X-Git-Url: http://git.osdn.net/view?a=blobdiff_plain;f=nxtOSEK%2Flejos_nxj%2Fsrc%2Fjava%2Fpccomms%2Flejos%2Fpc%2Fcomm%2FNXTCommBluez.java;fp=nxtOSEK%2Flejos_nxj%2Fsrc%2Fjava%2Fpccomms%2Flejos%2Fpc%2Fcomm%2FNXTCommBluez.java;h=ce1fbc189b04717a3ad3185da2e2fc98eca6d4e8;hb=8f6f0ffd2e250519dddcc87d1782c37bfc432db3;hp=0000000000000000000000000000000000000000;hpb=1f862745fc9ba615c56ab7233ba19ca7ffd7ddb7;p=nxt-jsp%2Flejos_nxj.git

diff --git a/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommBluez.java b/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommBluez.java
new file mode 100644
index 0000000..ce1fbc1
--- /dev/null
+++ b/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommBluez.java
@@ -0,0 +1,163 @@
+package lejos.pc.comm;
+
+import java.io.*;
+
+public class NXTCommBluez implements NXTComm {
+
+	private static final String BDADDR_ANY = "00:00:00:00:00:00";
+
+	private int sk = -1;
+
+	static {
+		System.loadLibrary("jbluez");
+	}
+	
+	public NXTInfo[] search(String name, int protocol) {
+		String[] btString = null;
+		
+		try {
+			btString = search(name);
+		} catch (BlueZException e) {
+			System.err.println(e.getMessage());	
+		}
+		if (btString == null) return new NXTInfo[0];
+		else {
+			NXTInfo[] nxts = new NXTInfo[btString.length];
+			for(int i=0;i<btString.length;i++) {
+				NXTInfo nxtInfo = new NXTInfo();
+				if (btString[i] == null) {
+					System.err.println("Null btString");
+					return new NXTInfo[0];
+				}
+				int sep = btString[i].indexOf("::");
+				//System.out.println("Setting address to " + btAddress);
+				nxtInfo.btDeviceAddress =  btString[i].substring(sep+2);
+				nxtInfo.name = btString[i].substring(0, sep);
+				nxtInfo.protocol = NXTCommFactory.BLUETOOTH;
+				nxtInfo.btResourceString = btString[i];
+				
+				nxts[i] = nxtInfo;			
+			}
+			return nxts;
+		}
+	}
+
+	public void close() throws IOException{
+		try {
+			rcSocketShutdown(sk);
+		} catch (IOException ioe) {
+			System.err.println("Shutdown failed");
+		}
+		if (sk != -1) rcSocketClose(sk);
+		sk = -1;
+	}
+
+	public boolean open(NXTInfo nxt) {
+		try {
+			open(BDADDR_ANY, nxt.btDeviceAddress, 1);
+			return true;
+		} catch (BlueZException e) {
+			System.err.println("Error from open: " + e.getMessage());
+			return false;
+		}
+		
+	}
+
+	public byte [] sendRequest(byte[] request, int replyLen) throws IOException {
+		
+		// add lsb & msb
+		byte[] lsb_msb = new byte[2];
+		lsb_msb[0] = (byte) request.length;
+		lsb_msb[1] = (byte) 0x00;
+		request = concat(lsb_msb, request);
+	
+	    rcSocketSend(sk, request);
+		
+		if (replyLen == 0) return new byte[0];
+		
+		byte[] data = null;
+	    data = rcSocketRecv(sk);
+	
+		// remove lsb & msb
+		data = subArray(data, 2, data.length);
+
+		return data;
+	}
+
+	private void open(String l_bdaddr, String r_bdaddr, int channel) throws BlueZException {
+		boolean ok = false;
+
+		try {
+			//System.out.println("Creating socket");
+			sk = rcSocketCreate();
+			//System.out.println("Binding");
+			rcSocketBind(sk, l_bdaddr);
+			//System.out.println("Connecting");
+			rcSocketConnect(sk, r_bdaddr, channel);
+
+			ok = true;
+		} finally {
+			if (!ok) {
+				if (sk != -1) {
+					try {
+						rcSocketClose(sk);
+					} catch (IOException ioe) {}
+					sk = -1;
+				}
+			}
+		}
+	}
+	
+	private byte[] concat(byte[] data1, byte[] data2) {
+		int l1 = data1.length;
+		int l2 = data2.length;
+		
+		byte[] data = new byte[l1 + l2];
+		System.arraycopy(data1, 0, data, 0, l1);
+		System.arraycopy(data2, 0, data, l1, l2);
+		
+		return data;
+	}
+		
+	
+	private byte[] subArray(byte[] data, int start, int end) {	
+
+		byte[] result = new byte[end - start];
+		System.arraycopy(data, start, result, 0, end - start);
+
+		return result;
+	}
+	
+	public byte [] read () throws IOException {
+		return rcSocketRecv(sk);
+	}
+	
+	public void write(byte[] data) throws IOException {
+		rcSocketSend(sk, data);
+	}
+	
+	public OutputStream getOutputStream() {
+		return new NXTCommBTOutputStream(this);		
+	}
+	
+	public InputStream getInputStream() {
+		return new NXTCommInputStream(this);		
+	}
+	
+	native private String[] search(String name) throws BlueZException;
+	
+	native private int rcSocketCreate() throws BlueZException;
+
+	native private void rcSocketBind(int sk, String bdaddr) throws BlueZException;
+
+	native private void rcSocketConnect(int sk, String bdaddr, int channel) throws BlueZException;
+
+	native public void rcSocketSend(int sk, byte[] data) throws IOException;
+
+	native public byte[] rcSocketRecv(int sk) throws IOException;
+
+	native private void rcSocketShutdown(int sk) throws IOException;
+
+	native private void rcSocketClose(int sk) throws IOException;
+
+}