TestClasses for BTProtocol of p&o project 2013. BTInitiator runs on the PC and initiaties the bluetoothconnection. And opens a DataInputStream CommTest (receiver) runs on NXT and waits for incoming connection. USAGE: 1) startup NXT with CommTest 2) Press Right arrow to let CommTest wait for bluetooth connection 3) Startup BTInitiator

BTInitiator.java

import java.io.IOException;
import java.io.OutputStream;

import lejos.pc.comm.NXTComm;
import lejos.pc.comm.NXTCommException;
import lejos.pc.comm.NXTCommFactory;
import lejos.pc.comm.NXTInfo;

/*
* RUNS ON PC
*/
public class BTInitiator {

	public static void main(String[] args) {
		NXTComm nxtComm = null;
		try {
			nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH);

			NXTInfo nxtInfo = new NXTInfo(NXTCommFactory.BLUETOOTH, "NXT",
					"00:16:53:0A:09:D6");

			if (canConnect(nxtComm, nxtInfo, NXTComm.PACKET)) { // 2 is RAW MODE

				OutputStream out = nxtComm.getOutputStream();

				out.write(new byte[] { 10, 11, 12, 13, 7, 18, 19, 20 });
				out.flush();
				Thread.sleep(20000);
				out.write(new byte[] { 10, 20, 30, 40, 050, 60, 70, 80});
				out.flush();
				out.close();
			} else {
				System.err.println("No connection");
			}

		} catch (NXTCommException | IOException | InterruptedException e) {
			e.printStackTrace();
		} finally {
			try {
				nxtComm.close();
			} catch (Exception e) {
				e.printStackTrace();
			}

		}

	}

	public static boolean canConnect(NXTComm comm, NXTInfo nxtInfo, int mode) {
		try {
			return comm.open(nxtInfo, mode);
		} catch (NXTCommException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			return false;
		}
	}

}

CommTest.java

import java.io.*;
import lejos.nxt.*;
import lejos.nxt.comm.*;

/**
 * sample of selecting channel at run time
* RUNS ON NXT
* */
public class CommTest {
	public static void main(String[] args) {
		LCD.drawString("right BT", 0, 0);
		NXTConnection connection = null;

		if (Button.waitForAnyPress() == Button.ID_RIGHT) {
			LCD.drawString("waiting for BT", 0, 1);
			connection = Bluetooth.waitForConnection();

		} else {
			LCD.drawString("waiting for USB", 0, 1);
			connection = USB.waitForConnection();
		}

		DataInputStream in = connection.openDataInputStream();

		LCD.clear();
		int i = 0;
		while (true) {
			try {
				int input = in.readByte();
				LCD.drawInt(input, 0, i % 6);

				i++;
				Button.waitForAnyPress();

			} catch (IOException e) {
				System.out.println(" write error " + e);
				Button.waitForAnyPress();
			}
		}

	}

	public static int byteArrayToInt(byte[] b) {
		return b[3] & 0xFF | (b[2] & 0xFF) << 8 | (b[1] & 0xFF) << 16
				| (b[0] & 0xFF) << 24;
	}

	public static byte[] intToByteArray(int a) {
		return new byte[] { (byte) ((a >> 24) & 0xFF),
				(byte) ((a >> 16) & 0xFF), (byte) ((a >> 8) & 0xFF),
				(byte) (a & 0xFF) };
	}
}