Testing full duplex BT communications.

src/ve/ucv/ciens/ccg/nxtarbot/threads/CommRecv.java

@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2014 Miguel Angel Astor Romero
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package ve.ucv.ciens.ccg.nxtarbot.threads;
+
+import java.io.DataInputStream;
+import java.io.IOException;
+
+public class CommRecv extends Thread {
+	private boolean done;
+	private byte msg;
+	private DataInputStream iStream;
+
+	public CommRecv(DataInputStream iStream){
+		done = false;
+		this.iStream = iStream;
+	}
+
+	@Override
+	public void run(){
+		while(!done){
+			try{
+				msg = iStream.readByte();
+				System.out.println("Byte: " + Byte.toString(msg));
+			}catch(IOException io){
+				done = true;
+			}
+		}
+	}
+}

src/ve/ucv/ciens/ccg/nxtarbot/threads/CommSend.java

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+/*
+ * Copyright (C) 2014 Miguel Angel Astor Romero
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package ve.ucv.ciens.ccg.nxtarbot.threads;
+
+import java.io.DataOutputStream;
+import java.io.IOException;
+
+import lejos.nxt.LightSensor;
+import lejos.nxt.SensorPort;
+
+public class CommSend extends Thread {
+	private boolean done;
+	private byte msg;
+	private LightSensor light;
+	private DataOutputStream oStream;
+
+	public CommSend(DataOutputStream oStream){
+		light = new LightSensor(SensorPort.S1);
+		done = false;
+		msg = 0;
+		this.oStream = oStream;
+	}
+
+	@Override
+	public void run(){
+		while(!done){
+			try{
+				if((msg = (byte)light.getLightValue()) < 40){
+					oStream.writeByte(msg);
+					oStream.flush();
+				}
+			}catch(IOException io){
+				done = true;
+			}
+		}
+	}
+}