOException

Throws:

java.io.IOException

readFile

public byte[] readFile(byte handle,
                       int length)
                throws java.io.IOException

Returns requested number of bytes from a file. File must first be opened using the openRead() command.

Parameters:

handle - File handle number (from openRead method)

length - Number of bytes to read.

Returns:

the bytes requested

Throws:

java.io.IOException

defrag

public byte defrag()
            throws java.io.IOException

Throws:

java.io.IOException

getFriendlyName

public java.lang.String getFriendlyName()
                                 throws java.io.IOException

Throws:

java.io.IOException

setFriendlyName

public byte setFriendlyName(java.lang.String name)
                     throws java.io.IOException

Throws:

java.io.IOException

getLocalAddress

public java.lang.String getLocalAddress()
                                 throws java.io.IOException

Throws:

java.io.IOException

getInputValues

public InputValues getInputValues(int port)
                           throws java.io.IOException

Throws:

java.io.IOException

getOutputState

public OutputState getOutputState(int port)
                           throws java.io.IOException

Retrieves the current output state for a port.

Parameters:

port - - 0 to 3

Returns:

OutputState - returns a container object for output state variables.

Throws:

java.io.IOException

messageRead

public byte[] messageRead(byte remoteInbox,
                          byte localInbox,
                          boolean remove)
                   throws java.io.IOException

Parameters:

remoteInbox - 0-9

localInbox - 0-9

remove - True clears the message from the remote inbox.

Returns:

the message as an array of bytes

Throws:

java.io.IOException

getSingleton

public static NXTCommand getSingleton()

addLogListener

public void addLogListener(NXTCommLogListener listener)

register log listener

Parameters:

listener -

removeLogListener

public void removeLogListener(NXTCommLogListener listener)

unregister log listener

Parameters:

listener -