lejos_NXJ_win32_0_3_0alpha.zip

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

diff --git a/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommLibnxt.java b/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommLibnxt.java
new file mode 100644 (file)
index 0000000..fb080da
--- /dev/null
+++ b/nxtOSEK/lejos_nxj/src/java/pccomms/lejos/pc/comm/NXTCommLibnxt.java
@@ -0,0 +1,67 @@
+package lejos.pc.comm;
+
+import java.io.*;
+
+public class NXTCommLibnxt implements NXTComm {
+       private NXTInfo nxtInfo;
+       
+       public native int jlibnxt_find();
+       public native int jlibnxt_open(int nxt);
+       public native void jlibnxt_close(int nxt);
+       public native void jlibnxt_send_data(int nxt, byte [] message) throws IOException;
+       public native byte[] jlibnxt_read_data(int nxt, int len) throws IOException;
+       
+       public NXTInfo[] search(String name, int protocol) {
+               if ((protocol | NXTCommFactory.USB) == 0) {
+                       return new NXTInfo[0];
+               }
+               int nxt = jlibnxt_find();
+               if (nxt != 0) {
+                       NXTInfo[] nxtInfo = new NXTInfo[1];
+                       nxtInfo[0] = new NXTInfo();
+                       nxtInfo[0].protocol = NXTCommFactory.USB;
+                       nxtInfo[0].name = "Unknown";
+                       nxtInfo[0].nxtPtr = nxt;
+                       return nxtInfo;
+               }
+               return new NXTInfo[0];
+       }
+
+       public boolean open(NXTInfo nxtInfo) {
+               this.nxtInfo = nxtInfo;
+               int open = jlibnxt_open(nxtInfo.nxtPtr);
+               return (open == 0);
+       }
+       
+       public void close() throws IOException {
+               if (nxtInfo != null && nxtInfo.nxtPtr != 0) jlibnxt_close(nxtInfo.nxtPtr);
+       }
+       
+       public byte[] sendRequest(byte [] data, int replyLen) throws IOException {
+               jlibnxt_send_data(nxtInfo.nxtPtr, data);
+        if (replyLen == 0) return new byte [0];
+               return jlibnxt_read_data(nxtInfo.nxtPtr, replyLen);
+       }
+       
+       public byte [] read() throws IOException
+       {
+               return jlibnxt_read_data(nxtInfo.nxtPtr, 1);
+       }
+       
+       public void write(byte [] data) throws IOException {
+               jlibnxt_send_data(nxtInfo.nxtPtr, data);
+       }
+       
+       public OutputStream getOutputStream() {
+               return new NXTCommUSBOutputStream(this);                
+       }
+       
+       public InputStream getInputStream() {
+               return new NXTCommInputStream(this);            
+       }
+       
+       static {
+               System.loadLibrary("jlibnxt");
+       }
+
+}