rcx
Class RCXPort

java.lang.Object
  rcx.RCXPort

public class RCXPort
extends java.lang.Object

RCXPort - Encapsulates and manages communications to and from the RCX

Version:

2.1 Copyright 2002 Dario Laverde, under terms of GNU LGPL

Author:

Dario Laverde

Field Summary

static boolean	debug used to display debugging messages
boolean	isEmulation used to indicate emulation mode
static boolean	skipalive used to skip sending the initial alive message

Constructor Summary

RCXPort()
creates the port and calls init(null)

RCXPort(java.lang.String portname)
creates the port and calls init(portname)

Method Summary

void	addAllMessagesListener(AllMessagesListener rl) adds an AllMessagesListener
void	addRCXErrorListener(RCXErrorListener rl) adds an RCXErrorListener
void	addRCXListener(RCXListener rl) adds an RCXListener
void	alive() sends an alive message to the RCX
static java.lang.String	ArrayToString(byte[] message, int length) utility to return a string representation of an array or first part of an array (given a length)
void	beep() play system sound (0)
void	beepSequence() plays system sound (2)
void	beepSequenceUp() plays system sound (3)
void	buzz() plays system sound (4)
void	close() closes the streams and the port
void	controlMotor(char id, short mode, short power)
float	getBatteryPower() gets the battery power level in volts
java.io.InputStream	getInputStream() gets the InputStream
java.lang.String	getLastError() retrieves the last error that occurred
int	getLastValue() returns the return value of the last message processed (if it returned a value)
java.io.OutputStream	getOutputStream() gets the OutputStream
void	init(java.lang.String port) creates an instance of RCXOpcode for looking up opcodes, creates the static instances of Motor and Sensor, and calls open(port)
boolean	isOpen() tests to see if port already opened
static void	main(java.lang.String[] args)
boolean	open() actually opens the port and obtains the output and input streams
void	open(java.lang.String port) determines the type of port from the port name (if null will find first available serial port
void	playTone(int frequency, int duration) Plays a tone, given its frequency and duration.
void	processMessage(byte[] message) processes messages by converting return values and storing the return value internally until retrieved by getLastValue()
int	readSensorValue(int sensorId, int requestType)
boolean	send(java.lang.String packet) converts string to byte array and send it to RCX
void	setDebug(boolean set) sets debug mode on or off
void	setError(java.lang.String msg) sets error message and sends it to the errorListener
void	setOpen(boolean set) used to overide the port open status (for example, mark as closed when errors occur)
void	setSensorValue(int sensorId, int val, int requestType) sets the sensorID value and type (if in emulation mode, sets the value to be read)
void	setStreams(java.io.InputStream in, java.io.OutputStream out) sets the streams to swap and creates an instance (thread) of StreamSwap
void	systemSound(boolean queued, int code) plays a system sound (0-5) 0:Blip 1:Beep beep 2:Downward tones 3:Upward tones 4:Low buzz 5:Fast upward tones (note: queued not applied here - used just for compatiblity with leJOS)
void	twoBeeps() plays system sound (1)
void	upwardTones() plays system sound (5)
boolean	write(byte[] bArray) My new simple write!
boolean	writeOrig(byte[] bArray) writes a byte array to the RCX port

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

debug

public static boolean debug

used to display debugging messages

skipalive

public static boolean skipalive

used to skip sending the initial alive message

isEmulation

public boolean isEmulation

used to indicate emulation mode

Constructor Detail

RCXPort

public RCXPort()

creates the port and calls init(null)

RCXPort

public RCXPort(java.lang.String portname)

creates the port and calls init(portname)

Method Detail

init

public void init(java.lang.String port)

creates an instance of RCXOpcode for looking up opcodes, creates the static instances of Motor and Sensor, and calls open(port)

addRCXListener

public void addRCXListener(RCXListener rl)

adds an RCXListener

addAllMessagesListener

public void addAllMessagesListener(AllMessagesListener rl)

adds an AllMessagesListener

addRCXErrorListener

public void addRCXErrorListener(RCXErrorListener rl)

adds an RCXErrorListener

setDebug

public void setDebug(boolean set)

sets debug mode on or off

open

public void open(java.lang.String port)

determines the type of port from the port name
(if null will find first available serial port

alive

public void alive()

sends an alive message to the RCX

open

public boolean open()

actually opens the port and obtains the output and input streams

close

public void close()

closes the streams and the port

isOpen

public boolean isOpen()

tests to see if port already opened

setOpen

public void setOpen(boolean set)

used to overide the port open status (for example, mark as closed when errors occur)

getOutputStream

public java.io.OutputStream getOutputStream()

gets the OutputStream

getInputStream

public java.io.InputStream getInputStream()

gets the InputStream

setStreams

public void setStreams(java.io.InputStream in,
                       java.io.OutputStream out)

sets the streams to swap and creates an instance (thread) of StreamSwap

See Also:

RCXServer

write

public boolean write(byte[] bArray)

My new simple write!

Parameters:

bArray -

Returns:

writeOrig

public boolean writeOrig(byte[] bArray)

writes a byte array to the RCX port

send

public boolean send(java.lang.String packet)

converts string to byte array and send it to RCX

getLastError

public java.lang.String getLastError()

retrieves the last error that occurred

getLastValue

public int getLastValue()

returns the return value of the last message processed (if it returned a value)

ArrayToString

public static java.lang.String ArrayToString(byte[] message,
                                             int length)

utility to return a string representation of an array or first part of an array (given a length)

processMessage

public void processMessage(byte[] message)

processes messages by converting return values and storing the return value internally until retrieved by getLastValue()

setError

public void setError(java.lang.String msg)

sets error message and sends it to the errorListener

See Also:

RCXErrorListener

beep

public void beep()

play system sound (0)

twoBeeps

public void twoBeeps()

plays system sound (1)

beepSequence

public void beepSequence()

plays system sound (2)

beepSequenceUp

public void beepSequenceUp()

plays system sound (3)

buzz

public void buzz()

plays system sound (4)

upwardTones

public void upwardTones()

plays system sound (5)

systemSound

public void systemSound(boolean queued,
                        int code)

plays a system sound (0-5)
0:Blip 1:Beep beep 2:Downward tones 3:Upward tones 4:Low buzz 5:Fast upward tones
(note: queued not applied here - used just for compatiblity with leJOS)

playTone

public void playTone(int frequency,
                     int duration)

Plays a tone, given its frequency and duration. Frequency is audible from about 31 to 2100 Hertz. The duration argument is in hundreds of a seconds and is truncated at 256, so the maximum duration of a tone is 2.56 seconds.

Parameters:

frequency - The frequency of the tone in Hertz (Hz).

duration - The duration of the tone, in centiseconds. Value is truncated at 256 centiseconds.

controlMotor

public void controlMotor(char id,
                         short mode,
                         short power)

Parameters:

id - 'A', 'B' or 'C'.

mode - 1=forward, 2=backward, 3=stop, 4=float

power - 0-7

readSensorValue

public int readSensorValue(int sensorId,
                           int requestType)

Parameters:

sensorId - Sensor ID (0..2).

requestType - 0 = raw value, 1 = canonical value, 2 = boolean value.

setSensorValue

public void setSensorValue(int sensorId,
                           int val,
                           int requestType)

sets the sensorID value and type (if in emulation mode, sets the value to be read)

See Also:

Sensor, SensorConstants

getBatteryPower

public float getBatteryPower()

gets the battery power level in volts

main

public static void main(java.lang.String[] args)
                 throws java.io.IOException,
                        java.lang.InterruptedException

Throws:

java.io.IOException

java.lang.InterruptedException