Testing full duplex BT communications.

src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java

@@ -15,11 +15,47 @@
  */
 package ve.ucv.ciens.ccg.nxtarbot;
 
-import lejos.nxt.Button;
+import java.io.DataInputStream;
+import java.io.DataOutputStream;
+import java.io.IOException;
+
+import lejos.nxt.comm.Bluetooth;
+import lejos.nxt.comm.NXTConnection;
+import ve.ucv.ciens.ccg.nxtarbot.threads.CommRecv;
+import ve.ucv.ciens.ccg.nxtarbot.threads.CommSend;
 
 public class NxtAR_bot{
+	private static DataOutputStream dataOutputStream;
+	private static DataInputStream dataInputStream;
+	private static NXTConnection bluetoothConnection;
+	private static CommRecv recv;
+	private static CommSend send;
+
 	public static void main(String[] args){
-		System.out.println("Hello, world!");
+		bluetoothConnection = Bluetooth.waitForConnection();
-		Button.waitForAnyPress();
+		bluetoothConnection.setIOMode(NXTConnection.RAW);
+		dataOutputStream = bluetoothConnection.openDataOutputStream();
+		dataInputStream = bluetoothConnection.openDataInputStream();
+
+		System.out.println("Connected");
+
+		send = new CommSend(dataOutputStream);
+		recv = new CommRecv(dataInputStream);
+
+		recv.start();
+		send.start();
+
+		try{
+			recv.join();
+			send.join();
+		}catch(InterruptedException i){ }
+
+		try{
+			dataOutputStream.close();
+			dataInputStream.close();
+		}catch(IOException io){
+			System.out.println(io.getMessage());
+		}
+		bluetoothConnection.close();
 	}
 }

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

@@ -0,0 +1,50 @@
+/*
+ * 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;
+			}
+		}
+	}
+}