bluetooth.java

1、手持设备机器人——应用端； 2、基于蓝牙传输；

		if(connection == null)
		  {
			 return false;
		  }

		  // Stop the loading screen.
		  splashScreen.stop();
		  return true;

	} /*			 End of init()				 */

/* *************************************************************************************** */






	/* Displays our fatalError(s) and waits for user input */
	public void fatalError()
	 {
		splash.stop();
		display.setCurrent( splash );

		if(bterror == "")
		 {
			 bterror = "Unknown error";
		 }

		// Loop error message until the user press fire
		while(splash.errorPressAnyKey())
		 {
		 			  // Wait..
		 }

				if(serviceUrl != null)
				 {

					mobileRoboticsMidlet.setDisplayToControllRobot(display);

					try{
					if(connection != null)
					 {
 						connection.close();
						connection = null;
					 }

					if(os != null)
					 {
						os.close();
						os = null;
					 }
					} catch (Exception e)
					{
						// Do nothing
					}
						   	try {
								/* Open bluetooth connection */
						 	 	connection = (StreamConnection)Connector.open(serviceUrl);

							}catch (Exception exception)
							{

								bterror  = "Could not open a connection";
								fatalError();
							}

							/* We want to open an OutputStream so we can actually send data */
							try {
								    os             = connection.openOutputStream();

							}catch (Exception e)
							{
								bterror = "Could not open output stream";
								fatalError();
							}
				 }else{
					mobileRoboticsMidlet.exit();
				 }

	 }

	/* Used for splashScreen */
	public int p1() {   return p1; 	}
	public int p2() {   return p2;	}
	public int p3() {   return p3;	}
	public int p4() {   return p4;	}


	/* Load our images and Sprite */
	public void loadImages()
	 {
		  try { start      = Image.createImage ("/start.png");     } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { stopped    = Image.createImage ("/stopped.png");   } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { running    = Image.createImage ("/running.png");   } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { logo       = Image.createImage ("/logo.png");      } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { Left       = Image.createImage ("/left.png");      } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { right      = Image.createImage ("/right.png");     } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { forward    = Image.createImage ("/forward.png");   } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { backward   = Image.createImage ("/backwards.png"); } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { nowhere    = Image.createImage ("/nowhere.png");   } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { run        = Image.createImage ("/run.png");       } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { clear      = Image.createImage ("/clear.png");     } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { Wheel      = Image.createImage ("/wheel.png");     } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  try { about      = Image.createImage ("/about.png");     } catch ( Exception e )  {  throw new RuntimeException ("Unable to load Image: "+e); }
		  wheel = new Sprite(Wheel, 118,118);
	 }

	/* Used for splashScreen to retrieve our error message */
	public String bterror()
	 {
	  return bterror;
	 }

	/* Check for our needed Functions */
	private void neededFunctions()
	 {

	   try
	   {
    	    LocalDevice localDevice = LocalDevice.getLocalDevice();
     	    discoveryAgent          = localDevice.getDiscoveryAgent();

	   }catch (BluetoothStateException bse)
	   {

		  bterror  = "Bluetooth couldn't be initiated:\n " + bse;
		  fatalError();
	   }

	 }

/* *************************************************************************************** */
/* Below this you will find the method used in init() to search for devices and service,   */
/*  and to connect with them                                                               */

/* Start our bluetooth discovery */
private void mobileRoboticsDeviceDiscovery()
 {

   /* A regular deviceDiscovery class,
      but our getDiscoveryAgent has been moved to neededFunctions() */

   try {

       if(!discoveryAgent.startInquiry(DiscoveryAgent.GIAC, this))
         {
		  bterror  = "Couldn't start Inquiry";
		  fatalError();
         }

         } catch(BluetoothStateException bse)  {

		  bterror  = "BluetoothStateException:\n " + bse;
		  fatalError();
       }

	// Device Discovery ran
}




 public void deviceDiscovered(RemoteDevice btDevice, DeviceClass cod)
  {
    // Device was discovered
    // Adress: btDevice.getBluetoothAddress()
    nrRemoteDevices = nrRemoteDevices + 1;
    remoteDevices[nrRemoteDevices-1] = btDevice;
  }


  public void inquiryCompleted(int discType)
  {
        /*  Do nothing  */
	discoveryWhile = true;
  }


  public void servicesDiscovered(int transID, ServiceRecord[] servRecord) {

    // We only got one service, you can search for more though.
    // Services was discovered.

    // (String)servRecord[i].getAttributeValue(0x100).getValue()

    for(int i=0;i<servRecord.length;i++)
      {
         serviceUrl = servRecord[i].getConnectionURL(1, false);
      }
  }



  public void serviceSearchCompleted(int transID, int responseCode) {

    // Service search completed

    // If you are wondering why we don't use any errorchecking it is
    // due to the simply fact that they may come from any device
    // near us. If a unkown cellphone that is in the pocket of a
    // person near by throws a Service_search_error we don't want
    // to halt the search.

    servicesWhile = true;

  }



/* *************************************************************************************** */



public void command(int command)
 {

   /*
    * Bluetooth commands and their function
    *
    *  0) Power On
    *  1) Power Off
    *  2) Forward
    *  3) Backward
    *  4) Left
    *  5) Right
    *  6) Stop (forward/backward)
    *
    */


    /* If connection or os is null we don't have a working connection, then abort. */
    if(connection != null && os != null)
     {

		 try {
				/*

				   It's easier for the palm to recieve it in byte format,
				   therefor we simply convert it from int to byte by using
				   the (byte)INT syntax.

				 */

				byte[] cmd          = new byte[1];
				cmd[0]              = (byte)command;

				// write to buffer
				os.write(cmd);

				// Send to buffer
				os.flush();

//  				 try{ Thread.sleep(25); } catch (Exception e) { /* Do nothing */ }

	     	     }catch (Exception e)
		     {
				bterror = "Could not send command";
				fatalError();
		     }

    }else{
			bterror = "No connection and/or stream";
			fatalError();
    }
 }


public void cleanUp()
 {
      	try {
	  os.close();
      	  connection.close();
      	} catch (IOException ioe) {
      	  System.err.println("Error Closing connection " + ioe);
        }
 }


}