lejos_NXJ_win32_0_3_0alpha.zip

[nxt-jsp/lejos_nxj.git] / nxtOSEK / lejos_nxj / src / java / pccomms / lejos / pc / comm / NXTCommBluez.java

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 (file)
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;
+
+}